Route changing device and computer-readable recording medium

Abstract

A route change device according to the present disclosure comprises: a program analysis unit that sequentially reads blocks from a control program and analyzes commands by the blocks; a curve formation determination unit that, when two consecutive movement commands include an arc command, detects a reference value related to curve formation in each of the movement commands, and determines, on the basis of the reference value, whether a connecting portion of the route related to the movement commands needs to be curved; and a curve formation processing unit that determines a curve formation parameter on the basis of the reference value related to the curve for the route in which curve formation is needed, and curves the route on the basis of the determined curve formation parameter, wherein the curve formation parameter determined by the curve processing unit is the same value or increases when the reference value increases.

Description

Route change device and computer-readable recording medium

[0001] The present disclosure relates to a route change device and a computer-readable recording medium.

[0002] Machining programs for machine tools are created by combining linear and circular commands, and the connections between these are generally discontinuous. To ensure smooth execution of these commands and achieve machining accuracy, the command path is smoothed using a filter or curved using a spline curve (see, for example, Patent Document 1).

[0003] JP 2015-082251 A

[0004] At the connection point with a circular arc, the normal acceleration changes not only when the connection is discontinuous, but also when the connection is continuous. This can easily cause shape errors at the connection point, degrading machining accuracy. This makes it necessary to curve the connection. When two straight lines are connected discontinuously, the connection point is curved according to a predetermined tolerance (the maximum deviation between the original path and the curve). On the other hand, when two circular arcs are connected, the connection point must be curved so as not to significantly damage the shape of the circular arc. In this case, it is difficult to curve the connection with a constant tolerance. Therefore, a technology is needed to accurately curve the connection between two circular arcs.

[0005] The path change device disclosed herein solves the above problem by determining the curvature tolerance or curvature range for paths related to two consecutive movement commands, depending on at least one of the radius of curvature or the difference in curvature, the connection angle, and the distance between the arc center positions.

[0006] [Correction based on Rule 91 14.10.2025] One aspect of the present disclosure is a path changing device comprising: a program analysis unit that sequentially reads blocks from a control program and analyzes commands based on the blocks; a curvature determination unit that, when two consecutive movement commands include arc commands, detects reference values ​​for curving, including at least one of the difference in curvature or curvature radius, the difference in angle between the moving direction or the normal direction, and the distance between the arc centers, between the movement commands, and determines whether curving is necessary at a connection point of paths related to the movement commands based on the reference values; and a curvature processing unit that determines curvature parameters for paths that require curving, including at least one of a tolerance that is the maximum deviation of the path before and after curving and a curvature range, based on the reference values ​​for curvature, and curves the path based on the determined curvature parameters, wherein the curvature parameters determined by the curvature processing unit remain the same or increase when the reference value increases.

[0007] FIG. 1 is a schematic hardware configuration diagram of a path changing device according to a first embodiment. FIG. 2 is a block diagram showing the schematic functions of a path changing device according to the first embodiment. FIG. 3 is a schematic diagram illustrating two connected circular paths. FIG. 4 is a schematic diagram showing another example of two connected circular paths. FIG. 5 is a schematic diagram showing another example of two connected circular paths. FIG. 6 is a schematic diagram showing another example of two connected circular paths. FIG. 7 is a table diagram illustrating the relationship between a difference in curvature radius and a tolerance. FIG. 8 is a table diagram illustrating the relationship between a difference in connection angle and a tolerance. FIG. 9 is a table diagram illustrating the relationship between the distance of the arc center positions of paths and a tolerance. FIG. 10 is a table diagram illustrating the relationship between a difference in curvature radius and a curved line range. FIG. 11 is a table diagram illustrating the relationship between a difference in connection angle and a curved line range. FIG. 12 is a table diagram illustrating the relationship between the distance of the arc center positions of paths and a curved line range. FIG. 13 is a schematic diagram illustrating the relationship between tolerance, a curved line range, and continuous paths. FIG. 14 is a schematic diagram for explaining the process of enlarging / reducing a curved path. FIG. 15 is a block diagram showing the schematic functions of a path changing device according to another embodiment.

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, components having the same or similar functions will be denoted by the same reference numerals. Duplicate descriptions of those components may be omitted.

