Control device, machine tool, machining route generation method, computer program, and storage medium

Abstract

To provide a control device, etc. that can prevent a worker from misidentifying whether he should bring a tool closer to a workpiece or move the tool away from the workpiece when correcting the position of the tool to the workpiece.SOLUTION: A control device comprises: a first display processing execution unit for generating a machining route of a spindle by executing a movement operation of the spindle along on the surface of the master workpiece on the basis of a reference route, which is determined based on multiple reference points, along on the surface of the master workpiece, and for displaying the generated machining route on a display screen; a selection receiving unit for receiving at least partial selection of the machining route; and a second display processing execution unit for displaying an arrow next to the machining route, the arrow showing the correctional direction of the spindle to the machining route selected by the selection receiving unit.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present technology relates to a control device that generates a machining path for machining a workpiece, a machine tool, a machining path generating method, a computer program, and a storage medium. [Background technology]

[0002] A numerical control device has been proposed that can correct the position of the cutting edge of a tool relative to a workpiece. The numerical control device has "+ INPUT PUSH IN" and "+ INPUT RELEASE" as tool correction value setting buttons. By using "+ INPUT PUSH IN", an operator can move the cutting edge of the tool closer to the workpiece, and by using "+ INPUT RELEASE", an operator can move the cutting edge of the tool away from the workpiece (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-55368 A Summary of the Invention [Problem to be solved by the invention]

[0004] The operator looks at the display and operates "+ INPUT push in" and "+ INPUT escape." The display does not show the workpiece or tool, but only the coordinates. It is difficult for the operator to recognize the position of the tool in relation to the workpiece, and there is a risk that the operator will mistakenly use "+ INPUT escape" when the tip of the tool should be closer to the workpiece, or use "+ INPUT push in" when the tip of the tool should be away from the workpiece.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a control device, machine tool, machining path generation method, computer program, and storage medium that can prevent an operator from mistakingly deciding whether to move the tool closer to the workpiece or away from the workpiece when correcting the position of the tool relative to the workpiece. [Means for solving the problem]

[0006] A control device according to one embodiment of the present disclosure generates a machining path for a spindle by executing a movement operation of the spindle to a surface of a master work based on a reference path along the surface of the master work based on a plurality of reference points, and includes a first display process execution unit that displays the generated machining path on a display screen, a selection receiving unit that accepts a selection of at least a portion of the machining path, and a second display process execution unit that displays an arrow indicating the correction direction of the spindle for the machining path selected in the selection receiving unit next to the selected machining path.

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

[0008] A control device according to an embodiment of the present disclosure includes a first movement execution unit that executes an approaching operation of the spindle to the surface of the master workpiece along the reference path, an acquisition unit that acquires coordinates of the spindle when an end effector attached to the spindle contacts the surface during the approaching operation by the first movement execution unit, a second movement execution unit that executes a separating operation of the spindle with respect to the reference path after acquiring the coordinates of the spindle by the acquisition unit, and a contact time coordinate that is the coordinate of the spindle when the end effector contacts the surface during the approaching operation is determined by The system is equipped with a generation unit that generates the machining path of the spindle based on the multiple contact time coordinates acquired by the acquisition unit, and a correction direction calculation unit that calculates the correction direction for the machining path selected by the selection receiving unit based on an approach vector pointing from an approach start coordinate, which is the coordinate of the spindle at the start of the approach operation, to the contact time coordinate, wherein the first display processing execution unit displays the machining path generated by the generation unit on a display screen, and the second display processing execution unit displays an arrow indicating the correction direction calculated by the correction direction calculation unit next to the machining path selected in the selection receiving unit.

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

[0010] In a control device according to an embodiment of the present disclosure, the correction direction has a first direction that is the same direction as the approach vector, and the second display process executing unit displays an arrow in the first direction.

[0011] In the present disclosure, an arrow is displayed in a first direction that is the same as the approach vector, that is, in the direction approaching the workpiece.

[0012] In the control device according to one embodiment of the present disclosure, the second display process execution unit displays a plus sign next to the arrow in the first direction.

[0013] In the present disclosure, a positive sign is displayed next to the arrow pointing in the first direction, so that when an operator visually recognizes the positive sign, the operator can easily recognize that the first direction is the direction toward the workpiece.

[0014] In the control device according to one embodiment of the present disclosure, the correction direction has a second direction that is an opposite direction to the approach vector, and the second display process executing unit displays an arrow in the second direction.

[0015] In the present disclosure, an arrow is displayed in a second direction opposite to the approach vector, i.e., a direction away from the workpiece.

[0016] In the control device according to one embodiment of the present disclosure, the second display process execution unit displays a negative sign next to the arrow in the second direction.

[0017] In the present disclosure, a negative sign is displayed next to the arrow of the second direction, so that when an operator sees the negative sign, the operator can easily recognize that the second direction is a direction away from the workpiece.

[0018] In one embodiment of the control device of the present disclosure, the correction direction has a first direction that is the same direction as the approach vector and a second direction that is opposite to the approach vector, and the second display process executing unit displays an arrow of the first direction and an arrow of the second direction.

[0019] In the present disclosure, an arrow in a first direction, which is the same as the approach vector, i.e., an arrow pointing toward the workpiece, and an arrow in a second direction, which is the opposite direction of the approach vector, i.e., an arrow pointing away from the workpiece, are displayed.

[0020] In a control device according to one embodiment of the present disclosure, the first direction arrow and the second direction arrow are different colors.

[0021] In the present disclosure, the two arrows are different colors, so that the worker can easily recognize that the two arrows point in different directions.

[0022] A control device according to one embodiment of the present disclosure includes a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path, and the first display process executing unit displays the machining path to which the correction amount received by the correction amount receiving unit has been applied.

[0023] In the present disclosure, when a correction value is received by the correction amount receiving unit, the position of the spindle, i.e., the position of the machining path, is positioned closer to the workpiece than the current position or farther from the workpiece than the current position.

