JPH11175131A - Numerical controller with teaching playback function - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a numerical control unit with a teaching playback function which can automatically prepare an operation path for finish machining. SOLUTION: Intersections P1, P2, and P3 of adjacent machining shape elements among a series of inputted machining shape elements L1, L2, L3, and L4 constituting a machining shape are found. Further, the start point P0 and end point P4 of finish machining are found from a cutting start position Ps and a cutting end position Pe found by the teaching of rough machining and the starting and end machining shape elements L1 and L4 in the series. Then, an NC program for operation paths P0, P1, P2, P3, and P4 of the finish machining is prepared by using the found start point P0 of the finish machining, intersections P1 to P3, end point P4, and stored machining shape elements. Consequently, the operation paths of the finish machining need not be taught by manual operation and the NC program for the finish machining can be prepared safely and easily.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a numerical controller having a teaching / playback function.

[0002]

2. Description of the Related Art A teaching function for storing an operation path taught through a numerical controller as an NC program in a numerical controller, and a playback function for automatically re-executing the taught operation path under automatic control according to the NC program. Is already known.

However, in a conventional numerical controller with a teaching / playback function, the spindle is turned on / off.
For the auxiliary functions such as operation, coolant ON / OFF operation, and tool change work, the editor function of the numerical controller is started again when all NC programs related to the machine operation path are stored in the program memory by teaching. However, it was necessary to manually insert the command corresponding to the auxiliary function operation. In view of this, the applicant of the present application has proposed in Japanese Patent Application No. 9-240282 a method of automatically teaching and programming the auxiliary function operation during teaching of the operation path.

[0004] As a result, teaching can be performed automatically including the auxiliary function operation, and an NC program can be created. However, there is a problem that it is difficult to manually teach the operation path of finishing.

[0005]

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a numerical control device with a teaching / playback function capable of automatically creating an operation path for finishing.

[0006]

According to the present invention, there is provided a numerical control apparatus having a teaching / playback function, wherein a storage means for storing data of a series of input processing shape elements constituting a processing shape, and Means for determining the intersection of adjacent machining shape elements in the stored machining shape element data, and the intersection of the machining shape element data stored in the storage means and the determined intersection, determine the N of the operation path of the finish machining.
A means for creating a C program and a storage means for storing the NC program are provided so that an NC program for finish machining can be automatically created. In particular, the processing start position (start point) and the processing end position (end point) of the finishing processing are obtained by the roughing teaching and stored in the storage means and the cutting start position and the cutting end position obtained by the NC program stored in the storage means. It is obtained from the first and last machining shape element data of a series of machining shape element data to be processed. Further, when an NC program for the operation path of the finishing process is created and stored in the storage means, the NC program automatically stored in the storage means is executed to perform the automatic operation.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a numerical controller 10 with a teaching / playback function according to an embodiment of the present invention.
FIG. 1 is a block diagram showing main parts of a machine tool, for example, a lathe, which is driven and controlled by the numerical controller 10. The processor 11 is a processor for controlling the numerical controller 10 as a whole, reads a system program stored in the ROM 12 via the bus 21, and controls the numerical controller 10 as a whole according to the system program. The RAM 13 is a memory for temporary storage. CMOS
The memory 14 is backed up by a battery (not shown),
It is configured as a non-volatile memory that retains the storage state even when the power of the numerical controller 10 is turned off.

The interface 15 is an interface for an external device, and is connected to an external device 72 such as a floppy disk driver, a paper tape reader, and a paper tape puncher. The NC program is read from the external device 72, and the NC program edited in the numerical controller 10 can be output to the external device 72. PM
A C (programmable machine controller) 16 controls the machine tool by a sequence program built in the numerical controller 10. That is, in accordance with the functions instructed by the NC program, these sequence programs convert the signals into necessary signals on the machine tool side, and output the signals from the I / O unit 17 to the machine tool. Various actuators on the machine tool are operated by this output signal. Further, it receives a signal from a limit switch or the like on the machine tool side, performs necessary processing, and passes it to the processor 11.

The present position of each axis, alarm, parameter,
An image signal such as image data is transmitted to a CRT / MDI unit 70.
Is sent to the display. The interface 18 receives data from the keyboard of the CRT / MDI unit 70 and passes the data to the processor 11. The interface 19 is connected to a manual pulse generator group 71 composed of three manual pulse generators for X-axis, Z-axis and guidance, and receives pulses from these manual pulse generators. 3 for X axis, Z axis and guidance
The two manual pulse generators are mounted on an operation panel 112 on the machine tool side as shown in FIG. 2, and each of the manual pulse generators has an X-axis operation handle 108 and a Z-axis operation handle 1.
09, a guidance operation handle 111 is attached.

