Arithmetic device, program, and support system

Abstract

An arithmetic device according to an embodiment comprises an acquisition unit and a determination unit. The acquisition unit acquires shape data indicating the shape of a cross-section of a workpiece composed of at least one among an arc and a straight line. The determination unit uses a first angle and the shape data to determine a support position of a first support tool that is capable of expanding and contracting in a first direction inclined by the first angle from the vertical direction, and supports the workpiece on a surface perpendicular to the first direction.

Description

Computing device, program and supporting system

[0001] The present disclosure relates to a computing device, a program, and a supporting system.

[0002] When machining long workpieces such as pipes, a jig may be added to support the workpiece from below to prevent bending. When machining a workpiece while rotating, the position of such a jig must be changed to match the shape of the workpiece. CNC (computerized numerical control) has been developed to control the jig to move up and down in accordance with the rotation of a workpiece with a specific shape.

[0003] A torque control method has also been proposed for supporting a workpiece vertically (see Patent Document 1). However, this method has the risk of causing the workpiece to shift if it is not in an ideal position. Furthermore, this method requires adjusting the torque depending on the shape of the workpiece.

[0004] Japanese Patent Application Laid-Open No. 2018-27585

[0005] The function to control the supporting jig requires defining a control method according to the shape of the workpiece, such as a square pipe, and additional processing is required as the number of workpieces to be supported increases.Furthermore, the jig that supports the workpiece only supports it from below (vertically), and cannot suppress shaking in the lateral (horizontal) direction.

[0006] The problem that the embodiments of the present invention aim to solve is to provide a computing device, a program, and a support system that are capable of supporting workpieces of various shapes more than ever before and that are also capable of supporting workpieces in the lateral direction.

[0007] According to an embodiment, the computing device includes an acquisition unit and a determination unit. The acquisition unit acquires shape data indicating a cross-sectional shape of a workpiece configured with at least one of a circular arc and a straight line. The determination unit determines, using the first angle and the shape data, a support position of a first support that is extendable and contractible in a first direction inclined at a first angle from a vertical direction and that supports the workpiece on a plane perpendicular to the first direction.

[0008] Fig. 1 is a block diagram showing an example of the configuration of a numerical control system according to an embodiment and the main components of the components included in the numerical control system. Fig. 2 is a flowchart showing an example of processing by the processor in Fig. 1. Fig. 3 is a cross-sectional view showing an example of the configuration of a support in Fig. 1. Fig. 4 is a cross-sectional view showing an example of the configuration of a support in Fig. 1. Fig. 5 is a diagram showing an example of vertex coordinates. Fig. 6 is a diagram for explaining a method of calculating the coordinates of a center.

[0009] Numerical control systems according to embodiments will be described below with reference to the drawings. The scale of each part in the drawings used in the following description of the embodiments may be changed as appropriate. The drawings used in the following description of the embodiments may omit the configuration for ease of explanation. In the drawings and this specification, the same reference numerals indicate similar elements. In this application, "based on XX" means "based on at least XX" and includes cases where the system 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 the system is based on XX after calculation or processing. "XX" is any element (for example, any information).

[0010] FIG. 1 is a block diagram showing an example of a configuration of a numerical control system 1 according to an embodiment and the main components included in the numerical control system 1. Note that each component of the device may be built-in or external. The numerical control system 1 is a system capable of supporting a workpiece with a support 210 that is extendable in directions other than the vertical direction. The numerical control system 1 includes, as an example, a numerical control device 100 and an industrial machine 200. Note that the numerical control system 1 may include some of these. The numerical control system 1 is an example of a support system.

[0011] The numerical control device 100 is a device that performs numerical control on industrial machinery 200 and the like. The numerical control device 100 is also a device that determines, by calculation, the position at which a support 210 supports a workpiece. The numerical control device 100 includes, as an example, a processor 110, a ROM (read-only memory) 120, a RAM (random-access memory) 130, an auxiliary storage device 140, a control interface 150, and a communication interface 160. A bus 170 and the like connect these components. The numerical control device 100 is an example of a calculation device.