[0024] A control device according to one embodiment of the present disclosure includes a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path, and the first display process execution unit displays the machining path to which the correction amount received by the correction amount receiving unit has been applied, and the correction amount receiving unit is further capable of receiving a correction amount for each contact coordinate.

[0025] In the present disclosure, each touch coordinate can be corrected.

[0026] In one embodiment of the control device of the present disclosure, when the position of the processing path not accepted by the selection receiving unit overlaps with the position of the arrow indicating the correction direction, the second display process executing unit displays the arrow indicating the correction direction above the processing path not accepted by the selection receiving unit.

[0027] In the present disclosure, when an arrow indicating the correction direction overlaps with a machining path that has not been accepted by the selection accepting unit on the display screen, the arrow indicating the correction direction is displayed preferentially.

[0028] A control device according to one embodiment of the present disclosure includes a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path, and when the correction amount receiving unit is selected, the second display process executing unit displays an arrow indicating the correction direction.

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

[0030] A control device according to one embodiment of the present disclosure includes a first calculation unit that calculates a progress vector connecting the coordinates of the midpoint of the selected machining path and the next contact coordinate of the midpoint of the machining path, a second calculation unit that calculates a normal vector perpendicular to the progress vector and the approach vector, and a judgment unit that judges whether the normal vector can be calculated, and if it is determined that the normal vector can be calculated, the second display process execution unit displays an arrow indicating the correction direction, and if it is determined that the normal vector cannot be calculated, the second display process execution unit does not display the arrow indicating the correction direction.

[0031] The moving vector and the approach vector are not located on the same line. If they are located on the same line, an abnormality has occurred. In the present disclosure, if the normal vector can be calculated, the moving vector and the approach vector are not located on the same line and no abnormality has occurred, so an arrow is displayed. If the normal vector cannot be calculated, the moving vector and the approach vector are located on the same line and an abnormality has occurred, so an arrow is not displayed.

[0032] A machine tool according to one embodiment of the present disclosure is a machine tool including a spindle and a control device that controls the drive of the spindle, wherein the control device generates a machining path of the spindle by executing a movement operation of the spindle to a surface of a master work based on a reference path along the surface of the master work which is determined based on a plurality of reference points, and is equipped with a first display process execution unit that displays the generated machining path on a display screen, a selection receiving unit that accepts a selection of at least a portion of the machining path, and a second display process execution unit that displays an arrow indicating the correction direction of the spindle relative to the machining path selected in the selection receiving unit next to the selected machining path.

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

[0034] A machining path generation method according to one embodiment of the present disclosure generates a machining path for a spindle by executing a movement operation of the spindle to a surface of a master workpiece along a reference path along the surface of the master workpiece that is determined based on a plurality of reference points, the generated machining path is displayed on a display screen, selection of at least a portion of the machining path is accepted, and an arrow indicating the correction direction of the spindle for the selected machining path is displayed next to the selected machining path.

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

[0036] A computer program according to one embodiment of the present disclosure is a computer program executable by a control device that generates a machining path for the spindle by performing a movement operation of the spindle to a surface of a master workpiece based on a reference path along the surface of the master workpiece that is determined based on a plurality of reference points, and causes the control device to display the generated machining path on a display screen, accept selection of at least a portion of the machining path, and display an arrow indicating the correction direction of the spindle for the selected machining path next to the selected machining path.

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

[0038] A storage medium according to an embodiment of the present disclosure stores a computer program executable by a control device that generates a machining path for the spindle by executing a movement operation of the spindle to a surface of a master workpiece based on a reference path along the surface of the master workpiece that is determined based on a plurality of reference points. The computer program displays the generated machining path on a display screen of the control device, accepts selection of at least a portion of the machining path, and displays an arrow indicating a correction direction of the spindle for the selected machining path next to the selected machining path.

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

[0040] In a control device, a machine tool, a machining path generating method, a computer program, and a storage medium according to an embodiment of the present disclosure, a machining path is displayed on a display screen. An operator selects at least a portion of the machining path. An arrow indicating a correction direction is displayed next to the selected machining path. By visually checking the direction of the arrow displayed next to the machining path, the operator can intuitively understand the correction direction for the machining path, i.e., the correction direction of the tool relative to the workpiece. This makes it possible to suppress misconception about whether to move the tool closer to the workpiece or away from the workpiece. [Brief description of the drawings]

[0041] [Figure 1] FIG. 1 is a schematic perspective view of a machine tool. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a machine tool. [Diagram 3] FIG. 11 is an explanatory diagram for explaining generation of a reference trajectory. [Figure 4] FIG. 11 is an explanatory diagram for explaining generation of a processing path. [Diagram 5] FIG. 11 is an explanatory diagram for explaining machining based on a machining path. [Figure 6]FIG. 4 is a diagram showing an example of a display screen. [Figure 7] FIG. 1 is an explanatory diagram for explaining a search method of search method No. 1. [Figure 8] FIG. 8 is a partially enlarged view of FIG. [Figure 9] FIG. 11 is an explanatory diagram for explaining generation of a processing path. [Figure 10] 13 is an explanatory diagram of a case where a smoothing function is used to correct the machining path so as to make it smooth. FIG. [Figure 11] FIG. 13 is a diagram showing an example of a display screen that displays an input field for setting processing conditions and a processing path. [Figure 12] FIG. 13 is a diagram showing an example of a display screen displaying an arrow in a first direction and an arrow in a second direction. [Figure 13] FIG. 2 is an explanatory diagram for explaining a progress vector, an approach vector, and a normal vector. [Figure 14] 13 is a flowchart illustrating an arrow display process performed by a control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] The present invention will be described below with reference to the drawings showing a machine tool according to an embodiment. In the following description, up, down, front, back, left and right shown in the drawings will be used. FIG. 1 is a schematic perspective view of the machine tool. The machine tool 1 has a base 2 that is rectangular in plan view. A plurality of reinforcing cylinders 2a are provided on the upper surface of the base 2. A support table 3 is provided on the reinforcing cylinder 2a in the center of the base 2. The support table 3 is cylindrical and holds a workpiece.

