JPH1011126A - Tool speed determination method and tool speed determination device - Google Patents

Abstract

(57) [Summary] In a method of determining a speed at which a tool moves along a rapid traversing block which is a non-machining block among a plurality of blocks in which a tool path is divided by a plurality of tool passing points, the tool is rapidly traversed. Determine the speed of the tool so that the time required to pass through the block is reduced. A tool rapid traverse block N _(k) each shaft speed F _x when passing through, and the F _y, determined separately from the real problem of tool path, the starting point of the rapid traverse block N _(k) It is equal to the speed of the preceding block N _(k-1) , at the end point it is equal to the speed of the following block N _{(k + 1)} , and the tool passes through the rapid traverse block N _(k). Decide so that the required time is as short as possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for determining the speed of a tool when the tool is rapidly traversed, and more particularly to a technique for reducing the time required for the rapid traverse.

[0002]

2. Description of the Related Art Generally, when a workpiece is subjected to NC (Numerical Control) processing, as shown in FIG. 1, for example, a CAD (Computer Aided Design) step as a design step,
CAM (Comp
A uter Aided Manufacturing) process and an NC machining process as a machining process in the manufacturing process are executed in that order. In the CAD process, a target machining shape of a work is described in a surface model, a solid model, or the like based on a command or the like from an operator, and work shape data that defines the shape of the work is created. In the CAM process, a plurality of tool passing points CL (Cutter Location) to be passed through a reference point (for example, the center of the tool) of the tool at the time of NC machining are calculated based on the input workpiece shape data.
Here, the “tool passing point CL” is a continuous tool path CP
(Cutter Pass) is a point discretely located on the “Cutter Pass”, and the “tool path CP” is offset from the target processing surface of the workpiece to the approach side of the tool by an amount based on the tool geometry (for example, tool radius). This is the target tool path. In the CAM process, point sequence data (CL data) that defines a point sequence formed by the plurality of tool passing points CL is created based on the calculated plurality of tool passing points CL. Further, in the CAM step, post processing for converting the created point sequence data into a format suitable for processing in the NC processing step is performed in preparation for input to the subsequent NC processing step, and the converted data is processed. NC data. In the NC machining process, a movement command signal (for example, each axis command pulse) that needs to be periodically supplied to the processing machine 14 in order to move the tool 16 by the processing machine 14 based on the input NC data. Created. This NC
In the processing step, the processing machine 14 is controlled by a D
The controller is controlled by the NC system 10 and the CNC system 12, and the controller controls the tool path CP for each of the plurality of blocks divided by the tool point sequence based on the tool point sequence defined by the NC data. Is determined, each movement command signal is generated for each block so that the tool 16 is moved at the speed, and the movement command signal is supplied to the processing machine 14. As a result, the tool 16 is moved along the tool path CP by the processing machine 14, and the work 1
8 is processed into a target shape.

When a workpiece is machined by a tool, the tool is not always moved in a state of machining the work. For example, when the tool passes through a non-machining area such as a hole or a dent formed in the work, the tool is not moved. Is moved in a non-machining state. If the time required for the movement in the non-machining state is reduced, the processing time of the entire work is also reduced. Therefore, in the non-machining area, generally, rapid traverse is performed to move the tool at a higher speed in the machining state. Therefore, in the CAM process, as shown in FIG.
When the tool 16 passes through the non-machining area ANP when the tool 16 moves through the machining area AP ₁ , the non-machining area ANP, and the machining area AP ₂ in that order.
The NC data includes a command for fast-forwarding the tool 16 so that the tool 16 is fast-forwarded. In the NC machining process receiving the NC data, the fast-forward speed and the fast-forward path of the tool 16 are determined according to the fast-forward command. Is done.

FIG. 1 shows two conventional examples of a technique for determining a speed and a path when the tool 16 moves a fast-forward block N _(k) to which a fast-forward command is issued among a plurality of blocks N. I have. In the first conventional example, Japanese Patent Laid-Open No.
As described in JP-A-119826, the tool 1
6 is determined so that the actual tool path in the rapid traverse block N _{(k )} is one straight line. Specifically, as shown in FIG. 23, all of the plurality of axis speeds of the tool 16 are the rapid traverse block N _(k).
Are determined to be 0 at the start point PS _(k) and the end point PE _(k) . Incidentally, in the figure, X axis as the tool 16 is controlled shaft has a Y-axis and Z-axis, for convenience of explanation, assuming that the speed F _z in the Z-axis is zero, the remaining X-axis speed a pattern F _x and Y-axis velocity F _y changes with each time, a pattern their synthesis rate F is varied with time are respectively shown graphically. Therefore, in this conventional example, the actual movement path of the tool 16 in the rapid traverse block N _(k) is
Although a straight line connecting S _(k) and the end point PE _(k) at the shortest distance is obtained, the tool 16 is greatly accelerated and decelerated when passing through the rapid traverse block N _(k). There has been a problem that the fast-forward time required to move the fast-forward block N _(k) cannot be effectively reduced.
As can be seen from the figure, in this conventional example, the axis velocities F _x and F _{y at} the start point PS _(k) and end point PE _(k) of the rapid traverse block N _(k) become 0, so that the tool Reference numeral 16 denotes an actual processing block N to be moved in the processing state, and an end point P of a previous block N _(k-1) located in front of the rapid traverse block N _(k).
In the area immediately before E _(k-1) (which coincides with the start point PS _(k) of the rapid traverse block N _{(k) )} , the axis velocities F _x and F _y are scheduled to be changed from non-zero appropriate values to zero. The starting point PS _{(k + 1)} of the rear block N _{(k + 1)} which is the actual processing block N located behind the rapid traverse block N _(k) while being decelerated outward.
In the area immediately after ₍ the end point PE _(k) of the rapid traverse block N _(k)) , each axis speed _Fx , _Fy is unexpectedly accelerated from a value of 0 to a non-zero appropriate value. on the other hand,
When the tool 16 moves while rotating, the work 18
In machining, it is necessary to properly maintain the relationship between the rotational speed and the moving speed of the tool 16 in order to prevent the abrasion of the tool 16 and to prevent the work surface property of the work 18 from deteriorating. Therefore, in this conventional example, the area immediately before the end point PE _(k-1) of the previous block N _(k-1) and the area immediately after the start point PS _{(k + 1)} of the subsequent block N _{(k + 1)} are included. The movement speed of the tool 16 is lower than the appropriate speed in each of the regions, and there is a problem that the service life of the tool 16 is shortened, and a problem that the precision and roughness of the processing surface of the work 18 are reduced.