[0012] The processor 110 is the central part of the computer that performs various calculations and processes, such as calculations and controls, necessary for the operation of the numerical control device 100. The processor 110 is, for example, a central processing unit (CPU), a microprocessing unit (MPU), a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field-programmable gate array (FPGA). Alternatively, the processor 110 may be a combination of several of these. The processor 110 may also be a combination of these with a hardware accelerator or the like. The processor 110 controls each component to realize various functions of the numerical control device 100 based on programs such as firmware, system software, and application software stored in the ROM 120 or the auxiliary storage device 140. The processor 110 also executes the processes described below based on the programs. Note that some or all of the programs may be incorporated into the circuitry of the processor 110.

[0013] The ROM 120 and RAM 130 are the main memory devices of the computer, with the processor 110 at its core. The ROM 120 is a non-volatile memory used exclusively for reading data. The ROM 120 stores, for example, firmware among the above programs. The ROM 120 also stores data used by the processor 110 when performing various processes.

[0014] The RAM 130 is a memory used for reading and writing data. The RAM 130 is used as a work area for storing data that is temporarily used when the processor 110 performs various processes. The RAM 130 is typically a volatile memory.

[0015] The auxiliary storage device 140 is an auxiliary storage device of a computer centered around the processor 110. The auxiliary storage device 140 is, for example, an EEPROM (electric erasable programmable read-only memory), a HDD (hard disk drive), or a flash memory. The auxiliary storage device 140 stores, for example, system software and application software among the above programs. The auxiliary storage device 140 also stores data used by the processor 110 when performing various processes, data generated by the processes in the processor 110, and various setting values. The data stored in the auxiliary storage device 140 includes, for example, a machining program 141.

[0016] The machining program 141 is a program for controlling the operation of the industrial machine 200. The machining program 141 is a program for the industrial machine 200 to machine the workpiece W.

[0017] The control interface 150 is an interface through which the numerical control device 100 communicates with the industrial machine 200. The numerical control device 100 controls the industrial machine 200 via the control interface 150.

[0018] The communication interface 160 is an interface for the numerical control device 100 to communicate via a network such as the Internet or a LAN (local area network).

[0019] The bus 170 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged among the various parts of the numerical control device 100 .

[0020] The industrial machine 200 is a machine that operates under numerical control or the like. The industrial machine 200 is, for example, a machine tool. The industrial machine 200 may be, for example, a manipulator, a robot arm, or a robot. The industrial machine 200, which is a machine tool, is, for example, a lathe or a milling machine. The industrial machine 200, which is a machine tool, is, for example, an NC machine tool, a CNC machine tool, or a machine tool using another control method. The industrial machine 200 processes a workpiece W. The industrial machine 200 is capable of rotating the workpiece W about a rotation axis AR that is parallel to the z-axis. The industrial machine 200 is equipped with N supports 210, where N is an integer greater than or equal to 2.

[0021] The support 210 supports the workpiece W. The support 210 is extendable in the u direction. The u direction is a direction tilted at an angle θ from the horizontal direction, with the horizontal direction (positive direction of the x coordinate) being 0 degrees and the vertically upward direction (positive direction of the y coordinate) being 90 degrees. However, the direction approaching the workpiece W is considered positive in the u direction. The support 210 also has a support surface 211 parallel to the vz plane. This support surface supports the workpiece W by contacting it. Here, the u direction, v direction, and z direction are each perpendicular to one another.

[0022] The industrial machine 200 includes N supports 210, namely, a first support 210-1, a second support 210-2, ..., an Nth support 210-N. If k is an integer between 1 and N, the industrial machine 200 includes a kth support 210-k. The kth support 210-k is extendable and contractible in the uk direction. The uk direction is a direction inclined at an angle θk from the horizontal direction. The kth support 210-k includes a support surface parallel to the vk-z plane. Here, the uk direction, vk direction, and z direction are perpendicular to each other. It can also be said that the uk direction is inclined (θk-90 degrees) from the vertically upward direction.