The operation panel 112 has a spindle switch 101, a spindle stop switch 102,
Coolant switch 103, coolant stop switch 1
04, a tool change switch 105, a teaching switch 106, a playback switch 107, and a selection switch 110 for selecting a function of the guidance operation handle 111. The signals from these switches are transmitted to I / O unit 17 and PMC
16 to the processor 11.

The axis control circuits 30 and 31 receive the movement command of each axis from the processor 11 or the pulse from the manual pulse generator of the X axis or Z axis, and send the command of each axis to the servo amplifier 4.
Output to 0,41. The servo amplifiers 40 and 41 receive the command and drive the servo motors 50 and 51 of each axis.
The X and Z axis servomotors 50 and 51 have pulse coder for detecting the position and speed, and feedback signals from these pulse coder are fed back to the axis control circuits 30 and 31. Each of the servo control CPUs built in the axis control circuits 30 and 31 performs each processing of a position loop, a speed loop, and a current loop based on these feedback signals and the above-described movement command, and performs final drive control. The current command of each axis is obtained for each axis, and the servo motor 5 of each axis is obtained.
The position and speed of 0 and 51 are controlled.

The spindle control circuit 60 outputs a spindle speed signal to a spindle amplifier 61 in response to a spindle rotation command and a command such as spindle orientation. Upon receiving the spindle speed signal, the spindle amplifier 61 rotates the spindle motor 62 at the commanded rotation speed. Further, the rotational position of the spindle motor 62 is positioned at a predetermined position in accordance with the orientation command.

FIGS. 4 to 9 are flowcharts showing the outline of the teaching processing executed by the processor 11. FIG. This processing is performed according to the judgment of the operator.
The function is automatically activated when the teaching mode function is selected from the RT / MDI unit 70. Hereinafter, the processing operation of the processor 11 in the teaching processing will be described by taking, as an example, a case where a teaching operation for processing a workpiece by a lathe is performed. At this stage, it is assumed that the attachment of the work to the tip of the spindle has already been completed, and that all the replacement blades required for machining are mounted on the tool holder of the turret.

Processor 1 that has started teaching processing
First, a write pointer P3W of a buffer 3 constituting storage means for temporarily storing all the elements of a machining shape,
Initialize the read pointer P3R (step S1),
It is determined whether or not a preparatory machining end signal has been input from the CRT / MDI unit 70 (step S2). The preparatory processing end signal is output by the operator at the stage when the teaching operation relating to the roughing or semi-finishing processing step is completed.
Since the input is performed by operating the RT / MDI unit 70, no preparatory machining end signal is input at this stage.

Therefore, the processor 11 initializes both the value of the write pointer P1W and the value of the read pointer P1R of the buffer 1 constituting the storage means for temporary storage such as the input operation path (steps S3 and S4). Initialize the contents of the buffer 2 for temporarily storing the shape data of one element of the processing shape input by the operator (step S
5) The current position of the blade is read from the current position storage register of each axis and set in the end point position storage register A and the immediately preceding position storage register B, and the direction storage register V 'for storing the direction of the operation path is initialized. (Step S
6). Further, each of the movement direction storage flag F1, the shape input storage flag F2, the approach storage flag F3, and the shape processing storage flag F4 is reset (step S7).

Next, the processor 11 determines whether or not the teaching switch 106 of the operation panel 112 has been operated (step S8). The teaching switch 106 performs processing before finishing such as roughing and semi-finishing (step S8). The teaching switch 106 is operated by the operator when the teaching operation for one machining step (hereinafter referred to as rough machining) is completed. Therefore, the teaching switch 106 is not operated at this stage.

Therefore, the processor 11 further includes a spindle switch 101, a spindle stop switch 102,
Coolant switch 103, coolant stop switch 1
04, it is determined whether or not a switch for auxiliary function operation such as the tool change switch 105 is operated (step S9). When the switch operation is detected by the processing of step S9 as the detection means of the auxiliary function operation selection, the processor 11 determines whether or not the movement direction storage flag F1 is set, that is, immediately before the auxiliary function operation switch is operated. It is determined whether or not the operation path of the blade is already stored in the buffer 1 (step S22).

As will be described in detail later, in this embodiment, a change in the direction of the operating path of the blade is detected, the path is divided, and each of the paths is stored in the buffer 1 as an independent operation block. Therefore, the motion path of the blade is not stored in the buffer 1 unless a change in directionality of the motion path is detected, and the movement direction storage flag F1 is
While the operation path for one block is reset when it is newly stored in the buffer 1, the set state is maintained while the moving direction of the blade is maintained in the same direction.