[0043] The three pillars 4 are provided around the support base 3 and extend upward from the reinforcing cylinder 2a. The three pillars 4 are arranged at phase intervals of approximately 120 degrees in a plan view. A track 5 is provided on the side surface of each pillar 4 that faces the support base 3, and the track 5 extends in the vertical direction.

[0044] The moving part 6 and the drive source are provided on the track 5. The drive source is, for example, a ball screw 14 and a moving axis motor 13 (see FIG. 2). The ball screw 14 driven by the moving axis motor 13 moves the moving part 6 up and down along the track 5. In other words, the moving part 6 is movable in a direction intersecting with a first support plate 10 described below. An attachment portion is provided on the side of the moving part 6 facing the support base 3, for attaching a first link 11 and a second link 21 described below. The attachment portion is, for example, a hole or a protrusion.

[0045] A first support plate 10 is disposed above the holding table 3. The first support plate 10 has a triangular shape in a plan view and is approximately parallel to the upper surface of the holding table 3. The three sides of the first support plate 10 face the three upright columns 4, respectively. That is, the three sides correspond to the three moving parts 6, respectively. Each side and each moving part 6 are connected by two parallel first links 11. The first links 11 are rod-shaped. One end of each of the two first links 11 is connected to both ends of the side, respectively, via a rotatable joint 7. The other end of each of the two first links 11 is connected to the moving part 6, respectively, via a rotatable joint 7. The joints 7 are, for example, universal joints.

[0046] The first support plate 10 holds a spindle 30 that protrudes upward and downward. The spindle 30 holds a tool 30a at its end. The tool 30a is an example of an end effector. Instead of the tool 30a, the spindle 30 may hold another end effector such as a touch probe. The second support plate 20 is disposed above the first support plate 10 (on the moving section 6 side), and a connecting tube 8 with its axial direction extending up and down is provided between the first support plate 10 and the second support plate 20. The connecting tube 8 connects the first support plate 10 and the second support plate 20. The connecting tube 8 integrates the first support plate 10 and the second support plate 20.

[0047] The upper part of the main shaft 30 passes through the second support plate 20 from the inside of the connecting tube 8. The second support plate 20 has a triangular shape in a plan view and is approximately parallel to the first support plate 10. The three sides of the second support plate 20 face the three upright columns 4, respectively. That is, the three sides correspond to the three moving parts 6, respectively. Each side and each moving part 6 are connected by two parallel second links 21. The second links 21 are rod-shaped. One end of each of the two second links 21 is connected to both ends of the side, respectively, via a rotatable joint 7. The other end of each of the two second links 21 is connected to the moving part 6, respectively, via a rotatable joint 7. The joints 7 are, for example, universal joints.

[0048] The connecting tube 8 has a hexagonal shape in a plan view, and three of the six sides at the upper end of the connecting tube 8, spaced apart in the circumferential direction, are connected to three sides of the second support plate 20. Of the six sides at the lower end of the connecting tube 8, three adjacent sides, spaced apart in the circumferential direction, are connected to three sides of the first support plate 10.

[0049] When the three moving parts 6 are at the same height position, the main shaft 30 is located approximately directly above the center of the support table 3. When two moving parts 6 are at the same vertical position and another moving part 6 moves downward relative to the two moving parts 6, the main shaft 30 moves only in the horizontal direction toward the opposite side of the moving part 6 moving downward.

[0050] When two moving parts 6 are at the same vertical position and another moving part 6 moves higher than the two moving parts 6, the spindle 30 moves only horizontally toward the moving part 6 moving higher. When the three moving parts 6 move the same distance in the vertical direction, the spindle 30 moves in the vertical direction. By combining these movements, the machine tool 1 positions the spindle 30 at the desired vertical, front-rear, left-right position. Therefore, the spindle 30 is connected to the ball screw 14 via the first support plate 10, the second support plate 20, the connecting cylinder 8, the first link 11, the second link 21, the joint 7, and the moving parts 6.

[0051] The spindle 30 is equipped with a spindle motor 12 (see FIG. 2). The spindle 30 positioned at a desired position is rotated by the spindle motor 12, and a tool 30a attached to the spindle 30 machines a workpiece held on the holder 3.

[0052] FIG. 2 is a block diagram showing the configuration of the machine tool. As shown in FIG. 2, the control device 40 includes a control unit 41, an auxiliary storage unit 42, a main storage unit 43, an input / output interface 44, an operation unit 45, and a display unit 46. The control unit 41 includes a processor such as a CPU, an MPU, or a GPU, or a logic circuit such as an FPGA, an ASIC, or a CPLD. The control unit 41 controls the operation of each unit of the machine tool 1. The auxiliary storage unit 42 is rewritable and includes, for example, an EEPROM, a flash ROM, or a hard disk. The auxiliary storage unit 42 stores a control program (not shown) for controlling the machine tool 1, a machining program DB 421 that stores a plurality of machining programs for machining a workpiece 95 (see FIG. 5), and a machining path generation program (hereinafter referred to as a program) 422. The program 422 executes a process for generating a machining path. The control device 40 may obtain the program 422 from a computer-readable storage medium 423, such as an optical disk or a portable flash memory, and store it in the auxiliary storage unit 42. Furthermore, the control device 40 may obtain the program 422 from an external device connected to the control device 40 via a communication network, and store the program 422 in the auxiliary storage unit 42 .

[0053] The main memory unit 43 is, for example, a RAM. The operation unit 45 is, for example, a keyboard, a button, a touch panel, a mouse, etc. The display unit 46 is, for example, a liquid crystal display panel, an organic EL panel, etc.