[0023] The uk direction can also be said to be tilted by (θk-90 degrees) from the vertically upward direction. When θk is not 90 degrees, (θk-90 degrees) is an example of a first angle. Furthermore, (θk-90 degrees) is an example of a second angle. The uk direction is an example of a first direction tilted by a first angle from the vertical direction.

[0024] 3 and 4 show examples of the configuration of the support 210. Fig. 3 is a cross-sectional view showing an example of the configuration of the support 210. Fig. 3 shows a first support 210-1, a second support 210-2, and a workpiece W. θ1 = 45 degrees, and θ2 = 135 degrees.

[0025] Fig. 4 is a cross-sectional view showing another example of the configuration of the support 210. Fig. 4 shows the first support 210-1 to the third support 210-3 and the workpiece W. θ1 = 0 [degrees], θ2 = 90 [degrees], and θ3 = 180 [degrees].

[0026] Of the multiple supports 210, any of the supports 210 that are not inclined 90 degrees from the horizontal direction, i.e., that are not inclined 0 degrees from the vertically upward direction, is an example of a first support. Furthermore, of the multiple supports 210, any of the supports 210 other than the first support is an example of a second support. Furthermore, the uk direction of support 210-k, which is the first support, is inclined (θk-90 degrees) from the vertically upward direction. The (θk-90 degrees) of the first support is an example of a first angle. The uk direction of the first support is an example of a first direction. The u direction of the second support is an example of a second direction.

[0027] Furthermore, the processor 110 functions as, for example, an analysis unit 111, an interpolation processing unit 112, a control unit 113, a shape generation unit 114, a shape acquisition unit 115, and a position calculation unit 116 based on the program.

[0028] The analysis unit 111 analyzes the machining program 141 .

[0029] The interpolation processing unit 112 performs interpolation based on the analysis result of the machining program 141 .

[0030] The control unit 113 controls the industrial machine 200 .

[0031] The shape generating unit 114 generates workpiece shape data. The workpiece shape data is data that indicates the cross-sectional shape of the workpiece W.

[0032] The shape acquisition unit 115 acquires workpiece shape data.

[0033] The position calculation unit 116 calculates the position at which the support tool 210 supports the workpiece W.

[0034] The operation of the numerical control system 1 according to the embodiment will be described below with reference to FIG. 2 and other figures. Note that the content of the processing in the following description of the operation is an example, and various processing that can obtain similar results can be used as appropriate. FIG. 2 is a flowchart showing an example of processing by the processor 110 of the numerical control device 100. The processor 110 executes the processing of FIG. 2 based on a program stored in, for example, the ROM 120 or the auxiliary storage device 140. The processor 110 starts the processing of FIG. 2 when it receives an instruction to determine the position where the support tool 210 will support the workpiece W.

[0035] In step ST11 of FIG. 2, the processor 110 of the numerical control device 100 acquires the machining program 141 from the auxiliary storage device 140.

[0036] In step ST12, the processor 110 analyzes the machining program 141 acquired in step ST11. As a result, the processor 110 acquires the following information (A1) to (A3). The analysis unit 111 analyzes the machining program 141. (A1) The number of supports 210 used to machine the workpiece W (A2) The z coordinate of the position where each support 210 supports the workpiece W (A3) How many degrees the workpiece W rotates around the rotation axis AR when the support 210 supports the workpiece W

[0037] Note that (A1) the number of supports 210 used to machine the workpiece W, and (A2) each of the supports 210 may or may not be defined in the machining program 141. When the processor 110 acquires information defined in the machining program 141, it acquires the information by analyzing the machining program 141. When the processor 110 acquires information not defined in the machining program 141, it determines the optimal value of the information using the analysis results of the machining program 141. In this way, the processor 110 acquires the information. Note that the interpolation processing unit 112 determines the optimal value of the information.