In the second conventional example, the axis speeds F _x and F _y are determined so that the actual tool path in the rapid traverse block N _(k) is not a single straight line but a broken line. That is, as shown in FIG. 22, the actual tool path in the rapid traverse block N _(k) is changed to the previous block N _(k-1)
An extended path EX _(k-1) extending from the end point PE _(k-1) of the tool path in the same direction as the traveling direction of the tool 16 and a tool path of the rear block N _{(k + 1)} Start point PS _{(k + 1)}
Path EX _{(k + 1)} extending in the direction opposite to the traveling direction of the tool 16 from the tool, and these extended paths EX _(k-1) and EX _{(k + 1)}
Are determined to be a polygonal line composed of a single straight connection path CN connecting the two. More specifically, as shown in the graph of FIG. 24 which is similar to the graph of FIG. 23, the shaft speed F _x, F _y previous block end point PE
Until the position of _(k-1) is maintained at the appropriate speed without deceleration,
The speed is reduced from the position of the end point PEX _(k-1) of the extension path EX _(k-1) to 0, and the end point PSX _{(k + )} of the extension path EX _{(k + 1)} of the rear block N _{(k + 1)} is reduced. It becomes 0 at the position of ( ₁₎ , and thereafter, it is determined to accelerate and reach an appropriate speed at the position of the rear block start point PS _{(k + 1)} . Therefore, according to this conventional example, the tool 16 is maintained at an appropriate speed both in the area immediately before the end point PE _{(k + 1)} of the previous block and in the area immediately after the start point PS _{(k + 1)} of the rear block. There is no problem that the service life of the work 16 is shortened, and there is no problem that the accuracy or roughness of the processed surface of the work 18 is reduced. However, the tool speed is determined on the premise of securing the tool path, and the end point PS
In X _(k-1) and PSX _{(k + 1)} , the axis speed becomes 0 for all of the plurality of control axes of the tool 16, and there are at least two times when the axis speeds become 0 simultaneously for all of the control axes. In this respect, there is no difference from the conventional example, and similarly, there has been a problem that the fast-forward time cannot be effectively reduced.

[0006] In each of the conventional examples,
Fast forward block N_(k)At the X-axis speed F_xIs the maximum allowed
Speed F_xmaxSo that there is a time when
The turn is determined, and similarly, the Y-axis speed F_yIs the maximum speed
Degree F_ymaxY-axis speed change pattern
Is determined. However, for example, the maximum allowable speed F
_xmaxAnd F_ymaxIs set to an equal value.
The tool 16 is in the rapid traverse block N_(k)To go through
The Y axis movement distance that must move in the Y axis direction is the X axis
If the distance is shorter than the X-axis travel distance
In this case, process according to the determined speed change pattern
By moving the tool 16, the actual movement path of the tool 16
Does not match the target route. Therefore, those conventional examples
, The X-axis speed F_xAbout that decided
The changed speed change pattern is adopted as it is, but the Y-axis speed
Degree F_yAre shown in FIGS. 23 and 24, respectively.
As a result, the determined speed change pattern causes the speed to decrease.
The actual maximum speed is the maximum allowable speed F
_ymaxModified to be smaller and adopted.

In view of these circumstances, an object of the present invention is to provide a method for determining a tool speed such that a rapid traverse time is effectively reduced without adversely affecting actual machining by a tool. Another object is to provide a tool speed determination method for calculating a tool rapid trajectory along with a tool rapid traverse speed. Yet another object is to provide a computer-executable program for implementing the methods and apparatus. Yet another object is to provide an apparatus for determining a tool speed such that the rapid traverse time is effectively reduced without adversely affecting actual machining by the tool. Still another object is to provide a tool speed determination device that calculates a tool rapid trajectory along with a tool rapid traverse speed.

[0008]

According to the present invention, the moving speed of a tool having a plurality of control axes is controlled for each control axis, and the workpiece is machined by the tool. Wherein at least one actual machining portion in which the tool moves while machining the workpiece and at least one rapid traverse portion in which the tool moves at a higher speed in the machining state in the non-machining state, are set.
A method for determining an axis speed that is a speed for each control axis of a tool when continuously moving the actual machining portion and the rapid traverse portion connected to each other with the tool, wherein the tool includes the rapid traverse portion. Each of the axis speeds when moving the connection portion with the actual machining portion is determined so as to be equal to each axis speed predetermined for the actual machining portion. Each axis speed when moving the intermediate part excluding the part, regardless of the actual path when the tool moves through the intermediate part, the time for the tool to pass through the rapid traverse part as short as possible A method for determining the tool speed is provided. According to this tool speed determination method, when the tool moves at the connecting portion between the actual machining portion and the rapid traverse portion, the moving speed is not reduced below the appropriate speed due to the presence of the rapid traverse portion, and the tool moves at the rapid traverse portion. The tool speed is determined so that the moving speed when moving through the middle part is determined so that the time for the tool to pass through the middle part is as short as possible, separate from the problem of the actual tool path. When passing through the entire part, the time when each axis speed of the tool becomes 0 simultaneously for all of the plurality of control axes is not always two times, and may be zero or one time. High accuracy is achieved. Ideally, the speed of each axis of the tool should be determined so that the time for the tool to pass through the rapid traverse part is theoretically minimized, but in practice it is difficult to guarantee that such determination is always made. It is estimated to be. For example, in the section where the tool is accelerated in the rapid traverse portion, acceleration is performed at the maximum acceleration in terms of the performance of the tool moving device, and in the section where the tool is decelerated, if the speed is reduced at the maximum deceleration in terms of the performance of the tool moving device, in most cases, Each axis speed is determined so that the rapid traverse time when the tool passes through the rapid traverse part is theoretically the minimum, but if uniform acceleration and deceleration of the tool in this way causes an increase in the rapid traverse time It is possible. Therefore,
In consideration of such circumstances, the term "as short as possible" is used in the above-described tool speed determination method (the same applies to a tool speed determination device described later).