[0054] Table 1 below is an example of a storage table of the machining program DB 421. The machining program DB 421 stores a No. column, a machining program column, and a machining path column. The No. column stores the machining program number. The machining program column stores the program for each machining. The machining path column initially stores a reference path L0 generated by a method such as online teaching using CAM software. When the control unit 41 generates a machining path L1 based on the program 422, it overwrites the machining path column with the machining path L1 and stores it.

[0055] [Table 1]

[0056] When an operator operates the operation unit 45, a signal is input from the operation unit 45 to the input / output interface 44. The input / output interface 44 outputs the signal to the display unit 46. The display unit 46 displays characters, figures, symbols, and the like.

[0057] The control device 40 further includes a spindle control circuit 47 corresponding to the spindle motor 12, a servo amplifier 48, a moving axis control circuit 49 corresponding to the moving axis motor 13, and a servo amplifier 50. Based on a command from the control unit 41, the spindle control circuit 47 outputs a command indicating target values ​​such as the rotation direction and rotation speed of the spindle motor 12 to the servo amplifier 48. The servo amplifier 48 supplies power to the spindle motor 12 based on the command. The encoder 18 detects the rotation position and speed of the spindle motor 12, and sends a detection signal to the servo amplifier 48. The servo amplifier 48 compares the detection signal with the target values ​​and controls the output power.

[0058] Based on instructions from the control unit 41, the moving axis control circuit 49 outputs commands indicating target values ​​such as the moving direction and speed of the three moving parts 6 to the servo amplifier 50. The servo amplifier 50 supplies power to the moving axis motor 13 based on the commands. The encoder 19 detects the rotational position and speed of the moving axis motor 13 and sends a detection signal to the servo amplifier 50. The servo amplifier 50 compares the detection signal with the target values ​​and controls the output power.

[0059] The holding table 3 of the machine tool 1 holds a master workpiece 9 that has already been deburred, and a tool 30a is attached to the tip of the spindle 30. The master workpiece 9 has already been deburred, and thus has the desired machining accuracy. As shown in FIG. 3, a reference path L0 is generated on the outer periphery of the master workpiece 9 by a method such as online teaching using a CAM device. The reference path L0 is determined by a plurality of teaching points T on the reference path L0. j Based on teaching point T j is an example of a reference point. The reference path L0 is stored in the machining program DB 421.

[0060] FIG. 3 is an explanatory diagram for explaining the generation of the reference path, FIG. 4 is an explanatory diagram for explaining the generation of the machining path, and FIG. 5 is an explanatory diagram for explaining machining based on the machining path. The control unit 41 reads out the reference path L0 from the machining program DB 421, and moves the spindle 30 toward or away from the peripheral portion (surface) of the master workpiece 9 along the reference path L0 based on the program 422. The control unit 41 detects the contact of the tool 30a with the peripheral portion, and acquires the coordinates P of the center of the spindle 30 each time the contact is detected. As shown in FIG. 4, the control unit 41 generates a machining path L1 based on the acquired coordinates P of the multiple centers. When deburring a workpiece 95 with a burr, the workpiece 95 is held on the holding table 3. Based on the corresponding machining program, as shown in FIG. 5, the spindle 30 to which the tool 30a is attached is moved along the machining path L1 to machine the workpiece 95.

[0061] A method for generating a machining path will be described in detail below. A non-deburred workpiece is designated as a master workpiece 9, and an operator holds the master workpiece 9 on the holder 3. The operator attaches to the spindle 30 a tool 30 a to be used.

[0062] The control unit 41 acquires the reference path L0. After acquiring the number (No.) of the machining program based on the operation of the operator, the control unit 41 refers to the machining program DB 421 to acquire the corresponding reference path L0. Alternatively, the spindle 30 is moved to bring the tool 30a into contact with the master workpiece 9, and the coordinates of the point indicating the corner of the master workpiece 9 and the coordinates of the point where the attitude of the tool 30a changes are acquired, and the coordinates are set as the teaching point T. j Then, the teaching point T j The reference path L0 is obtained based on

[0063] The control unit 41 displays an input field on the display screen 46a of the display unit 46. The input field is used to input conditions such as the search method number, search interval, amount of evacuation, and amount of movement during measurement. FIG. 6 is a diagram showing an example of the display screen 46a. The operator inputs the search method number, search interval, amount of evacuation, and amount of movement during measurement using the operation unit 45. Candidates for the search interval, amount of evacuation, and amount of movement during measurement may be displayed and the operator may select one. The control unit 41 acquires the search method number, search interval, amount of evacuation, and amount of movement during measurement input by the operator and sets the search conditions.

[0064] FIG. 7 is an explanatory diagram for explaining the search method of search method No. 1. A case where the operator inputs search method No. 1 will be described. As shown in FIG. 7, a reference path L0 is a path initially stored in the machining program DB 421. A plurality of teaching points T j Fig. 7 shows three teaching points T1, T2, and T3. In Fig. 7, point S0 on the reference path L0 indicates the initial position of the center of the spindle 30, and point S1 indicates a passing point when the center of the spindle 30 moves from the initial position to the first teaching point, i.e., teaching point T1, for searching.

[0065] The center of the spindle 30 starts moving from the initial position point S0, and moves to the teaching point T1 via the passing point S1. The tool 30a, i.e., the spindle 30, comes into contact with the master workpiece 9. By contacting the master workpiece 9, the control unit 41 acquires the coordinate P1 of the center of the spindle 30. The control unit 41, which acquires the coordinate of the center of the spindle 30 by contacting the master workpiece 9, constitutes an acquisition unit. In other words, the coordinate P1 of the center of the spindle 30 is close to the coordinate of the teaching point T1.