[0038] In step ST13, the processor 110 selects an unselected supporting tool 210. The selected supporting tool 210 is placed in a selected state. If there is a supporting tool 210 that is being selected at the start of the processing of step ST13, the processor 110 changes that supporting tool 210 from a selected state to a selected state. Here, an unselected supporting tool 210 refers to a supporting tool 210 that has not yet been selected in step ST13. In other words, an unselected supporting tool 210 refers to a supporting tool 210 that is neither in a selected state nor in a selected state. A supporting tool 210 in a selected state will be referred to as a "selected supporting tool" hereinafter.

[0039] In step ST14, the processor 110 acquires vertex data from the auxiliary storage device 140. The vertex data is data indicating the vertices of the workpiece W. The processor 110 uses the acquired vertex data to identify the vertex coordinates of the cross section of the workpiece W at the selected z coordinate. In this way, the processor 110 acquires the vertex coordinates. Here, the selected z coordinate indicates the z coordinate of the position where the selected support tool supports the workpiece W. Note that the cross section is a plane perpendicular to the z axis.

[0040] FIG. 5 is a diagram showing an example of vertex coordinates. The cross section of the workpiece W shown in FIG. 5 is defined by six vertices Q, vertex Q1 to vertex Q6. The vertex coordinates of vertex Q1 are (X1, Y1). The vertex coordinates of vertex Q2 are (X2, Y2). The vertex coordinates of vertex Qm are (Xm, Ym). Here, m is an integer equal to or greater than 1. The origin O of the xy coordinates coincides with the rotation axis AR.

[0041] Each vertex Q may be rounded. The rounded radius of vertex Qm is radius Rm. In FIG. 5, radii R1, R2, R4, and R6 are 0. From the above, the cross section of the workpiece W is a figure that combines at least one of straight lines and arcs. The coordinates of vertices Q3 and Q5 are an example of a first position that indicates the position of the rounded vertices. The coordinates of vertices Q1, Q2, Q4, and Q6 are an example of a second position that indicates the position of the vertices that are not rounded.

[0042] In step ST15, the processor 110 uses the vertex coordinates acquired in step ST14 to generate work shape data indicating the cross-sectional shape of the workpiece W at the selected z coordinate. In this way, the processor 110 acquires the work shape data.

[0043] The workpiece shape data includes the position of each arc that constitutes the figure showing the cross section of the workpiece W. The position of an arc includes, for example, the center coordinates and radius of the arc. The position of an arc may also include the coordinates of the tangent point where the arc touches a straight line that constitutes the figure showing the cross section of the workpiece W. The workpiece shape data also includes data indicating the coordinates of vertices that are not R-chamfered, among the vertices that constitute the figure showing the cross section of the workpiece W. The coordinates of vertices that are not R-chamfered are an example of a third position that indicates a vertex included in the cross section. The position of an arc that constitutes the figure showing the cross section of the workpiece W is an example of a fourth position.

[0044] Consider determining the position of an R-chamfered arc for an R-chamfered vertex B. This arc will be referred to as arc RB hereinafter. Arc RB is tangent to lines AB and BC, which connect vertex B to vertex A and vertex C, which are adjacent to vertex B. In the example of FIG. 5 , for example, vertex Q3 is an example of vertex B. Vertex Q2 is an example of vertex A. Vertex Q4 is an example of vertex C. The processor 110 determines the position of arc RB by performing the following processes (B1) to (B4). The coordinates of vertex B are an example of first coordinates.

[0045] (B1) The processor 110 finds the linear equation of the line AB connecting the vertices A and B. The linear equation of the line AB can be expressed by the following formula: (XB-XA) x (y-YA) = (YB-YA) x (x-XA) (1) The coordinates of the vertex A are (XA, YA). The coordinates of the vertex B are (XB, YB). The coordinates of the vertex C are (XC, YC).