Further, according to the present invention, the moving speed of a tool having a plurality of control axes is controlled for each of the control axes. In order to machine the work with the tool, the tool attaches the work to the work. At least one actual machining portion that moves in a machining state and at least one rapid traverse portion in which the tool moves at a higher speed in the machining state in a non-machining state are set, and the actual machining portion connects the tools to each other. A method for determining an axis speed that is a speed for each control axis of a tool when continuously moving a portion and the rapid traverse portion, wherein the tool is a portion of the rapid traverse portion that is connected to the actual machining portion. Each axis speed at the time of moving is determined so as to be equal to each axis speed predetermined for the actual machining portion, and the tool is used to remove the connection portion among the rapid traverse portions. Each shaft speed when moving the part, the tool velocity determined how time 0 at the same time for all of said plurality of control axes are determined not to exist also provided. According to this tool speed determination method, it is determined that there is no time at which the axis speed when the tool moves in the intermediate portion of the rapid traverse portion becomes zero simultaneously for all of the plurality of control axes. The tool path does not need to be bent, so that the speed of processing and the accuracy can be improved.

In one aspect of each of the above-described tool speed determination methods, the tool is further determined based on the determined axis speeds and the positions of the rapid traverse portion, the actual machining portion, and the connection portion. An actual path for moving the rapid traverse portion at each axis speed is calculated. When the above-described tool speed determination methods are performed, each axis speed when the tool passes through the rapid traverse portion is determined separately from the problem of the tool movement path. Changes the tool path. However, according to this aspect, not only the axis speed but also the actual path when the tool moves at the axis speed is calculated. For example, the appropriateness of the determined axis speed is determined based on the relationship with the actual tool path. Will be possible. In one embodiment of the present aspect, it is further checked whether or not the tool interferes with the workpiece during the movement based on the calculated relative positional relationship between the actual path and the shape of the workpiece. If the tool speed is determined irrespective of the relative positional relationship between the actual path of the tool and the shape of the workpiece, there is a possibility that the tool may interfere with the workpiece during movement. However, according to the present embodiment, since the presence or absence of the interference is checked, it is possible to achieve both the reduction of the fast-forward time and the optimization of the fast-forward route.

In another aspect of each of the above-described tool speed determination methods, each of the axis speeds when the tool moves through the intermediate portion is independent of a path along which the tool actually moves through the rapid traverse portion. In order for the tool to move in the direction of each control axis in order for the tool to pass through the rapid traverse portion, each axial movement time is determined to be as short as possible. When the tool moves in the direction of each control axis over the same time as the shortest axial movement time, the tool excluding the one where the axial movement time is the shortest among the axis speeds, Adjusted to reach end point. According to this aspect,
The shaft speed is taken into account comprehensively for the plurality of control axes, ensuring that the tool reaches the end of the rapid traverse.

Further, according to the present invention, a tool speed determining program recording medium in which a computer-readable tool speed determining program to be executed by a computer to carry out each of the above-described tool speed determining methods is recorded. Is also provided. According to this recording medium, the effects of the respective tool speed determination methods can be enjoyed. The “recording medium” here includes, for example, a floppy disk, magnetic tape, magnetic disk, magnetic drum, magnetic card, optical disk, magneto-optical disk, CD-ROM, RO
M, IC card, perforated tape, etc.

Further, according to the present invention, the moving speed of a tool having a plurality of control axes is controlled for each of the control axes. In order to machine the work with the tool, the tool is attached to the work. At least one actual machining portion that moves in a machining state and at least one rapid traverse portion in which the tool moves at a higher speed in the machining state in a non-machining state are set, and the actual machining portion connects the tools to each other. A device for determining an axis speed that is a speed for each control axis of a tool when continuously moving a portion and the rapid traverse portion, wherein the tool is a portion of the rapid traverse portion that is connected to the actual machining portion. Each axis speed at the time of moving is determined so as to be equal to each axis speed predetermined for the actual machining portion, and the tool is used to remove the connection portion among the rapid traverse portions. The speed of each axis when moving the part is determined so that the time for the tool to pass through the rapid traverse part is as short as possible, independent of the actual path of the tool as it passes through its intermediate part. A tool speed determining device including speed determining means is also provided. According to the tool speed determination device, the tool does not need to be decelerated unexpectedly when moving the actual machining portion, and the time for the tool to pass through the rapid traverse portion is shortened as much as possible. And higher precision are achieved.

Further, according to the present invention, the moving speed of a tool having a plurality of control axes is controlled for each of the control axes. In order to machine the work with the tool, the tool is attached to the work. At least one actual machining portion that moves in a machining state and at least one rapid traverse portion in which the tool moves at a higher speed in the machining state in a non-machining state are set, and the actual machining portion connects the tools to each other. A device for determining an axis speed that is a speed for each control axis of a tool when continuously moving a portion and the rapid traverse portion, wherein the tool is a portion of the rapid traverse portion that is connected to the actual machining portion. Each axis speed at the time of moving is determined so as to be equal to each axis speed predetermined for the actual machining portion, and the tool is used to remove the connection portion among the rapid traverse portions. Each shaft speed when moving the part, the tool velocity determination apparatus including a speed determining means for determining such timing 0 simultaneously for all of said plurality of control axes is not present is provided. According to this tool speed determination device, it is determined that there is no time at which the axis speed when the tool moves in the intermediate portion of the rapid traverse portion becomes zero for all of the plurality of control axes at the same time. The tool path does not need to be bent, so that the speed of processing and the accuracy can be improved.