[0066] Fig. 8 is a partially enlarged view of Fig. 7. As shown in Fig. 7, the control unit 41 moves the spindle 30 away based on a third vector c, which is the sum of a first vector a that faces the teaching point T2 from the coordinate P1 of the center of the spindle 30 and has the length of the search interval (hereinafter, the first length), and a second vector b that is perpendicular to the first vector a and has the length of the retreat amount (hereinafter, the second length). That is, the control unit 41 calculates the third vector c and moves the spindle 30 away toward the end point of the third vector c. P in Fig. 8 aindicates the center of the spindle 30 that has completed its separation from the master workpiece 9, and indicates the end point of the third vector c. a The coordinates of the first vector a and the second vector b form the approach start coordinates. The control unit 41 determines an angle θ a Next, the control unit 41 moves the spindle 30 closer to the master workpiece 9 based on a fourth vector d having a third length obtained by adding the amount of movement during measurement to the second length and having a direction opposite to that of the second vector b. Until contact with the master workpiece 9 is detected, the control unit 41 continues to move the spindle 30 closer to the master workpiece 9 based on an end point P b That is, the control unit 41 executes the approaching operation of the spindle 30 to the surface of the master workpiece 9 along the reference path L0. The control unit 41 that executes the approaching operation constitutes a first movement execution unit.

[0067] When contact with the master workpiece 9 is detected, the control unit 41 acquires the coordinate P2 of the center of the spindle 30. The control unit 41 separates the spindle 30 based on a third vector c, which is the sum of a first vector a that faces the teaching point T2 from the coordinate P2 of the center of the spindle 30 and has a first length, and a second vector b that is perpendicular to the first vector a and has a second length. That is, after acquiring the coordinate of the spindle, the control unit 41 executes a separation operation to separate the spindle 30 from the reference path L0. The control unit 41 that executes the separation operation constitutes a second movement execution unit. Next, the control unit 41 moves the spindle 30 closer based on a fourth vector d that has a direction opposite to that of the second vector b and has a third length that is the second length plus the movement amount during measurement. Until contact with the master workpiece 9 is detected, the control unit 41 continues to move the spindle 30 toward the end point P of the fourth vector d inside the master workpiece 9. b In this way, the spindle 30 repeats the moving away and approaching motions until it reaches the teaching point T2. When the distance between the teaching point T2 and the center of the spindle 30 becomes equal to or less than a predetermined threshold, the control unit 41 determines that the teaching point T2 has been reached, and changes the next target teaching point to teaching point T3. In FIG. 7, when the target teaching point is changed, the coordinate P i Then, the number i (i=1, 2, . . . ) of the coordinates of the center of the spindle 30 to be obtained next is reset to 1.

[0068] If the operator inputs another search method, for example, search method No. 2 or No. 3, the search is performed by a method different from No. 1. An example of a method different from No. 1 is to use a sensor that acquires force to continuously press the tool against the workpiece and trace the workpiece so that the pressing force is constant. With this method, the direction of the force can be acquired during the tracing operation, and the acquired direction can be used as the correction direction. Note that the above-mentioned method does not include a process of moving the tool 30a away from the master workpiece 9.

[0069] Fig. 9 is an explanatory diagram for explaining the generation of the machining path, and Fig. 10 is an explanatory diagram for the case where the machining path is corrected so as to be smooth by using a smoothing function. As shown in Fig. 9, the control unit 41 calculates the coordinate P i (i=1, 2, . . . ) to generate a machining path L1. The control unit 41 that generates the machining path L1 constitutes a generating unit. i is not limited to being connected in a line segment, but may be connected in an arc or curved line. As shown in Fig. 10, the control unit 41 can correct the curve of the machining path L1 to be smooth by using a smoothing function (a method of approximating with a smooth curve). Examples of smooth curves include spline curves, Bezier curves, and NURBS curves.

[0070] 11 is a diagram showing an example of a display screen 46a that displays an input field for setting processing conditions and a processing path L1. After generating the processing path L1, the control unit 41 displays an input field for setting processing conditions and the processing path L1 on the display screen 46a.

[0071] The input fields for setting the machining conditions include a feed rate input field 46b for inputting the feed rate of the spindle 30, a rotation speed input field 46c for inputting the rotation speed of the spindle 30, a correction amount input field 46d for inputting a correction amount for correcting the coordinates of the machining path L1, a smoothing process input field 46e for turning the smoothing process on or off, etc. The correction amount input field 46d constitutes a correction amount receiving section.

[0072] When the operator selects the correction amount input field 46d, for example, a cursor is displayed in the correction amount input field 46d. The operator can input a positive or negative value in the correction amount input field 46d. When a positive value is input, the control unit 41 controls the spindle 30 so that the spindle 30 is positioned closer to the workpiece than the machining path L1, i.e., on the first direction side. When a negative value is input, the control unit 41 controls the spindle 30 so that the spindle 30 is positioned farther from the workpiece than the machining path L1, i.e., on the second direction side.

[0073] A display field 46f that displays the program number is displayed on the display screen 46a. Below the display field 46f, frames 46g, 46h that indicate each step of the program are displayed. The control unit 41 displays the above-mentioned input fields 46b to 46e for each of the frames 46g, 46h. A machining path L1 is displayed below the input fields 46b to 46e and the frames 46g, 46h. The machining path L1 is displayed based on XYZ coordinates. The X coordinate is the left-right coordinate, the Y coordinate is the front-back coordinate, and the Z coordinate is the up-down coordinate. That is, the coordinate P of the spindle 30 i and teaching point T j The coordinates of are XYZ coordinates. i In Fig. 11 and Fig. 12 described later, the machining path L1 is a path when viewed from above, and is a path represented in a plane.

[0074] The operator can select at least a portion of the machining path L1. When the operator selects at least a portion of the machining path L1, the control unit 41 executes an arrow display process. FIG. 11 shows a case where a portion of the machining path L1 is selected. In FIG. 11, S indicates the start point of the selected portion, and E indicates the end point of the selected portion. In the selected portion, the spindle 30 moves from the start point S to the end point E. Each point on the machining path L1 corresponds to a teaching point T j Shows.