[0046] Transforming equation (1) into the form ax+by+c=0 gives the following: aAB=(YB-YA) (2) bAB=-(XB-XA) (3) cAB=(-aAB×XA)+(-ABb×YA) (4) Here, the coefficient aAB is the coefficient a for the straight line AB. The coefficient bAB is the coefficient b for the straight line AB. cAB is the coefficient c for the straight line AB.

[0047] The processor 110 also finds the linear equation of the line BC connecting the vertices B and C in the same way as for the line AB. The coefficients of the line BC are as follows, similar to those of the line AB: aBC=(YC-YB) (5) bBC=-(XC-XB) (6) cBC=(-aBC×XB)+(-BCb×YB) (7)

[0048] (B2) The processor 110 determines the position of the center PB of the arc RB. The point PB (XP, YP) ​​is located at a distance of radius rB from the lines AB and BC, so the following simultaneous equations hold based on the distances between the point and the lines. Note that radius rB is the radius of the arc RB.

[0049] The above simultaneous equations can be transformed as follows:

[0050] The above simultaneous equations have two places where the sign is ±. Therefore, there are four solutions depending on the combination of signs. This is because there are four circles tangent to the lines AB and BC, as shown in Figure 6. Figure 6 is a diagram for explaining a method for finding the coordinates of the center PB. The points that indicate the centers P of these four circles are designated as points P0 to P3. Note that point P0 is point PB.

[0051] (B3) Processor 110 identifies which of the four circles is the circle having arc RB, i.e., processor 110 identifies which of the four solutions indicates point PB.

[0052] If vertex C is on the right side of line AB, then point PB is also on the right side of line AB. And if vertex C is on the left side of line AB, then point PB is also on the left side of line AB. Now, we know that vertex C is on the left side of line AB. Therefore, we know that either point P0 or point P3 is the center of arc RB.

[0053] Also, if point PB is on the right side of line AB, then point PB is on the right side of line BC. And if point PB is on the left side of line AB, then point PB is on the left side of line BC. Now, we know that point PB is on the left side of line AB. Therefore, we know that either point P0 or point P2 is the center of arc RB.

[0054] The processor 110 uses cross products to make the above determination. The processor 110 determines that the point P at which the cross product of vector AB and vector BC, the cross product of vector AB and vector BP, and the cross product of vector BC and vector CP coincide is point PB. Note that the processor 110 may use another method to determine which of the four points P is point PB.

[0055] (B4) The processor 110 finds the point of contact T1 between the arc RB and the straight line AB. The point of contact T1 is the intersection of the arc RB and the line that passes through the center PB and is perpendicular to the straight line AB. Therefore, the following simultaneous equations hold: The processor 110 solves this simultaneous equation to determine the coordinates (XT1, YT1) of the tangent point T1. The processor 110 also determines the position of the tangent point T2 between the arc RB and the straight line BC in the same manner as for the tangent point T1.

[0056] When there are multiple arcs RB, that is, when there are multiple rounded vertices, the processor 110 performs the processes (B1) to (B4) for each of the arcs RB.

[0057] As described above, by performing the processing of step ST15, the processor 110 functions as an example of an acquisition unit that acquires shape data indicating the cross-sectional shape of the workpiece that is composed of at least one of arcs and straight lines.

[0058] In step ST16, the processor 110 determines the position at which the selected support tool will support the workpiece W using the workpiece shape data acquired in step ST15. Here, it is assumed that the u direction of the selected support tool is tilted θk from the horizontal direction, and the workpiece W is rotated θW around the rotation axis AR. Note that the workpiece W being rotated θW indicates that it has rotated θW from the position indicated by the workpiece shape data. In this case, the position at which the selected support tool supports the workpiece W is the same as the position at which the workpiece W is supported from a vertically downward direction when the workpiece W is rotated θV = (90 degrees - θk + θW). The support tool 210 supporting the workpiece W from a vertically downward direction has its u direction tilted 90 degrees from the horizontal direction. When supporting the workpiece W from a vertically downward direction, the position at which the workpiece W is supported is the vertex of the figure representing the cross section of the workpiece W that is not chamfered, and the position of the point with the smallest y coordinate among the points on each arc RB that constitutes the figure.