Therefore, if the result of the determination in step S22 is true, that is, while the moving direction of the blade is maintained in the same direction, the spindle switch 101, the spindle stop switch 102, the coolant switch 103, and the coolant stop switch 104 When the auxiliary function operation switch such as the tool change switch 105 is operated, the operation path of the blade corresponding to the section from the end point position of the previous divided path to the current position of the blade at the time of operating the auxiliary function operation switch this time is set. It is necessary to store the operation of the auxiliary function operation switch in the buffer 1 before storing the operation.

If the result of the determination in step S22 is true, the processor 11 executes the SUB (A) process shown in step S23, and starts the operation of the auxiliary function operation switch from the last end position of the divided path. The motion path of the blade corresponding to the current position of the blade is obtained and stored in the buffer 1 serving as automatic storage means.

FIG. 8 shows the details of the SUB (A) processing.
The processor 11 first determines the last divided path based on the relationship between the current position of the blade stored in the immediately preceding position storage register B described later and the end point position of the previous divided path stored in the end point position storage register A. Of the blade corresponding to the current position of the blade at the time of operating the auxiliary function operation switch from the end point position A, and stores this operation path in the buffer 1 in accordance with the address designation of the write pointer (step A).
1) Update the contents of the end point position storage register A to the current position of the blade stored in the immediately preceding position storage register B, that is, the end point position of the divided path newly stored this time (step A2). Then, the value of the write pointer P1W is incremented to store the next divided path in the buffer 1 or the write address of the auxiliary function operation command (step A3), and the movement direction storage flag F1 is reset (step A4).

That is, even if the blade is moved in exactly the same direction, if the auxiliary function operation switch is operated during that time, the operation path of the blade depends on the position of the blade corresponding to the switch operation time. That is, the operation path of the blade from the end point of the previous division path to the current position of the blade at the time of operating the auxiliary function operation switch is automatically stored in the buffer 1 automatically. It should be noted that the moving direction storage flag F1 has been reset and step S2
If the determination result of step 2 is false, it means that the operation path up to the point when the auxiliary function operation switch is operated is already stored in the buffer 1, so that step S is repeated.
It is not necessary to execute the process of 23.

After completing the processing in step S22 or S23, the processor 11 then proceeds to step S24
The SUB (B) process shown in (1) is executed, the process corresponding to the auxiliary function operation detected in the above-described step S9 is executed, and the command corresponding to the auxiliary function operation is stored in the buffer 1.

FIG. 9 shows the details of the SUB (B) processing.
The processor 11 first issues a command corresponding to the selected auxiliary function operation switch, for example, turning on the spindle motor.
/ OFF, etc., to the machine side (step B1), a command corresponding to this command is stored in the buffer 1 in accordance with the address designation of the write pointer (step B2), and the value of the write pointer P1W is incremented. The write address of the next divided path in 1 or the auxiliary function operation command is stored (step B3).

Next, the processor 11 shifts to the process of step S8, and starts the detection process of the switch operation, the steering wheel operation and the like again in the same manner as described above. Further, the switch operation for the operation of these auxiliary functions is not detected and step S
9 is false, the processor 11
Determines whether the shape input storage flag F2 is set, that is, whether the operator has already performed the shape input operation on the buffer 2 at this stage (step S10).

When no shape input operation has been performed on the buffer 2, that is, when the shape input storage flag F
If 2 has not been set, the operator is allowed to input the shape of the buffer 2 again.

In this case, if the operator operates the CRT / MDI unit 70 and selects the shape input mode, C
One element data of a processing shape to be processed can be arbitrarily set in the buffers 2 and 3 by inputting a numerical value from the keyboard of the RT / MDI unit 70 or the like. The operation of setting the processing shape element data in the buffer 2 is not an essential requirement in the teaching operation on the lathe, and the X-axis operation handle 108 and the Z-axis
Although it is possible to achieve teaching work in all machining steps only by operating the shaft operation handle 109, by setting machining shape element data in the buffer 2 in advance, as described later, Teaching work can be performed automatically.

If the operator wants to use this function, at any stage before bringing the blade into contact with the workpiece,
The shape input mode is selected by operating the CRT / MDI unit 70, and the processed shape element data to be processed is set in the buffer 2 and the buffer 3 by using a numerical value input from a keyboard or the like. As will be described later, since the buffer 2 is initialized in step S5, only one element data of the processed shape is stored in the buffer 2.
The buffer 3 stores all input machining shape element data.

If the shape input mode is selected, the result of the determination in step S11 becomes true, so that the processor 11 accepts the shape input operation by the operator, and
Then, the machining shape element data input to the buffer 3 is stored (steps S12 and S13), the write pointer P3W of the buffer 3 is incremented by "1" (step S14), and the shape input storage flag F2 is set (step S14). S15).