[0075] 12 is a diagram showing an example of a display screen 46a displaying an arrow in the first direction and an arrow in the second direction, and FIG. 13 is an explanatory diagram for explaining a progress vector, an approach vector, and a normal vector. When at least a part of the machining path L1 is selected, the control unit 41 calculates the XYZ coordinates P of the midpoint between the start point S and the end point E. m That is, the coordinates of the midpoint P m Get the coordinate P i is the coordinate of the midpoint P m That is, the coordinates of the midpoint P m is a set of coordinates P between the start point S and the end point E. i The control unit 41 determines the coordinates P of the midpoint in the direction of movement of the spindle 30, that is, in the direction from the start point S to the end point E. m The next coordinate P m+1 Get the.

[0076] As shown in FIG. 13, the control unit 41 determines the coordinates P m Then, the next coordinate P m+1 The vector toward the center of the line, i.e., the forward vector v1, is calculated. m Previous coordinate P m-1 and obtain the coordinates of the midpoint P m From the previous coordinate P m-1 The control unit 41 may set the vector pointing to the coordinate P of the midpoint as the progress vector. m The control unit 41 acquires a second vector b (see FIG. 8) used when acquiring each coordinate P i When obtaining the vector v2, the second vector b is calculated and stored in the auxiliary storage unit 42. That is, the auxiliary storage unit 42 calculates and stores the approach vector v2 in advance.

[0077] The control unit 41 calculates a normal vector v3 perpendicular to the moving vector v1 and the approach vector v2. The control unit 41 determines whether or not the normal vector v3 can be calculated. For example, if the moving vector v1 and the approach vector v2 are on the same straight line, the direction of the normal vector v3 cannot be determined, and the normal vector v3 cannot be calculated. In this case, it is considered that an abnormality has occurred in the processing, and the processing is terminated. If the normal vector v3 can be calculated, it is considered that no abnormality has occurred.

[0078] When the normal vector v3 can be calculated, the control unit 41 calculates the positions where the arrows and symbols are to be displayed, and displays the positive arrow 51, the positive symbol 51a, the negative arrow 52, ​​and the negative symbol 52a at the calculated positions. m A position at a predetermined distance from the midpoint P m The predetermined distance is stored in the auxiliary storage unit 42 in advance.

[0079] The positive arrow 51 is disposed at a position closer to the workpiece than the machining path L1, that is, at a position at a predetermined distance from the machining path L1 in the direction of the approach vector v2, and indicates the same direction as the direction of the approach vector v2. The direction of the approach vector v2 constitutes the first direction. The positive symbol 51a is disposed at a position at a predetermined distance from the tip of the positive arrow 51. The negative arrow 52 is disposed at a position farther from the workpiece than the machining path L1, that is, at a position at a predetermined distance from the machining path L1 in the reverse direction of the approach vector v2, and indicates the reverse direction of the approach vector v2. The reverse direction of the approach vector v2 constitutes the second direction. The negative symbol 52a is disposed at a position at a predetermined distance from the tip of the negative arrow 52. The positive arrow 51 and the negative arrow 52 are different in color. That is, the control unit 41 calculates the same direction as the direction of the approach vector v2 and the reverse direction of the approach vector v2, that is, the correction direction, based on the approach vector v2. The control unit 41 that calculates the correction direction constitutes a correction direction calculation unit.

[0080] As shown in FIG. 12, the positive arrow 51 is displayed below the selected machining path L1, and the positive sign 51a is displayed below the positive arrow 51. The negative arrow 52 is displayed above the selected machining path L1, and the negative sign 52a is displayed above the negative arrow 52. If the positive arrow 51 is displayed to the right of the selected machining path L1, the positive sign 51a is displayed to the right of the positive arrow 51. If the negative arrow 52 is displayed to the left of the selected machining path L1, the negative sign 52a is displayed to the left of the negative arrow 52. That is, the positive arrow 51 and the negative arrow 52 are displayed next to the selected machining path L1, the positive sign 51a is displayed next to the positive arrow 51, and the negative sign 52a is displayed next to the negative arrow 52.

[0081] When the positive arrow 51 or the negative arrow 52 overlaps with the unselected machining path L1 on the display screen 46a, the layer of the positive arrow 51 or the negative arrow 52 is located above the layer of the machining path L1. That is, the positive arrow 51 or the negative arrow 52 is displayed with priority over the machining path L1.

[0082] FIG. 14 is a flowchart for explaining the arrow display process by the control unit 41. In the initial state, the control unit 41 displays the machining path L1 on the display screen 46a. The control unit 41 that displays the machining path L1 on the display screen 46a constitutes a first display process execution unit. The control unit 41 judges whether or not the correction amount input field 46d is selected (S1). When the correction amount input field 46d is selected, for example, a cursor is displayed in the correction amount input field 46d. When it is judged that the correction amount input field 46d is not selected (S1: NO), the control unit 41 returns the process to step S1. When it is judged that the correction amount input field 46d is selected (S1: YES), the control unit 41 judges whether or not at least a part of the machining path L1 is selected (S2). When it is judged that at least a part of the machining path L1 is not selected (S2: NO), the control unit 41 returns the process to step S2. The control unit 41 that executes step S2 constitutes a selection reception unit.

[0083] When it is determined that at least a part of the machining path L1 has been selected (S2: YES), the control unit 41 calculates the coordinates P mAnd the next coordinate P m+1 (S3), calculates a progress vector v1 (S4), obtains an approach vector v2 (S5), and calculates a normal vector v3 (S6). The control unit 41 determines whether or not it is possible to calculate the normal vector v3 (S7). If it is determined that it is not possible to calculate the normal vector v3 (S7: NO), that is, if it is determined that it is not possible to calculate the normal vector v3, the control unit 41 ends the arrow display process. If it is not possible to calculate the normal vector v3, there is a high possibility that an abnormality has occurred in the process.