[0059] The processor 110 can calculate the y coordinate SUP1 of the point on the arc RB with respect to the rounded vertex Q that has the smallest y coordinate using the following formula: SUP1=XP×sin θV+YP×cos θV−rB (11)

[0060] The y coordinate SUP2 of the vertex Q(X, Y) that is not rounded can be calculated using the following formula: SUP2=X×sin θV+Y×cos θV (12)

[0061] The processor 110 determines SUP1 or SUP2 for each vertex Q. The processor 110 then checks which of the determined SUP1 and SUP2 has the smallest value. This smallest value indicates the y coordinate of the position supporting the workpiece W. This y coordinate will be referred to as minY hereinafter. The absolute value of minY indicates the distance between the support surface 211 of the selected support tool and the rotation axis AR. Therefore, the position where the selected support tool supports the workpiece W is a position that is a distance minY away from the rotation axis AR.

[0062] As described above, by performing the processing of step ST16, processor 110 functions as an example of a determination section that determines the support position of the first support tool using the first angle and shape data.

[0063] The rotation axis AR and the origin O are examples of a reference point. The negative y-coordinate direction is an example of a predetermined direction. minY is the coordinate of the point that is the furthest from the reference point in the predetermined direction. Therefore, by calculating minY, the processor 110 functions as an example of a determination unit that determines the support position by determining the point that is the furthest from the reference point in the predetermined direction.

[0064] In step ST17, the processor 110 extends or contracts the selection support tool, thereby moving the selection support tool to the position determined in step ST16.

[0065] As described above, processor 110 functions as an example of a control unit that moves the first support tool to the support position determined by the determination unit by performing the processing of step ST17.

[0066] In step ST18, the processor 110 determines whether or not there are any unselected supporting tools 210. If there are any unselected supporting tools 210, the processor 110 determines Yes in step ST18 and returns to step ST13. Note that if the selected z coordinate of the newly selected supporting tool 210 is the same as the selected z coordinate of a supporting tool 210 in an already selected state, the processor 110 may skip the processing of steps ST14 and ST15. In this case, the processor 110 uses the vertex data and shape data acquired in steps ST14 and ST15 when the already selected supporting tool 210, which has the same selected z coordinate as the newly selected supporting tool 210, is in a selected state.

[0067] If there is no unselected support tool 210, the processor 110 determines No in step ST18 and ends the processing shown in FIG.

[0068] The numerical control system 1 of the embodiment determines the position at which the support 210, which is extendable in a direction inclined from the vertical, supports the workpiece W, using shape data that indicates the inclination of the support 210 and the cross-sectional shape of the workpiece W. This enables the control system 1 of the embodiment to support the workpiece from a direction other than the downward direction (vertical direction). Therefore, the control system 1 of the embodiment can support workpieces with more various shapes than conventional ones.

[0069] Furthermore, the numerical control system 1 of the embodiment generates shape data using vertex data indicating the vertices of the cross section of the workpiece. Therefore, the control system 1 of the embodiment can determine the support position of the support tool 210 if the vertex data is available.

[0070] Furthermore, in the numerical control system 1 of the embodiment, the shape data includes the positions of vertices that are not rounded and the positions of arcs that make up the figure representing the cross section of the workpiece W. The numerical control system 1 of the embodiment can determine the support position of the support tool 210 by using these positions.