[0009] In this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0010] First Embodiment Fig. 1 is a schematic hardware configuration diagram showing the main parts of a path changing device according to an embodiment of the present disclosure. The functions of the path changing device 1 of the present disclosure can be implemented on a control device that controls industrial machinery such as a machine tool or a robot that has a moving object that moves when driven by a motor. The functions can also be implemented on a computer such as a personal computer attached to the control device, or a personal computer, cell computer, fog computer 6, or cloud server 7 connected to the control device via a wired or wireless network. In this embodiment, the path changing device 1 will be described as an example in which each function is implemented on a control device that controls a machine tool that processes a workpiece by controlling the relative position between a tool and a workpiece.

[0011] The CPU 11 included in the route changing device 1 of the present disclosure is a processor that controls the entire route changing device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire route changing device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from outside, and the like.

[0012] The non-volatile memory 14 is configured, for example, by a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and maintains its stored state even when the power to the route changing device 1 is turned off. The non-volatile memory 14 stores control programs and data read from the external device 72 via the interface 15, data and control programs input via the input device 71, and various data acquired from the industrial machine 3. The control programs and data stored in the non-volatile memory 14 may be expanded into the RAM 13 when executed / used. In addition, various system programs such as known analysis programs are written in the ROM 12 in advance.

[0013] The interface 15 is an interface for connecting the CPU 11 of the path changing device 1 to an external device 72 such as a USB memory, CompactFlash (registered trademark), or SD card. For example, control programs and various data used to control the industrial machine 3 can be read from the external device 72. Furthermore, control programs and various data edited within the path changing device 1 can be stored in the external device 72. A programmable logic controller (PLC) 16 outputs signals to the industrial machine 3 and its peripheral devices (e.g., tool changers, actuators such as robots, sensors attached to the industrial machine 3, etc.) via an I / O unit 17 to control the industrial machine 3 and its peripheral devices (e.g., tool changers, actuators such as robots, sensors attached to the industrial machine 3, etc.) using a sequence program built into the path changing device 1. The PLC 16 also receives signals from various switches on an operation panel installed on the main body of the industrial machine 3 and peripheral devices, performs necessary signal processing, and then passes the signals to the CPU 11.

[0014] The display device 70 displays various data loaded into the memory, data obtained as a result of executing control programs, system programs, etc., output via the interface 18. In addition, the input device 71, which is composed of a keyboard, pointing device, etc., passes instructions, data, etc. based on operations by an operator to the CPU 11 via the interface 19.

[0015] The interface 20 is an interface for connecting the CPU 11 of the path change device 1 to a wired or wireless network 5. The network 5 may communicate using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. Other industrial machines 4, fog computers 6, cloud servers 7, etc. are connected to the network 5, and data is exchanged between the network 5 and the path change device 1.

[0016] The axis control circuit 30 for controlling the drive axes of the industrial machine 3 receives drive axis position commands from the CPU 11 and outputs commands for the drive axes to the servo amplifier 40. The servo amplifier 40 receives these commands and drives the servo motors 50, which are the drive axes, to move each part of the industrial machine 3 along the respective axes. Each servo motor 50 has a built-in position detector, and feeds back a position feedback signal from this position detector to the axis control circuit 30. The axis control circuit 30 performs feedback control of the servo motor 50 based on this position feedback signal. Note that while the hardware configuration diagram in FIG. 1 shows only one axis control circuit 30, one servo amplifier 40, and one servo motor 50, in reality, there are as many axis control circuits 30, as there are axes of the industrial machine 3 to be controlled. For example, to control a typical machine tool with three linear axes, three sets of axis control circuits 30, servo amplifiers 40, and servo motors 50 are provided to move a spindle to which a tool is attached and a workpiece relatively in the three linear axes (X-axis, Y-axis, and Z-axis).

[0017] The spindle control circuit 60 receives a spindle rotation command and outputs a spindle speed signal to a spindle amplifier 61. The spindle amplifier 61 receives this spindle speed signal and rotates a spindle motor 62 of the industrial machine 3 at the commanded rotation speed to drive the spindle. A position coder 63 is connected to the spindle motor 62. The position coder 63 outputs a feedback pulse in synchronization with the rotation of the spindle, and the feedback pulse is read by the CPU 11.