[0084] When it is determined that the normal vector v3 can be calculated (S7: YES), the control unit 41 calculates the display positions of the positive arrow 51, the positive symbol 51a, the negative arrow 52, ​​and the negative symbol 52a (S8). m That is, a positive arrow 51 is displayed at a position at a predetermined distance from the machining path L1 in the direction of the approach vector v2, that is, next to the selected machining path, and a positive symbol 51a is displayed at a position at a predetermined distance from the tip of the positive arrow 51 (S9). m In other words, the negative arrow 52 is displayed at a position a predetermined distance away from the machining path L1 in the opposite direction of the approach vector v2, i.e., next to the selected machining path, and a negative sign 52a is displayed at a position a predetermined distance away from the tip of the negative arrow 52 (S10), and the process ends. The control unit 41 that executes steps S9 and S10 constitutes a second display process execution unit. The positive arrow 51 and the negative arrow 52 are aligned with each other at the midpoint P m For example, multiple arrows may be displayed at positions apart from the predetermined distance from each teaching point, or multiple arrows may be displayed at positions apart from the predetermined distance from each contact coordinate. Note that it is also possible to display the positive arrow 51 and the negative arrow 52, ​​but not the positive sign 51a and the negative sign 52a.

[0085] The user visually checks the positive arrow 51 or the negative arrow 52, ​​and inputs a correction amount in the correction amount input field 46d to position the machining path L1 in a desired direction. When a positive correction amount is input in the correction amount input field 46d, the control unit 41 corrects the machining path L1 so that the selected part of the machining path L1 is positioned on the positive side, i.e., the side approaching the workpiece, from the current position, and displays the corrected machining path L1 on the display screen 46a. When a negative correction amount is input in the correction amount input field 46d, the control unit 41 corrects the machining path L1 so that the selected part of the machining path L1 is positioned on the negative side, i.e., the side away from the workpiece, from the current position, and displays the corrected machining path L1 on the display screen 46a. That is, the control unit 41 displays the machining path L1 to which the correction amount accepted in the correction amount input field 46d is applied, on the display screen 46a.

[0086] In the embodiment, a plurality of coordinates P i is selected, and the correction amount input field 46d is i Although one correction amount for the whole is accepted, the minimum unit of selection of the machining path L1 is the coordinate P i That is, the correction amount input field 46d is i Each correction amount for can be accepted.

[0087] In the embodiment, the positive arrow 51 and the negative arrow 52 are displayed, but only one of the positive arrow 51 and the negative arrow 52 may be displayed. In this case, either the positive sign 51a or the negative sign 52a may be displayed in correspondence with either the positive arrow 51 or the negative arrow 52 to be displayed.

[0088] In the machine tool according to the embodiment, a machining path L1 is displayed on the display screen 46a. The operator selects at least a part of the machining path L1. Arrows 51, 52 indicating the correction direction are displayed next to the selected machining path L1. By visually checking the directions of the arrows 51, 52 displayed next to the machining path L1, the operator can intuitively understand the correction direction for the machining path L1, i.e., the correction direction of the tool relative to the workpiece. This makes it possible to suppress the operator from mistakingly deciding whether to move the tool closer to the workpiece or away from the workpiece.

[0089] Also displayed is a positive arrow 51 in a first direction, which is the same direction as the approach vector v2, that is, the direction approaching the workpiece.

[0090] Furthermore, a positive symbol 51a is displayed next to the positive side arrow 51 of the first direction. When an operator visually recognizes the positive symbol 51a, the operator can easily recognize that the first direction is the direction toward the workpiece.

[0091] Also displayed is a negative arrow 52 in a second direction opposite to the approach vector v2, that is, in a direction away from the workpiece.

[0092] Furthermore, a negative symbol 52a is displayed next to the negative side arrow 52 of the second direction. When an operator visually recognizes the negative symbol 52a, the operator can easily recognize that the second direction is the direction away from the workpiece.

[0093] Also displayed are a first direction, which is the same direction as the approach vector v2, i.e., a positive arrow 51 in the direction approaching the workpiece, and a second direction, which is the opposite direction of the approach vector, i.e., a negative arrow 52 in the direction away from the workpiece.

[0094] Furthermore, since the positive arrow 51 and the negative arrow 52 are different in color, the operator can easily recognize that the two arrows point in different directions.

[0095] When a positive correction value is received in the correction amount input field 46d, the position of the spindle 30, i.e., the machining path L1 position, is located closer to the work than the current machining path L1, and when a negative correction value is received in the correction amount input field 46d, the position is located farther from the work than the current machining path L1. i can be corrected.

[0096] Furthermore, when the positive arrow 51 or the negative arrow 52 overlaps with the non-selected machining path L1 on the display screen 46a, the positive arrow 51 or the negative arrow 52 is preferentially displayed.

[0097] Furthermore, when the operator selects the correction amount input field 46d and the cursor is displayed in the correction amount input field 46d, the control unit 41 displays a positive arrow 51 or a negative arrow 52.

[0098] Furthermore, if the normal vector v3 can be calculated, the moving vector v1 and the approaching vector v2 are not on the same line and no abnormality has occurred, so the positive arrow 51 or the negative arrow 52 is displayed. If the normal vector v3 cannot be calculated, the moving vector v1 and the approaching vector v2 are on the same line and an abnormality has occurred, so the positive arrow 51 or the negative arrow 52 is not displayed.