In one aspect of each of the above-described tool speed determining devices, further, based on each of the determined axis speeds and the position of the connecting portion between the rapid traverse portion and the actual machining portion,
Tool path calculation means for calculating an actual path when the tool moves through the rapid traverse portion at each of the determined axis speeds is included. According to this aspect, since not only the shaft speed but also the actual path when the tool moves through the rapid traverse portion at the axis speed is calculated, for example, the propriety of the determined axis speed is determined in relation to the actual tool path. It becomes possible to judge. In one embodiment of the present aspect, the apparatus further includes interference check means for checking whether or not the tool interferes with the work during the movement based on the calculated relative positional relationship between the actual path and the shape of the work. It is. According to the present embodiment, since it is checked whether or not the tool interferes with the workpiece during the movement, it is possible to achieve both the reduction of the rapid traverse time and the optimization of the rapid traverse path.

Further, according to the present invention, the moving speed of a tool having a plurality of control axes is controlled for each of the control axes. In order to machine the work with the tool, the tool attaches the work to the work. At least one actual machining portion that moves in a machining state and at least one rapid traverse portion in which the tool moves at a higher speed in the machining state in a non-machining state are set, and the actual machining portion connects the tools to each other. A method of continuously moving a portion and the rapid traverse portion, wherein the tool moves each axis speed when moving a connection portion of the rapid traverse portion with the actual machining portion,
The respective axis speeds at the time of moving the intermediate portion excluding the connection portion of the rapid traverse portion are equal to the respective shaft speeds predetermined for the actual machining portion, There is also provided a tool moving method for moving the tool so as to minimize the time required for the tool to pass through the rapid traverse portion regardless of a path.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A more specific embodiment of the present invention will be described below with reference to the drawings. This embodiment implements an embodiment of the tool speed determination method according to the present invention,
1 is a machining system including an embodiment of a tool speed determination device according to the present invention. This processing system is a series of steps for processing a workpiece with an end mill as a rotating tool, and is used when each of the CAM step and the NC processing step in FIG. 1 is performed. In the CAM process, discrete point sequence data is created based on the work shape data created in the preceding CAD process, and further, NC data required for NC machining is created based on the discrete point sequence data. The NC data includes CL data for defining the position of each tool passage point CL and actual cutting (an example of actual machining) in each of a plurality of blocks in which the tool path CP is divided by the plurality of tool passage points CL. ) Or movement mode command data for commanding whether to perform fast-forward. In the CAM process, a CAM system 30 is used. As shown in FIG. 2, the CAM system 30 is mainly configured by a computer 32, and the computer 32 is configured to include a processor (for example, CPU) 34 and a memory (for example, ROM and RAM) 36. In addition, a program read from a recording medium 40 such as a floppy disk in an external storage device 38 such as a floppy disk drive is temporarily loaded into a memory 36 and executed by a processor 34 as necessary, whereby the work shape data , And the creation of NC data is performed in order. Instructions from the operator can be input to the computer 32 via an input device 42 such as a keyboard and a mouse.
Output can be made to the operator via an output device 44 such as an RT, a liquid crystal display, a printer, a plotter, or the like.

FIG. 3 is a flowchart showing an NC data creation program which is recorded in the recording medium 40 in advance and executed by the computer 32. First, in step S1 (hereinafter simply referred to as "S1"; the same applies to other steps), workpiece shape data is read from the CAD system 46 used in the CAD process. Tool point sequence data is created based on the work shape data. The tool point sequence data is created, for example, by offsetting the target processing surface of the work by an amount based on the processing radius of the tool 16. Thereafter, in S3, NC data is created by adding movement mode command data to the tool point sequence data. After that, S4 to S8 are executed, but these steps are not basic ones, but supplementary to the rapid traverse speed control in the NC machining process.
It will be described later.

In the NC processing step, as shown in FIG. 1, a direct numerical control (DNC) system 10 is used.
Is connected to a CNC (Computerized Numerical Control) system 12. The CNC system 12 controls the processing machine 14 to relatively move the tool 16 and the work 18, thereby processing the work 18 into a target shape. The processing machine 14 has an X axis, a Y axis, and a Z axis as a plurality of control axes, and the speed of the tool 16 is controlled for each of the control axes. The CNC system 12 basically determines the moving speed of the tool 16 as a command speed from an operator.
However, the tool 16 must bend at each tool passing point CL during the movement, and the tool 16 must be accelerated or decelerated when passing through the bending point. In addition, if the acceleration and deceleration are properly performed, the processing can be speeded up and the precision can be increased. Therefore, the CNC system 12 performs various speed controls on the tool 16. The speed control includes, for example, speed difference control between blocks and centrifugal acceleration control.
The inter-block speed difference control determines each axis speed so that the axis speed of the tool 16 has continuity between the blocks connected to each other so that the axis speed difference between the blocks does not become excessive. This is a control for automatically decelerating the tool 16 by using the control.
On the other hand, the centrifugal acceleration control is a control in which the axis speeds are determined so that the centrifugal acceleration of the tool 16 does not become excessive, and the tool is automatically decelerated as necessary.