[0018] 2 is a schematic block diagram illustrating functions of the route changing device 1 according to the first embodiment of the present disclosure. Each function of the route changing device 1 according to this embodiment is realized by the CPU 11 of the route changing device 1 shown in FIG. 1 executing a system program and controlling the operation of each unit of the route changing device 1.

[0019] The path changing device 1 of this embodiment includes a program analysis unit 100, a curve formation determination unit 110, a curve formation processing unit 120, an interpolation unit 130, an acceleration / deceleration unit 140, and a servo control unit 150. The RAM 13 to the nonvolatile memory 14 of the path changing device 1 store a control program 200 for controlling the industrial machine 3.

[0020] The program analysis unit 100 sequentially reads out blocks of the control program 200 and analyzes the read out blocks. Then, based on the analysis results, it creates a movement command relating to a path for moving a drive unit provided in the industrial machine 3. This path is, for example, a connection of multiple straight paths and multiple curved paths that take into account offset values ​​such as tool radius compensation. The program analysis unit 100 outputs the created movement command to the curve formation determination unit 110.

[0021] The curve formation determination unit 110 determines whether to form a curve between paths corresponding to two consecutive movement commands created by the program analysis unit 100. When at least one of the two consecutive movement commands is a command for a circular arc path, the curve formation determination unit 110 detects, as a reference value for curvature, at least one of the difference in the curvature or radius of curvature of the path, the difference in the angle of the path's forward direction or normal direction, and the distance between the arc centers of the path before and after the connection point of the paths corresponding to the respective movement commands. Then, based on the reference value for curvature, the curve formation determination unit 110 determines whether or not to form a curve at the connection point of the paths. The curve formation determination unit 110 outputs the detected reference value and the determination result of whether or not to form a curve to the curve formation processing unit 120.

[0022] 3 is a schematic diagram illustrating two connected arc paths. In the example of FIG. 3, a point P i and P i+1 Arc path C connecting i and point P i+1and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i Radius of curvature R i and arc path C i+1 Radius of curvature R i+1 Also, the connecting point P i+1 The arc path C just before i The direction of travel and point P i+1 The arc path C immediately after i+1 The direction of travel is the same (connection angle θ i is 0°). Furthermore, the arc path C i The center position of the arc path C i+1 The distance of the center position of the arc path C is 0. i and arc path C i+1 In this way, when all the reference values ​​related to curve formation are 0, the curve formation determination unit 110 determines whether the point P i+1 Alternatively, the curve forming determination unit 110 may determine that curve forming processing is to be performed using predetermined curve forming parameters.

[0023] 4 is a schematic diagram showing another example of two connected arc paths. In the example of FIG. 4, point P i and P i+1 Arc path C connecting i and point P i+1 and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i Radius of curvature R i is the arc path C i+1 Radius of curvature R i+1 Also, the connection point P i+1 The arc path C just before i The direction of travel and point P i+1 The arc path C immediately after i+1 The direction of travel is the same (connection angle θ i is 0°). Furthermore, the arc path C i The center position of the arc path Ci+1 Distance d between the centers of i is greater than 0. This means that the arc path C i and arc path C i+1 Although the point P is smoothly connected, it indicates that a sudden change in curvature occurs. In such a case, the curved line forming determination unit 110 determines whether the point P i+1 It is determined that the connection needs to be curved.

[0024] [Correction based on Rule 91 14.10.2025] Figure 5 is a schematic diagram showing another example of two connected circular arc paths. In the example of Figure 5, point P i and P i+1 Arc path C connecting i and point P i+1 and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i Radius of curvature R i and arc path C i+1 Radius of curvature R i+1 Also, the connecting point P i+1 The arc path C just before i The direction of travel and point P i+1 The arc path C immediately after i+1 The direction of travel is different (connection angle θ i is greater than 0°). Furthermore, the arc path C i The center position of the arc path C i+1 Distance d between the centers of i is greater than 0. This means that the arc path C i and arc path C i+1 indicates that there is no sudden change in curvature, but the connection is not smooth at the connection point. In such a case, the curved line forming determination unit 110 determines whether the point P i+1 It is determined that the connection needs to be curved.