[0071] Furthermore, the numerical control system 1 of the embodiment determines the support position of the support tool 210 by finding the vertex that is not rounded among the vertices of the figure showing the cross section of the workpiece W, and the point on each arc RB that constitutes the figure that is farthest from the rotation axis AR in the negative y coordinate direction. This allows the numerical control system 1 of the embodiment to determine the support position of the support tool 210.

[0072] Furthermore, the numerical control system 1 of the embodiment determines a point on the cross section of the workpiece W that is a distance away from the reference point in a predetermined direction as the support position of the support tool 210. This allows the numerical control system 1 of the embodiment to determine the support position of the support tool 210.

[0073] Furthermore, the numerical control system 1 of the embodiment determines the support positions of the multiple supports 210. By using the multiple supports 210, the numerical control system 1 of the embodiment can support the workpiece W more stably than conventionally.

[0074] Furthermore, the numerical control system 1 of the embodiment moves the support 210 to the determined support position, thereby enabling the numerical control system 1 of the embodiment to make the support 210 support the workpiece W.

[0075] The above embodiment can be modified as follows.

[0076] In the above embodiment, the processor 110 represents each line and each arc as a mathematical formula. However, the processor 110 may represent each line and each arc as a vector instead of a mathematical formula.

[0077] In the above embodiment, the processor 110 uses Cartesian coordinates. However, the processor 110 may use coordinates other than Cartesian coordinates, such as polar coordinates.

[0078] In the above embodiment, the processor 110 acquires the workpiece shape data by generating the workpiece shape data. However, the processor 110 may acquire pre-generated workpiece shape data from the auxiliary storage device 140 or an external device.

[0079] The processor 110 may determine minY in a manner other than that shown above.

[0080] The reference point may be a point other than the rotation axis AR and the origin O. However, it is preferable that the reference point be a point whose y coordinate is 0.

[0081] The industrial machine 200 may be equipped with the numerical control device 100 .

[0082] Each device in the embodiment may be composed of a plurality of devices. The numerical control device 100 may be realized using cloud computing.

[0083] The processor 110 may implement some or all of the processes implemented by the programs in the above embodiments by a hardware circuit configuration.

[0084] A program for implementing the processes of the embodiments may be transferred in a state in which it is stored in a non-transitory computer-readable storage medium within the device. However, the device may also be transferred without the program stored therein. The program may then be transferred separately and written to the device. In this case, the program may be transferred by, for example, recording it on a removable non-transitory computer-readable storage medium or by downloading it via a network such as the Internet or a LAN.

[0085] Although the present disclosure has been described in detail, 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 present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. 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.

[0086] The following additional notes are provided regarding the above-described embodiment and modifications.

[0087] [Supplementary Note 1] A computing device (100) comprising: an acquisition unit (110, 115) that acquires shape data indicating the cross-sectional shape of a workpiece (W) configured with at least one of an arc and a straight line; and a determination unit (110, 116) that determines, using the first angle and the shape data, a support position of a first support (210) that is extendable in a first direction inclined at a first angle from a vertical direction and supports the workpiece (W) on a plane perpendicular to the first direction.

[0088] [Supplementary Note 2] The acquisition unit (110, 114, 115) acquires a first position indicating a position of a rounded vertex of a cross section of the workpiece (W) and a second position indicating a position of a non-rounded vertex, and generates the shape data based on the first position and the second position, thereby acquiring the shape data.

[0089] [Supplementary Note 3] The computing device (100) according to Supplementary Note 1, wherein the shape data includes a third position indicating a vertex included in the cross section and a fourth position indicating a position of the arc.

[0090] [Supplementary Note 4] The arithmetic device (100) according to Supplementary Note 3, wherein the determination unit (110, 116) determines the support position by finding a point among the third position and a point on the arc that is farthest from a reference point (AR, O) in a predetermined direction.

[0091] [Supplementary Note 5] The calculation device (100) according to Supplementary Note 1, wherein the determination unit (110, 116) determines the support position by finding a position on the cross section that is farthest from a reference point (AR, O) in a predetermined direction.