The CNC system 12 is a CAM system 3
4, as shown in FIG. 4, the computer 50 is mainly configured. The computer 50 includes a processor 52 and a memory 54, and is read from a recording medium 58 in an external storage device 56. The loaded program is temporarily loaded into the memory 54 and executed by the processor 52 as necessary, whereby the NC
A tool speed determination based on the data is made. Also, CNC
The system 12 includes an input device 60 and an output device 64, like the CAM system 30.

The pre-recorded recording medium 58
The tool speed determination program executed by the computer 50
FIG. 5 is a flowchart. Below, this professional
The gram will be described, but for convenience of description, the tool 16 is an XY seat.
Moves only on the surface, and the axis speed F in the Z-axis direction_zIs 0
And its axial speed F_zExplanation of the decision
Is omitted. In this tool speed determination program,
First, in S100, the NC data is
Is read, and then, in S200, a plurality of blocks
In the fast-forward block (an example of a fast-forward portion)
N_(k)Of the front block located in front of the
This is an example. ) N_(k-1)X-axis speed F_{x (k-1)}You
And Y-axis speed F_{y (k-1)}Are determined respectively, and further,
Fast forward block N_(k)The rear block (real
It is an example of a processing block. ) N_{(k + 1)}About X axis speed
Degree F_{x (k + 1)}And Y-axis speed F_{y (k + 1)}Is decided respectively
Is done. Each axis speed F_x, F_yAre those blocks before and after each
N_(k-1)N_{(k + 1)}Was instructed by the operator in advance
Determined while executing the speed control based on the command speed
You. Therefore, each of these front and rear blocks N_(k-1), N
_{(k + 1)}Axis speed F_x, F_yIs smaller than the command speed
May be determined. Then, in S300,
Fast forward block N_(k)Axis speed when passing through
F_x, F_yIs determined. Tool 16 in front
Block N_{(k-1 )}Fast forward block N from_(k)To, and
Fast forward block N_(k)From back block N _{(k + 1)}Each
Axis speed F when moving_x, F_yAre respectively S20
0, each of the preceding and following blocks N_(k-1), N_{(k + 1)}To
And the tool 16 is rapidly traversed.
Block N_(k)Tool 16 passes through each control axis
Move each axis travel distance that must move in the direction
Each axis so that the movement time required for each axis is as short as possible.
Speed F_x, F_yIs determined.
Subsequently, in S400, the determined axis speed F_x,
F_yAre coordinated between the control axes. Each determined axis speed
Degree F_x, F_yMovement time of each axis is short
The tool 16 takes the same time as the longer axis movement time.
Is adjusted to pass through the axis travel distance.
You. This completes one execution of the program.

FIG. 6 and FIG. 7 are flow charts showing details of S300, that is, the speed change pattern determining step. However, this flow chart, only the speed change pattern determining step of the axial velocity F _x a is typically represents the speed change pattern determining step of the axial velocity F _y is omitted because it is similar.
This flowchart is based on the X of the previous block N _(k-1) .
The axis speed F _{x (k-1)} is the X-axis speed F of the rear block N _{(k + 1)}
Only the speed change pattern determination step for a case larger than _{x (k + 1)} is representatively shown, and the previous block N _(k-1)
The speed change pattern determination step in the case where the X-axis speed F _{x (k-1 )} of the second block N is smaller than the X-axis speed F _{x (k + 1) of the} rear block N _{(k + 1)} is the same, and therefore is omitted. .