[0025] [Correction based on Rule 91 14.10.2025] Figure 6 is a schematic diagram showing another example of two connected circular arc paths. In the example of Figure 6, point P i and P i+1 Arc path C connecting i and point P i+1and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i Radius of curvature R i is the arc path C i+1 Radius of curvature R i+1 Also, the connection point P i+1 The arc path C just before i The direction of travel and point P i+1 The arc path C immediately after i+1 The direction of travel is different (connection angle θ i is greater than 0°). Furthermore, the arc path C i The center position of the arc path C i+1 Distance d between the centers of i is greater than 0. This means that the arc path C i and arc path C i+1 In this case, the curved line forming determination unit 110 determines whether the point P i+1 It is determined that the connection needs to be curved.

[0026] 7 is a schematic diagram showing another example of two connected arc paths. In the example of FIG. 7, point P i and P i+1 Arc path C connecting i and point P i+1 and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i The center position of the arc path C i+1 In this case, the distance d ibecomes a very large value and cannot be used as a reference value for curve formation under the same criteria. Therefore, the curve formation determination unit 110 may determine that curve formation is to be performed without imposing any restrictions on the tolerance. Note that, if one of the paths related to two consecutive movement commands is a straight path, the difference in the curvature or radius of curvature of the path cannot be used as a reference value for curve formation under the same criteria. In such a case, the curve formation determination unit 110 may consider the straight line to be an arc with an infinite radius of curvature and use the radius of curvature R i =∞ or d i =∞, which can be used as a special reference value for curve formation to determine whether curve formation is necessary.

[0027] The curve forming processor 120 performs a curve forming process on two consecutive paths that require curve forming. The curve forming process may use known techniques, such as a smoothing filter or a spline curve. The curve forming processor 120 determines curve forming parameters, including at least one of a tolerance for curve forming (the maximum deviation between the path before curve forming and the path after curve forming) and a curve forming range, based on reference values ​​including at least one of the difference in the path curvature or curvature radius, the difference in the path's direction of travel or the angle of the normal direction, and the distance between the path's arc center positions. Then, the curve forming processor 120 curves the paths associated with two consecutive movement commands based on the determined curve forming parameters. The curve forming processor 120 outputs the curved movement commands to the interpolation unit 130.

[0028] The curve forming processing unit 120 may determine the curve forming tolerance T using a table or formula that defines the relationship between the reference value and the curve forming tolerance T. FIG. 8 is a table diagram illustrating the relationship between the difference in curvature radius and the tolerance T. The following formula 1 shows an example of the formula that defines the relationship between the difference in curvature radius and the tolerance T. Note that in FIG. 8 and formula 1, the respective curvature radii R of two consecutive curved paths are i , R i+1 The smaller radius of curvature is R s , the larger radius of curvature is R l As shown in FIG. 8 and equation 1, the previous arc path C i Radius of curvature Ri and the subsequent arc path C i+1 Radius of curvature R i+1 It is desirable that the greater the difference between the curvature radii is, the greater the value of the tolerance T. This relationship can be determined in advance by experiment or the like to find an appropriate relationship between the difference between the curvature radii and the tolerance T.

[0029]

[0030] FIG. 9 is a table illustrating the relationship between the difference in connection angle and the tolerance T. The following formula 2 shows an example of a formula that defines the relationship between the difference in connection angle and the tolerance T. In FIG. 9 and formula 2, the radius of curvature R of each of two consecutive curved paths is i , R i+1 The smaller radius of curvature is R s As shown in FIG. 9 and Equation 2, the previous arc path C i and the subsequent arc path C i+1 Connection angle θ i It is desirable that the larger the difference in connection angle, the larger the value of the tolerance T. Regarding this relationship, it is sufficient to obtain an appropriate relationship between the difference in connection angle and the tolerance T in advance through experiments or the like.

[0031]

[0032] [Correction based on Rule 91 14.10.2025] Figure 10 shows the distance d i 10 is a table illustrating the relationship between the distance between the arc center positions of the path and the tolerance T. In addition, the following formula 3 shows an example of a formula that defines the relationship between the radius of curvature R of each of two consecutive curved paths. i , R i+1 The smaller radius of curvature is R s As shown in FIG. 10 and Equation 3, the distance d i It is desirable that the larger the tolerance T, the larger the value of the tolerance T. This relationship can be determined by previously conducting experiments, etc., to find the distance d iand the tolerance T.