[0092] [Supplementary Note 6] The calculation device (100) according to Supplementary Note 1, wherein the determination unit (110, 116) further determines a support position of a second support (210) that is extendable in a second direction and supports the workpiece (W) on a plane perpendicular to the second direction.

[0093] [Supplementary Note 7] The computing device (100) according to Supplementary Note 1, further comprising a control unit that moves the first support tool (210) to the support position determined by the determination unit (110, 116).

[0094] [Supplementary Note 8] A program that causes a processor (110) included in a computing device (100) to function as: an acquisition unit (110, 115) that acquires shape data indicating the cross-sectional shape of a workpiece (W) configured with at least one of an arc and a straight line; and a determination unit (110, 116) that determines, using the first angle and the shape data, a support position of a first support (210) that is extendable in a first direction inclined at a first angle from the vertical direction and supports the workpiece (W) on a plane perpendicular to the first direction.

[0095] [Supplementary Note 9] A support system (1) including a first support (210) and a computing device (100), wherein the first support (210) is extendable and retractable in a first direction inclined at a first angle from a vertical direction and supports a workpiece (W) on a plane perpendicular to the first direction, and the computing device (100) includes: an acquisition unit (110, 115) that acquires shape data indicating a cross-sectional shape of the workpiece (W) configured with at least one of an arc and a straight line; and a determination unit (110, 116) that determines a support position of the first support (210) using the first angle and the shape data.

[0096] REFERENCE SIGNS LIST 1 Numerical control system 100 Numerical control device 110 Processor 111 Analysis unit 112 Interpolation processing unit 113 Control unit 114 Shape generation unit 115 Shape acquisition unit 116 Position calculation unit 120 ROM 130 RAM 140 Auxiliary storage device 150 Control interface 160 Communication interface 170 Bus 200 Industrial machine 210 Support

Claims

1. A computing device comprising: an acquisition unit that acquires shape data indicating the cross-sectional shape of a workpiece that is composed of at least one of a circular arc and a straight line; and a determination unit that determines, using the first angle and the shape data, the support position of a first support that is extendable in a first direction inclined at a first angle from the vertical direction and supports the workpiece on a plane perpendicular to the first direction.

2. The computing device according to claim 1, wherein the acquisition unit acquires a first position indicating the position of a rounded vertex of the cross section of the workpiece and a second position indicating the position of a non-rounded vertex, and acquires the shape data by generating the shape data based on the first position and the second position.

3. The computing device according to claim 1, wherein the shape data includes a third position indicating a vertex included in the cross section and a fourth position indicating a position of the arc.

4. The computing device according to claim 3, wherein the determination unit determines the support position by finding the point among the third position and the point on the arc that is the furthest from the reference point in a predetermined direction.

5. The computing device according to claim 1, wherein the determination unit determines the support position by finding the position on the cross section that is farthest from a reference point in a predetermined direction.

6. The computing device according to claim 1, wherein the determination unit further determines the support position of a second support tool that is extendable in a second direction and supports the workpiece on a plane perpendicular to the second direction.

7. The computing device according to claim 1, further comprising a control unit that moves the first support tool to the support position determined by the determination unit.

8. A program that causes a processor included in an arithmetic device to function as: an acquisition unit that acquires shape data indicating the cross-sectional shape of a workpiece composed of at least one of a circular arc and a straight line; and a determination unit that determines, using the first angle and the shape data, the support position of a first support that is extendable in a first direction inclined at a first angle from the vertical direction and supports the workpiece on a surface perpendicular to the first direction.

9. A support system comprising a first support and a computing device, wherein the first support is extendable in a first direction inclined at a first angle from the vertical direction and supports a workpiece on a plane perpendicular to the first direction, and the computing device comprises: an acquisition unit that acquires shape data indicating the cross-sectional shape of the workpiece configured from at least one of an arc and a straight line; and a determination unit that determines the support position of the first support using the first angle and the shape data.

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