First, in S301 of FIG.
F_xIs the previous block N_(k-1)X-axis speed F_{x (k-1)}After
Block N_{(k + 1)}X-axis speed F_{x (k + 1)}Linearly down to
The speed change pattern is small, and the tool 16
The absolute value of the deceleration in the X-axis direction is the maximum allowable acceleration / deceleration.
What is a is tentatively created (see FIG. 8). Next
In step S302, the provisional speed change pattern
X-axis movement of the tool 16 when the tool 16 is moved according to
The moving distance L is calculated. Previous block N_(k-1)X-axis speed
F_{x (k-1)}And rear block N_{(k + 1)}X-axis speed F_{x (k + 1)}
Is known and the deceleration of the tool 16 is known,
Travel time t in the axial direction_{x (k)}I understand. Also, the X axis
The moving distance L is represented by the hatched figure in FIG.
Equal to the area. Therefore, the X-axis moving distance L is L = (F_{x (k-1)}+ F_{x (k + 1)}) × t_{x (k)}/ 2 is calculated. Then in S303
The calculated X-axis moving distance L is the target moving distance L
_{x (k)}Is determined. Here is the target move
Distance L_{x (k)}Means that the tool 16_(k)Through
The distance you have to move in the X axis direction to spend
Yes, fast-forward block N in NC data_(k)The start of the
Point PS_(k)Tool passing point and end point PE_(k)Work
Based on the data that defines each position with the tool passing point
Is calculated. Then, the calculated X-axis moving distance L is
Target moving distance L_{x (k)}If the determination is YES,
In S304, provisionally determined in S301
Speed change pattern is the final speed change pattern.
(See FIG. 9). On the other hand, the calculated X-axis moving distance
L is the target moving distance L_{x (k)}If not equal to S3
03 is NO, and in S305 the calculated
X-axis moving distance L is the target moving distance L_{x (k)}Shorter or not
Is determined. If it is shorter, the determination is YES and S
In steps 306 to S310, the rapid traverse
Lock N_(k)Within the previous block N_(k-1)After
Lock N_{(k + 1)}Prior to deceleration, which is essential for moving to
X-axis travel distance by performing extra acceleration that is not essential for movement
By increasing L, the target movement of the X-axis movement distance L is performed.
Distance L_{x (k)}Is performed. Specifically
First, in S306, the extra acceleration is
And the X axis movement distance L is equal to the target movement distance L
_{x (k)}Is the speed at the end of acceleration when
Acceleration target speed F_AIs calculated (see FIG. 10). acceleration
Target speed F_AIs F_A= √ (2 × a × L_{x (k)}+ F_{x (k-1)} ^Two+ F
_{x (k + 1)} ^Two) Is calculated using the following formula. Note that this equation is as follows:
Be guided. That is, when the preceding acceleration section is continued
The acceleration time between_A, Duration of subsequent deceleration section
The deceleration time is t _DThen, the X-axis moving distance L is given by: L = ｛(F_{x (k-1)}+ F_A) × t_A+ (F_{x (k + 1)}+ F
_A) × t_D｝ / 2, and the acceleration time t_A, Deceleration time t_DIs
Respectively, t_A= (F_A-F_{x (k-1)}) / At_D= (F_A-F_{x (k + 1)}) / A. Further, the X-axis moving distance L is the target moving distance.
Release L_{x (k)}Must be the same as
Station, the above acceleration target speed F_ACalculation formula is derived
become. Next, in S307, the calculated acceleration target
Speed F_AIs the maximum allowable speed F specified in advance._xmaxSmaller
It is determined whether or not it is. If smaller, the determination is YES
In S308, as the speed change pattern,
Block N_(k-1)X-axis speed F_{x (k-1)}Max acceleration / deceleration from
Accelerating at degree a and accelerating target speed F_AReaches and from there
Decelerate at acceleration / deceleration a and rear block N_{(k + 1)}X-axis speed F
_{x (k + 1)}Are determined (see FIG. 11).
On the other hand, the calculated acceleration target speed F_AIs the maximum speed
Degree F_xmaxIf not smaller, the determination in S307 is N
O, and in S309 and S310, the acceleration section
Between the deceleration section and the positive maximum allowable speed F_xmaxConstant velocity at
Additional X-axis movement distance L by providing extra moving section
The X-axis movement distance L to the target movement distance L
_{x (k)}Is performed. Specifically,
In S309, it is the continuation time of the constant-velocity moving section.
Constant velocity travel time t_CVIs calculated (see FIG. 12). Constant velocity transfer
Moving time t_CVIs t_CV= (2 × a × L_{x (k)}+ F_{x (k-1)} ^Two+ F_{x (k + 1)}
^Two-2 x F_xmax ^Two) / (2 × a × F_xmax) Is calculated using the following formula. Note that this equation is as follows:
Be guided. That is, the X-axis moving distance L is L = (F_{x (k-1)}+ F_xmax) × t_A/ 2 + (F_{x (k + 1)}
+ F_xmax) × t_D/ 2 + F_xmax× t_CV And the acceleration time t_A, Deceleration time t_DIs
Respectively, t_A= (F_xmax-F_{x (k-1)}) / At_D= (F_xmax-F_{x (k + 1)}) / A. Further, the X-axis moving distance L is the target moving distance.
Release L_{x (k)}Must be the same as
Station, the above-mentioned constant speed traveling time t_CVCalculation formula is derived
become. Next, in S310, the speed change pattern and
And the previous block N_(k-1)X-axis speed F_{x (k-1)}From
Accelerate at large acceleration / deceleration a and allow maximum speed F_xmaxReached, etc.
Fast moving time t_CVAfter moving at a constant speed during
_xmaxDecelerate at the maximum acceleration / deceleration a from the rear block N_{(k + 1)}
X-axis speed F_{x (k + 1)}Are determined to reach
13).