[0033]

[0034] A table or formula may be prepared that defines the relationship between a combination of multiple reference values ​​and the tolerance T for curve fitting. Even in such a case, it is sufficient to previously determine and define the relationship between the appropriate multiple reference values ​​and the tolerance T through experiments or the like.

[0035] The curve forming processing unit 120 may determine the curve forming range L using a table or formula that defines the relationship between the reference value and the curve forming range L. FIG. 11 is a table diagram illustrating the relationship between the difference in curvature radius and the curve forming range L. Furthermore, the following formula 4 shows an example of a formula that defines the relationship between the difference in curvature radius and the curve forming range L. Note that in FIG. 11 and formula 4, the respective curvature radii R of two consecutive curved paths are i , R i+1 The smaller radius of curvature is R s , the larger radius of curvature is R l As shown in FIG. 11 and Equation 4, the previous arc path C i Radius of curvature R i and the subsequent arc path C i+1 Radius of curvature R i+1 It is desirable that the greater the difference between the radii of curvature and the curved line range L, the greater the value of the curved line range L. This relationship can be determined in advance by experiment or the like.

[0036]

[0037] [Correction based on Rule 91 14.10.2025] Figure 12 is a table illustrating the relationship between the difference in connection angle and the range L of curvature. The following formula 5 shows an example of a formula that defines the relationship between the difference in connection angle and the range L of curvature. Note that in Figure 12 and formula 5, the radius of curvature R of each of two consecutive curved paths is i , R i+1 The smaller radius of curvature is R s As shown in FIG. 12 and Equation 5, the previous arc path C iand the subsequent arc path C i+1 Connection angle θ i It is desirable that the larger the angle, the larger the value of the curved range L. This relationship can be determined in advance by experiment or the like, to determine an appropriate relationship between the difference in connection angle and the curved range L.

[0038]

[0039] FIG. 13 shows the distance d i 13 and the range L of the curved line. The following formula (6) shows an example of a formula that defines the relationship between the distance of the arc center position of the path and the range L of the curved line. As shown in FIG. 13 and formula (6), i It is desirable that the larger the value of the curved line range L, the larger the value of the curved line range L. This relationship can be determined in advance by experiment or the like.

[0040]

[0041] A table or a formula may be prepared that defines the relationship between the combination of multiple reference values ​​and the range L of the curved line. Even in such a case, it is sufficient to determine and define the relationship between the appropriate multiple reference values ​​and the range L of the curved line in advance through experiments or the like.

[0042] 14 is a schematic diagram illustrating the relationship between the tolerance T, the curved range L, and the continuous path. In FIG. 14, the solid lines represent two continuous paths C instructed by the blocks of the control program 200. i and Route C i+1 The dotted line indicates the path S generated by curving. i As shown in FIG. 14, two consecutive paths C i and Route C i+1 C before the connection point ｉ L / (C ｉ +C i+1 ) to C ｉ+1 L / (C ｉ +C i+1) is curved over a curved range L. At this time, the curved line processing may be performed with a tolerance T as the maximum deviation from the original path.

[0043] The interpolation unit 130 performs an interpolation process to calculate the movement amount per interpolation cycle for each axis of the industrial machine 3. Then, it creates movement command data indicating the movement amount per interpolation cycle for each axis. The interpolation unit 130 outputs the created movement command data per interpolation cycle to the acceleration / deceleration unit 140.

[0044] The acceleration / deceleration unit 140 performs post-interpolation acceleration / deceleration processing to adjust the amount of movement for each interpolation cycle for the movement command data for each interpolation cycle created by the interpolation unit 130. The post-interpolation acceleration / deceleration processing performed by the acceleration / deceleration unit 140 suppresses the magnitude of the first-order differential value in the movement of the drive unit along a predetermined axis based on the movement command data by, for example, applying a mean value filter to the movement command data for each interpolation cycle. The acceleration / deceleration unit 140 outputs the movement command data for each interpolation cycle that has been subjected to acceleration / deceleration processing to the servo control unit 150.

[0045] The servo control unit 150 controls each servo motor 50 so that the drive unit of the industrial machine 3 moves along each axis based on the movement command data for each interpolation period input from the acceleration / deceleration unit 140 .

[0046] The path changing device 1 according to this embodiment, which is configured as described above, can select appropriate curve forming parameters for each continuous path commanded by a block of the control program 200 that includes an arc, and perform the curve forming process. This suppresses acceleration changes that occur at the connection points of the blocks, and is expected to improve machining accuracy.