[0099] It should be noted that a computer program can be deployed to be executed on a single computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

[0100] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The matters described in each embodiment can be combined with each other. In addition, the independent claims and dependent claims described in the claims can be combined with each other in all combinations regardless of the citation format. Furthermore, the claims use a format (multiple claim format) in which a claim cites two or more other claims, but this is not limited to this. A format in which a multiple claim (multi-multi claim) citing at least one multiple claim may be used. [Explanation of symbols]

[0101] 40 Control device 41 Control section 42 Auxiliary storage 43 Main memory 45 Control section 46 Display 46a Display screen 9 Masterwork 30 spindle

Claims

1. 1. A control device that generates a machining path for a spindle by executing a movement operation of the spindle to a surface of a master work based on a reference path along the surface of the master work, the reference path being determined based on a plurality of reference points, the control device comprising: a first display processing execution unit that displays the generated machining path on a display screen; A selection receiving unit that receives a selection of at least a part of the processing path; a second display processing execution unit that displays an arrow indicating a correction direction of the spindle with respect to the machining path selected in the selection receiving unit next to the selected machining path; Equipped Control device.

2. a first movement execution unit that executes an approaching operation of the spindle to the surface of the master workpiece along the reference path; an acquisition unit that acquires coordinates of the spindle when an end effector attached to the spindle comes into contact with the surface during an approach operation by the first movement execution unit; a second movement execution unit that executes a moving-away operation of the spindle relative to the reference path after the coordinates of the spindle are acquired by the acquisition unit; a generation unit that generates the machining path of the spindle based on a plurality of contact coordinates obtained by the acquisition unit, the contact coordinates being the coordinates of the spindle when the end effector comes into contact with the surface during the approaching operation, the first movement execution unit repeatedly executing an approaching operation and a separating operation by the second movement execution unit; a correction direction calculation unit that calculates the correction direction based on an approach vector from an approach start coordinate, which is a coordinate of the spindle at the start of the approach operation, toward the contact time coordinate for the machining path selected by the selection reception unit; Equipped with The first display process execution unit displays the machining path generated by the generation unit on a display screen, The second display process executing unit displays an arrow indicating the correction direction calculated by the correction direction calculation unit next to the machining path selected in the selection receiving unit. The control device according to claim 1 .

3. the correction direction has a first direction that is the same as the approach vector; The second display process executing unit displays an arrow in the first direction. The control device according to claim 2.

4. The second display process execution unit displays a plus sign next to the arrow in the first direction. The control device according to claim 3.

5. the correction direction has a second direction opposite to the approach vector; The second display process executing unit displays an arrow in the second direction. The control device according to claim 2.

6. The second display process execution unit displays a negative sign next to the arrow in the second direction. The control device according to claim 5.

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

8. The first direction arrow and the second direction arrow have different colors. The control device according to claim 7.

9. a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path; The first display process executing unit displays the machining path to which the correction amount accepted by the correction amount accepting unit has been applied. A control device according to any one of claims 1 to 8.

10. a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path; The first display process executing unit displays the machining path to which the correction amount accepted by the correction amount accepting unit has been applied, The correction amount receiving unit is further capable of receiving a correction amount for each contact coordinate. The control device according to claim 2.

11. When a position of the machining path not accepted by the selection accepting unit overlaps with a position of the arrow indicating the correction direction, the second display process executing unit displays the arrow indicating the correction direction on the machining path not accepted by the selection accepting unit. A control device according to any one of claims 1 to 8.

12. a correction amount receiving unit that receives a correction amount for correcting the coordinates of the machining path; The second display process executing unit displays an arrow indicating the correction direction when the correction amount receiving unit is selected. A control device according to any one of claims 1 to 8.

13. A first calculation unit that calculates a progress vector connecting coordinates of a midpoint of the selected machining path and the next coordinates of the contact time of the midpoint of the machining path; a second calculation unit that calculates a normal vector perpendicular to the movement vector and the approach vector; a determination unit that determines whether the normal vector can be calculated; When it is determined that the normal vector can be calculated, the second display process executing unit displays an arrow indicating the correction direction, When it is determined that the normal vector cannot be calculated, the second display process execution unit does not display the arrow indicating the correction direction. A control device according to any one of claims 2 to 8.

14. A machine tool including a spindle and a control device for controlling the drive of the spindle, The control device includes: A machining path of the spindle is generated by executing a movement operation of the spindle to the surface of the master workpiece based on a reference path along the surface of the master workpiece, the reference path being determined based on a plurality of reference points; a first display processing execution unit that displays the generated machining path on a display screen; A selection receiving unit that receives a selection of at least a part of the processing path; a second display processing execution unit that displays an arrow indicating a correction direction of the spindle with respect to the machining path selected in the selection receiving unit next to the selected machining path; A machine tool comprising:

15. 1. A machining path generating method for generating a machining path of a spindle by executing a movement operation of the spindle to a surface of a master workpiece along a reference path along the surface of the master workpiece, the reference path being determined based on a plurality of reference points, the method comprising: Displaying the generated processing path on a display screen; Accepting a selection of at least a portion of the processing path; An arrow indicating the correction direction of the spindle for the selected machining path is displayed next to the selected machining path. A method for generating machining paths.

16. 1. A computer program executable by a control device for generating a machining path for a spindle by executing a movement operation of the spindle to a surface of a master workpiece based on a reference path along the surface of the master workpiece, the reference path being determined based on a plurality of reference points, the computer program comprising: The control device includes: Displaying the generated processing path on a display screen; Accepting a selection of at least a portion of the processing path; An arrow indicating the correction direction of the spindle for the selected machining path is displayed next to the selected machining path. A computer program that executes a process.

17. A storage medium storing a computer program executable by a control device for generating a machining path of a spindle by executing a movement operation of the spindle to a surface of a master workpiece based on a reference path along the surface of the master workpiece, the reference path being determined based on a plurality of reference points, the storage medium comprising: The computer program is Displaying the generated processing path on a display screen; Accepting a selection of at least a portion of the processing path; An arrow indicating the correction direction of the spindle for the selected machining path is displayed next to the selected machining path. A storage medium that executes processing.

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