As described above, the calculated X-axis moving distance L is equal to the target moving distance.
Dynamic distance L_{x (k)}Shorter and the determination in S305 is YES
In the following, the case where the X-axis movement distance L is the target movement
Distance L_{x (k)}The case where the determination is NO for a longer time will be described.
You. In this case, in steps S311 to S315 in FIG.
Fast-forward block N for fixture 16_(k)Within
Lock N_(k-1)From back block N_{(k + 1)}Not allowed to move to
Excessive deceleration prior to the required acceleration
Min. To reduce the X-axis movement distance L,
The axis travel distance L is the target travel distance L_{x (k)}To match
Is performed. Specifically, first, in S311, the remaining
Deceleration at the maximum acceleration / deceleration a and the X-axis travel distance
L is the target moving distance L_{x (k)}At the end of deceleration when
Deceleration target speed F which is the speed at the point_DIs calculated
(See FIG. 14). Deceleration target speed F_DIs F_D= −√ (F_{x (k-1)} ^Two+ F_{x (k + 1)} ^Two-2 x a x L
_{x (k)}) Is calculated using the following formula. Note that this equation is as follows:
Be guided. That is, when the preceding deceleration section is continued
The deceleration time between_D, Duration of subsequent acceleration section
The acceleration time is _AThen, the X-axis moving distance L is
14 corresponds to the area of the hatched figure
From: L = ｛(F_{x (k-1)}+ F_D) × t_D+ (F_{x (k + 1)}+ F
_D) × t_A｝ / 2, and the deceleration time t_D, Acceleration time t_AIs
Respectively, t_D= (F_{x (k-1)}-F_D) / At_A= (F_{x (k + 1)}-F_D) / A. Further, the X-axis moving distance L is the target moving distance.
Release L_{x (k)}Must be the same as
Station, the above deceleration target speed F_DCalculation formula is derived
become. Next, in S312, the calculated deceleration target
Speed F_DIs a predetermined allowable minimum speed F_xmin(Minor
-F is the maximum feed speed in the_xmaxbe equivalent to. )
It is determined whether it is greater than. If it is large, the judgment is
YES, and in S313, the speed change pattern
And the previous block N_(k-1)X-axis speed F_{x (k-1)}From
Deceleration at large acceleration / deceleration a and deceleration target speed F_FReached, there
From the next block N after accelerating at the maximum acceleration / deceleration a_{(k + 1)}X
Shaft speed F_{x (k + 1)}Are determined (see FIG. 15).
reference). On the other hand, the calculated deceleration target speed F_DIs allowed
Minimum speed F_xminIf not greater, the
The determination is NO, and in S314 and S315,
Between the deceleration section and the acceleration section, a negative allowable minimum speed F_xmin
The X axis movement distance L is set by providing a constant speed movement section
By reducing the distance, the X-axis moving distance L is set to the target moving distance.
L_{x (k)}Is performed. Specifically,
In S314, it is the continuation time of the constant-velocity moving section.
Constant velocity travel time t_CVIs calculated (see FIG. 16). Constant velocity transfer
Moving time t_CVIs t_CV= (2 × a × L_{x (k)}-F_{x (k-1)} ^Two-F_{x (k + 1)}
^Two+ 2 × F_xmax ^Two) / (2 × a × F_xmax) Is calculated using the following formula. Note that this equation is as follows:
Be guided. That is, the X-axis moving distance L is as shown in FIG.
Does it correspond to the area of the hatched figure in
L = (F_{x (k-1)}+ F_xmin) × t_D/ 2 + (F_{x (k + 1)}
+ F_xmin) × t_A/ 2 + F_xmin× t_CV And the deceleration time t_D, Acceleration time t_AIs
Respectively, t_D= (F_{x (k-1)}-F_xmin) / At_A= (F_{x (k + 1)}-F_xmin) / A. Further, the X-axis moving distance L is the target moving distance.
Release L_{x (k)}Must be the same as
Station, the above-mentioned constant speed traveling time t_CVCalculation formula is derived
become. Next, in S315, the speed change pattern and
And the previous block N_(k-1)X-axis speed F_{x (k-1)}From
Deceleration at large acceleration / deceleration a to allow maximum speed F_xminReached, etc.
Fast moving time t_CVAfter moving at a constant speed during
_xminFrom the next block N after accelerating at the maximum acceleration / deceleration a_{(k + 1)}
X-axis speed F_{x (k + 1)}Are determined to reach
17). As described above, based on FIGS. 6 and 7, FIG.
The details of step S300 have been described.
In other words, details of the process of adjusting the axis speed between multiple control axes
Will be described with reference to FIGS. In addition, it
In each of the examples shown in the figures, the determined speed change pattern
Below, the X axis movement time is longer than the Y axis movement time
And it is necessary to increase the Y-axis movement time
It is. There are various methods for adjusting the speed between axes, for example,
As shown in FIG. 18, the Y-axis speed F of the shorter axis movement time
_yTo reduce the maximum speed of a robot and increase its axis travel time
And, as shown in FIG. 19, the Y-axis speed of the shorter axis movement time.
Degree F_YA stop section with a speed of 0 is set in
As shown in FIG. 20, the axis movement time
Shorter Y-axis speed F_yAxis acceleration time
There is a method to increase. By those various methods
If the inter-axis speed adjustment is performed, the tool speed
One run ends.

Therefore, in this embodiment, the tool
16 is fast-forward block N_(k)Speed when passing through
Feed block N_(k)Separated from the problem of the route through
For example, as shown in FIG.
Block N before and after_{(k + 1)}When moving each axis speed F_x, F
_yDoes not become 0, and the tool 16
Check N_(k)When each axis speed of the tool 16
There is no time when all the control axes become 0 at the same time.
Speeds up machining and increases accuracy.
The effect is obtained. Thus, in the present embodiment,
Tool speed is prioritized to reduce the rapid traverse time.
Tool path is determined after determining the tool speed.
The tool 16 at the determined speed.
When moving, the tool 16 interferes with the workpiece 18.
Problem may occur. Therefore, in this embodiment,
Check for interference between tool 16 and workpiece 18
Function is provided in the CAM system 30, and the NC
The data is sent to the CNC system 12 after the check
It is being supplied. The interference check function is
This is executed by S4 to S8 in 3. In S4
Is the same as the tool speed determination program of the CNC system 12.
By executing the kind of program, in S3
The speed change pattern of the tool 16 is determined based on the NC data created.
The turn is determined. Next, in S5, the determined
Speed change pattern and fast-forward block N_(k)Starting point P
S_(k)Position and end point PE _(k)And position of each
Actual moving path of the tool 16 based on the
Is calculated. The actual travel route is shown in FIG. 22, for example.
Like fast forward block N_(k)Starting point PS_(k)And end
Point PE_(k)It is represented by a free curve connecting. Then, S6
, The calculated actual movement route and the shape of the work 18
While the tool 16 is moving,
It is checked whether it interferes with the tool 18 and the tool 16 is
In the case where no interference occurs with the work 18, the determination in S 7 is NO.
Completes one execution of the NC data creation program.
You. On the other hand, the tool 16 interferes with the workpiece 18 while moving.
If yes, the determination in S7 is YES, and
The operator to correct the speed change pattern.
The data is entered. Workers are, for example, fast-forward blocks
N_(k)The speed change pattern of the tool 16 at
Determined according to different rules from normal rules by stem 12
This prevents the tool 16 from interfering with the workpiece 18.
Input data for fast-forward block N
_(k)By additionally providing another tool passing point at
The NC system 12 performs a speed change pattern according to a normal rule.
Tool 16 does not interfere with the work 18
Enter the data for Execution of this step is completed
Upon completion, one execution of the program ends.

While the embodiment of the present invention has been described in detail with reference to the drawings, other various modifications and alterations can be made based on the knowledge of those skilled in the art without departing from the scope of the claims.
It is possible to implement the invention in an improved form.

[Brief description of the drawings]

FIG. 1 is a process diagram showing a machining system in which a tool speed determination method and a tool speed determination device according to one embodiment of the present invention are respectively implemented.

FIG. 2 is a block diagram showing a CAM system 30 in FIG.

FIG. 3 is a flowchart showing an NC data creation program recorded in advance on a recording medium 40 in FIG. 2;

FIG. 4 is a block diagram showing a CNC system 12 in FIG.