[0047] Second Embodiment A route changing device 1 according to a second embodiment will be described below. The route changing device 1 according to this embodiment determines a reference radius R0 when curving two consecutive routes, and performs the curving based on this reference radius R0.

[0048] Similar to the path changing device 1 according to the first embodiment, the path changing device 1 according to the second embodiment of the present disclosure includes a program analysis unit 100, a curve formation determination unit 110, a curve formation processing unit 120, an interpolation unit 130, an acceleration / deceleration unit 140, and a servo control unit 150. In addition, a control program 200 for controlling the industrial machine 3 is stored in the RAM 13 to the nonvolatile memory 14 of the path changing device 1.

[0049] The program analysis unit 100, curve formation judgment unit 110, interpolation unit 130, acceleration / deceleration unit 140, and servo control unit 150 according to this embodiment have the same functions as the program analysis unit 100, curve formation judgment unit 110, interpolation unit 130, acceleration / deceleration unit 140, and servo control unit 150 according to the first embodiment.

[0050] [Correction based on Rule 91, 14.10.2025] When performing curved line processing between paths associated with two consecutive movement commands, the curved line processing unit 120 according to this embodiment enlarges or reduces the curved line with the smaller radius of curvature of the two paths so that it has the same radius of curvature as a circle with a predetermined reference radius R0. The reference radius R0 is set to an appropriate value (e.g., 10 mm) depending on the parameter values ​​used in the curved line processing. The other path is then enlarged or reduced by the same ratio before the curved line processing is performed. After the curved line processing is completed, each path is reduced or enlarged by the opposite ratio.

[0051] [Correction based on Rule 91 14.10.2025] Figure 15 is a schematic diagram for explaining the process of enlarging / reducing a curved path. In the example of Figure 15, point P i and P i+1 Arc path C connecting i and point P i+1 and P i+2 Arc path C connecting i+1 and point P i+1 are connected as connecting parts. i Radius of curvature R i is the arc path C i+1 Radius of curvature R i+1 In the following, the arc path C i Radius of curvature R i R S and arc path C i+1 Radius of curvature Ri+1 R l The dotted circle shown in the lower right of Fig. 15 is a circle with a predetermined reference radius R0. Before performing the curve forming process, the curve forming processor 120 enlarges or reduces the arc path with the smaller radius of curvature so that the radius of curvature becomes the same as the reference radius R0. In the example of Fig. 15, the arc path C has a smaller radius of curvature. i So, the arc path C i R0 / R s Doubled (enlarged) arc path C i Then, the other path, the circular path C i+1 Similarly, R0 / R s Doubled (enlarged) arc path C i+1 ' and create a circular path C i The curved line processing unit 120 performs curved line processing on the two enlarged continuous arc paths in the same manner as described in the first embodiment. Then, the curved line processing is performed on the path after the curved line processing, as shown in FIG. s / R0 times (reduced).

[0052] When the route is enlarged and curved, the tolerance T may become larger than expected. In such a case, the tolerance limit value T max The tolerance T set during the curve processing is the tolerance limit value T max If it exceeds T, the expanded route max It is sufficient to reduce the image by / T and then perform curve processing.

[0053] [Correction based on Rule 91, 14.10.2025] The path change device 1 according to this embodiment, which has the above configuration, performs curvature processing on a path that has been enlarged or reduced to fit a circle with a predetermined reference radius R0. This maintains a constant ratio of tolerance to length relative to the radius of curvature, maintaining the visual balance of the arc shape. Generally, as the arc radius becomes smaller, the feed rate also decreases, maintaining the accuracy of the processed shape and enabling more appropriate curvature processing.

[0054] Third Embodiment A route changing device 1 according to a third embodiment will be described below. The route changing device 1 according to this embodiment adjusts the speed on a curved portion when two consecutive routes are curved.

[0055] Similar to the path changing device 1 according to the first embodiment, the path changing device 1 according to the third embodiment of the present disclosure includes a program analysis unit 100, a curve formation determination unit 110, a curve formation processing unit 120, an interpolation unit 130, an acceleration / deceleration unit 140, and a servo control unit 150. In addition, a control program 200 for controlling the industrial machine 3 is stored in the RAM 13 to the nonvolatile memory 14 of the path changing device 1.

[0056] The program analysis unit 100, curve formation judgment unit 110, interpolation unit 130, acceleration / deceleration unit 140, and servo control unit 150 according to this embodiment have the same functions as the program analysis unit 100, curve formation judgment unit 110, interpolation unit 130, acceleration / deceleration unit 140, and servo control unit 150 according to the first embodiment.

[0057] When performing curve shaping between paths associated with two consecutive movement commands, the curve shaping processor 120 according to this embodiment adjusts the feedrate before and after the path connection so that the feedrate changes monotonically from the feedrate before the connection to the feedrate after the connection. For example, when connecting a circular arc with a small radius of curvature to a circular arc with a large radius of curvature, the feedrate is adjusted before and after the connection so that the feedrate on the inserted curve continues to increase gradually without decreasing midway. Generally, the smaller the radius of curvature, the smaller the feedrate of the arc. Therefore, a sudden change in feedrate occurs at the connection between two consecutive paths with different curvatures. Therefore, to prevent a sudden change in feedrate, the acceleration / deceleration is adjusted so that the feedrate changes gradually. This adjustment may be performed by adjusting the normal acceleration. The normal acceleration A when moving along an arc path can be expressed by the following equation 7, where V is the feedrate and R is the radius of curvature: The curve forming processing unit 120 according to this embodiment may adjust the feed speed V in the curve forming range L, for example, so that the normal acceleration changes gradually from the normal acceleration before the connection portion to the normal acceleration after the connection portion.

[0058]

[0059] The path changing device 1 according to the present embodiment, which is configured as described above, adjusts the feed rate on a curved path so that the rate does not change suddenly before and after the connection portion. This suppresses sudden changes in acceleration that occur at the connection portion of the machining block that has an arc, which is expected to improve machining accuracy and minimize deterioration of the arc shape.

[0060] Other Embodiments In the above-described embodiment, an example was shown in which the path change device 1 according to the present disclosure is implemented on a control device of an industrial machine. However, as illustrated in FIG. 16 , functions up to the curved path processing may be implemented on a computer. In such a configuration, the path change device 1 reads each block of the control program 200 and creates movement commands that have been subjected to the curved path processing. The created movement commands may then be passed to the control device 2 for use in controlling the industrial machine 3. In this case, the path change device 1 may pass the curved path movement commands to the control device 2 via the network 5, or may have the control device 2 read the curved path movement commands stored in an external device 72.

[0061] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0062] [Amendment under Rule 91 14.10.2025] The following are notes relating to embodiments of the present disclosure. (Supplementary Note 1) A path changing device (1) according to one aspect of the present disclosure includes: a program analysis unit (100) that sequentially reads blocks from a control program (200) and analyzes commands using the blocks; a curvature determination unit (110) that, when two consecutive movement commands include arc commands, detects reference values ​​related to curvature, including at least one of a difference in curvature or curvature radius between the movement commands, a difference in angle between the traveling direction or the normal direction, and a distance between arc center positions, and determines whether or not curvature is required at a connection point of the paths related to the movement commands based on the reference values; and a curvature processing unit (120) that determines, for a path that requires curvature, curvature parameters, including at least one of a tolerance that is a maximum deviation amount of the path before and after curvature and a curvature range, based on the reference values ​​related to curvature, and curves the path based on the determined curvature parameters, and the curvature parameters determined by the curvature processing unit (120) remain the same or increase when the reference value increases.

[0063] (Supplementary Note 2) The curving determination unit (110) included in a path changing device (1) according to another aspect of the present disclosure determines to perform curving using a predetermined curving parameter when the reference value for curving is 0. (Supplementary Note 3) The curving processing unit (120) included in a path changing device (1) according to another aspect of the present disclosure enlarges or reduces the path related to the movement command in accordance with a circle having a predetermined reference radius, curves the enlarged or reduced path, and then reduces or enlarges the curved path.

[0064] (Supplementary Note 4) The curve formation processing unit (120) included in a path changing device (1) according to another aspect of the present disclosure reduces the enlarged path so as not to exceed a predetermined tolerance limit value, and then curves the path. (Supplementary Note 5) The path changing device (1) according to another aspect of the present disclosure adjusts the feed rate so that the feed rate before and after the path connection section changes monotonically. The path changing device according to claim 1. (Supplementary Note 6) The path changing device (1) according to another aspect of the present disclosure adjusts the feed rate so that the normal acceleration before and after the path connection section changes gradually.