FIG. 5 is a flowchart showing a tool speed determination program recorded in advance on a recording medium 58 of FIG. 4;

FIG. 6 is a flowchart showing details of a part of S300 in FIG. 5;

FIG. 7 is a flowchart showing details of the remaining part of S300.

FIG. 8 is a graph for explaining the contents of S301 in FIG. 7;

FIG. 9 is a graph for explaining the contents of S304 in FIG. 7;

FIG. 10 is a graph for explaining the contents of S306 in FIG. 7;

FIG. 11 is a graph for explaining the contents of S308 in FIG. 7;

FIG. 12 is a graph for explaining the content of S309 in FIG. 7;

FIG. 13 is a graph for explaining the contents of S310 in FIG. 7;

FIG. 14 is a graph for explaining the contents of S311 in FIG. 7;

FIG. 15 is a graph for explaining the contents of S313 in FIG. 7;

FIG. 16 is a graph for explaining the contents of S314 in FIG. 7;

FIG. 17 is a graph for explaining the contents of S315 in FIG. 7;

FIG. 18 is a graph for explaining the contents of S400 in FIG. 5;

FIG. 19 is another graph for explaining the contents of S400 in FIG. 5;

FIG. 20 is still another graph for explaining the contents of S400 in FIG. 5;

FIG. 21 is an X-axis speed F determined in the embodiment.
It is a graph which shows an example of each of _x , Y-axis speed _Fy, and synthetic | combination speed F.

FIG. 22 is a diagram showing a comparison of a path for fast-forwarding a tool between a conventional example, a conventional example, and an embodiment of the present invention.

FIG. 23 is a graph showing how speed change patterns are determined according to the conventional example.

FIG. 24 is a graph showing how a speed change pattern is determined according to the conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 DNC system 12 CNC system 14 Processing machine 16 Tool 18 Work 30 CAM system 40,58 Recording medium

Claims (7)

[Claims] A moving speed of a tool having a plurality of control axes is controlled for each of the control axes, and the tool moves to the work in order to machine the work by the tool while the tool is working the work. At least one actual machining portion and at least one rapid traverse portion in which the tool moves in a non-machining state at a higher speed in the machining state are set, and the actual machining portion and the rapid traverse portion are connected to the tool. A method of determining an axis speed that is a speed for each control axis of the tool when continuously moving, wherein each of the tool when moving the connection portion with the actual machining portion of the rapid traverse portion The axis speed is determined so as to be equal to each axis speed predetermined for the actual machining portion, and each time when the tool moves an intermediate portion of the rapid traverse portion excluding the connection portion. A method for determining a tool speed, wherein the axis speed is determined so that the time required for the tool to pass through the rapid traverse portion is as short as possible irrespective of the actual path in which the tool moves through the intermediate portion. 2. The moving speed of a tool having a plurality of control axes is controlled for each of the control axes, and the tool moves to the work in order to machine the work with the tool while the tool is processing the work. At least one actual machining portion and at least one rapid traverse portion in which the tool moves in a non-machining state at a higher speed in the machining state are set, and the actual machining portion and the rapid traverse portion are connected to the tool. A method of determining an axis speed that is a speed for each control axis of the tool when continuously moving, wherein each of the tool when moving the connection portion with the actual machining portion of the rapid traverse portion The axis speed is determined so as to be equal to each axis speed predetermined for the actual machining portion, and each time when the tool moves an intermediate portion of the rapid traverse portion excluding the connection portion. A tool speed determination method for determining an axis speed such that there is no time at which all of the plurality of control axes become 0 at the same time. 3. The tool speed determining method according to claim 1, further comprising the step of: determining the axis of the tool based on the determined axis speed and the position of the connection portion of the rapid traverse portion. A tool speed determination method for calculating an actual path when the rapid traverse portion is moved at a speed. 4. A tool speed determining program recording medium in which a tool speed determining program to be executed by a computer to execute the tool speed determining method according to claim 1 is recorded so as to be readable by a computer. 5. A moving speed of a tool having a plurality of control axes is controlled for each of the control axes, and the tool moves to the work in order to machine the work with the tool while the tool is working the work. At least one actual machining portion and at least one rapid traverse portion in which the tool moves in a non-machining state at a higher speed in the machining state are set, and the actual machining portion and the rapid traverse portion are connected to the tool. A device for determining an axis speed that is a speed for each control axis of the tool when continuously moving, wherein each of the tool when moving the connection portion with the actual machining portion of the rapid traverse portion The axis speed is determined so as to be equal to each axis speed predetermined for the actual machining portion, and each time when the tool moves an intermediate portion of the rapid traverse portion excluding the connection portion. Axle speed comprising tool speed determining means for determining that the time for the tool to pass through the rapid traverse portion is as short as possible irrespective of the actual path through which the tool passes through the intermediate portion; Decision device. 6. A moving speed of a tool having a plurality of control axes is controlled for each of the control axes, and the tool moves to the work in order to machine the work by the tool while the tool is working the work. At least one actual machining portion and at least one rapid traverse portion in which the tool moves in a non-machining state at a higher speed in the machining state are set, and the actual machining portion and the rapid traverse portion are connected to the tool. A device for determining an axis speed that is a speed for each control axis of the tool when continuously moving, wherein each of the tool when moving the connection portion with the actual machining portion of the rapid traverse portion The axis speed is determined so as to be equal to each axis speed predetermined for the actual machining portion, and each time when the tool moves an intermediate portion of the rapid traverse portion excluding the connection portion. A tool speed determination device including speed determination means for determining the axis speed so that there is no time at which all of the plurality of control axes become zero at the same time. 7. The tool speed determining apparatus according to claim 5, further comprising: a tool that determines each of the axes based on the determined axis speed and a position of the connection portion of the rapid traverse portion. A tool speed determination device including tool path calculation means for calculating an actual path when moving the rapid traverse portion at a speed.