[0065] [Correction based on Rule 91 14.10.2025] (Supplementary Note 7) A computer-readable recording medium according to one aspect of the present disclosure causes a computer to function as: a program analysis unit (100) that sequentially reads blocks from a control program (200) and analyzes commands using the blocks; a curvature determination unit (110) that, when two consecutive movement commands include arc commands, detects reference values ​​related to curvature, including at least one of a difference in curvature or radius of curvature, a difference in angle between the direction of travel or the normal direction, and a distance between arc centers, between the movement commands, and determines, based on the reference values, whether or not curvature is required at a connection point of paths related to the movement commands; and a curvature processing unit (120) that determines, for a path that requires curvature, curvature parameters, including at least one of a tolerance that is a maximum deviation amount of a path before and after curvature and a curvature range, based on the reference values ​​related to curvature, and curves the path based on the determined curvature parameters, and the curvature parameters determined by the curvature processing unit (120) remain the same or increase when the reference value increases.

[0066] REFERENCE SIGNS LIST 1 Path change device 3 Industrial machine 4 Industrial machine 5 Network 6 Fog computer 7 Cloud server 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 18, 19, 20 Interface 16 PLC 17 I / O unit 22 Bus 30 Axis control circuit 40 Servo amplifier 50 Servo motor 60 Spindle control circuit 61 Spindle amplifier 62 Spindle motor 63 Position coder 70 Display device 71 Input device 72 External device 100 Program analysis unit 110 Curve formation determination unit 120 Curve formation processing unit 130 Interpolation unit 140 Acceleration / deceleration unit 150 Servo control unit 200 Control program

Claims

1. [Amendment based on Rule 91 14.10.2025] A path changing device comprising: a program analysis unit which sequentially reads blocks from a control program and analyzes commands using the blocks; a curving determination unit which, when two consecutive movement commands include circular arc commands, detects reference values ​​for curving, including at least one of the difference in curvature or curvature radius between the movement commands, the difference in angle between the traveling direction or the normal direction, and the distance between the arc center positions, and determines whether or not curving is necessary at the connection point of the paths related to the movement commands based on the reference values ​​for curving; and a curving processing unit which, for paths that require curving, determines curving parameters, including at least one of a tolerance that is the maximum deviation of the path before and after curving and a curving range, based on the reference values ​​for curving, and curves the path based on the determined curving parameters, wherein the curving parameters determined by the curving processing unit remain the same or increase when the reference value increases.

2. The route changing device according to claim 1, wherein the curve forming determination unit determines to perform curve forming using predetermined curve forming parameters when the reference value for curve forming is 0.

3. The path change device according to claim 1, wherein the curve formation processing unit enlarges or reduces the path related to the movement command to fit a circle of a predetermined reference radius, curves the enlarged or reduced path, and then enlarges or reduces the curved path.

4. The route change device according to claim 3, wherein the curve forming processing unit reduces the enlarged route and then curves the route so as not to exceed a predetermined tolerance limit value.

5. The path change device according to claim 1, wherein the feed rate is adjusted so that the feed rate before and after the connection portion of the path changes monotonically.

6. The path change device according to claim 1, wherein the feed rate is adjusted so that the normal acceleration before and after the connection part of the path changes gradually.

7. [Amendment based on Rule 91 14.10.2025] A computer-readable recording medium having recorded thereon a program that causes a computer to function as: a program analysis unit that sequentially reads blocks from a control program and analyzes commands using those blocks; a curving judgment unit that, when two consecutive movement commands include circular arc commands, detects reference values ​​related to curving, including at least one of the difference in curvature or curvature radius, the difference in angle between the direction of travel or the normal direction, and the distance between the arc centers, in each of the movement commands, and determines whether or not curving is necessary at the connection point of the paths related to the movement commands based on the reference values; and a curving processing unit that, for paths that require curving, determines curving parameters, including at least one of a tolerance that is the maximum deviation of the path before and after curving and a curving range, based on the reference values ​​related to curving, and curves the path based on the determined curving parameters; and the curving parameters determined by the curving processing unit remain the same or increase when the reference value increases.

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