When it is determined that the shape input storage flag F2 has been set by the determination processing in step S10, that is, when it is determined that the operator has already performed the shape input operation on the buffer 2, ,
By using the machining shape element data stored in the buffer 2, a simplified approach operation and a cutting feed operation of a blade can be performed. The processor 11 further operates the selection operation switch 1 by the selection switch 110.
It is determined whether the eleventh approach operation function or the shape processing operation function is selected (steps S16 and S17).

If the approach operation function is selected, the processor 11 sets the approach storage flag F3
Is set to reset the shape processing storage flag F4 (steps S20 and S21). If the shape processing operation function is selected, the shape processing storage flag F4 is set and the approach storage flag F3 is reset (step S20). Steps S18 and S19).

That is, in order to carry out the simplified approach operation and the cutting feed operation of the blade, it is essential that the machining shape element data is stored in the buffer 2, and the machining shape element data is stored. If not,
The processor 11 does not refer to the setting state of the selection switch 110 (see step S10). Therefore, the approach storage flag F3 and the shape processing storage flag F4 are set only when the processed shape element data is stored in the buffer 2 and the shape input storage flag F2 is set.

As described above, it is up to the operator whether to set the machining shape element data in the buffer 2 or not.
When setting the processing shape element data in the buffer 2, the processing shape element data setting operation for the buffers 2 and 3 can be performed at an arbitrary stage before the blade is brought into contact with the workpiece.

After completing the processing in step S15, step S11, step S17, step S19 or step S21, the processor 11 determines whether or not the guidance operation handle 111 is operated (step S25). Operation handle 1 for this guidance
Reference numeral 11 denotes an operation for performing an approach operation or a cutting feed operation of a blade using the processed shape element data stored in the buffer 2. When the guidance operation handle 111 is operated, the processor 11 first determines whether the approach storage flag F3 is set (step S2).
6) It is determined whether the shape processing storage flag F4 is set (step S27), and the approach storage flag F is determined.
If 3 is set, the normal direction vector (approach direction) of the workpiece is obtained based on the machining shape element data stored in the buffer 2, and the movement command pulse for the X-axis and Z-axis servomotors 50 and 51 is obtained. Calculate the distribution ratio,
Movement command pulses are distributed to the X-axis and Z-axis servo motors 50 and 51 in accordance with the operation amount of the guidance operation handle 111 to cut the blade close to the workpiece. Alternatively, they are separated (step S33). Then, the current position of the blade is updated (step S35). Rotating the guidance operation handle 111 in the forward direction indicates approach (approach), and rotating the guidance operation handle 111 in the reverse direction indicates separation movement.

If the shape processing storage flag F4 is set, the processor 11 sets the X-axis and Z-axis based on the processing shape element data stored in the buffer 2 and the current position of the blade on the data. Servo motor 50, 5
1 is calculated, and the X-axis and Z-axis are distributed in accordance with the operation amount of the guidance operation handle 111.
The movement command pulse is distributed to the servomotors 50 and 51 of the shaft, and the cutting tool is moved along the processing shape element to perform cutting (step S34). Then, the current position of the blade is updated (step S35).

That is, when the guidance operation handle 111 is operated in a state where the flag F4 is set and the shape processing operation function is selected, the blade always moves along the processed shape element. Therefore, basically, the above-described approach operation function is used, or the X-axis operation handle 108 or the Z-axis operation handle 1 is used.
It is correct to operate the guidance operation handle 111 by selecting the shape processing operation function after making the current position of the blade coincide with the processing start point of the processed shape element by the operation of 09 in advance.

When neither the approach storage flag F3 nor the shape processing storage flag F4 is set, the operation of the guidance operation handle 111 is ignored. On the other hand, when the operation of the guidance operation handle 111 is not detected and the determination result of step S25 is false, the processor 1
1 determines whether the X-axis operation handle 108 or the Z-axis operation handle 109 has been operated (step S).
38), if any operation handle is operated,
X-axis or Z-axis servo motor 5 according to the operation amount
The movement command pulse is distributed to 0 and 51 to move the blade (step S39). Then, the current position of the blade is updated (step S35).

After finishing the processing in step S35 or step S38, the processor 11 reads the current position of the blade from the current position storage register of each axis and compares it with the current value of each axis in the immediately preceding position register B, and then proceeds to step S3.
3. It is determined whether or not the blade has been moved by the processing in step S34 or step 39 (step S2).
8). Naturally, if the current position of the blade read from the current position storage register of each axis matches the current value of each axis in the immediately preceding position storage register B, there is no movement, and if there is a change between the two, there is movement. Will be.

If the movement of the blade is detected by the determination processing in step S28, the processor 11 firstly reads the current position of the blade read from the current position storage register of each axis and the current value of each axis in the immediately preceding position storage register B. Then, the direction vector of the moving direction V (X, Z) by the current steering operation is obtained (step S29), and is compared with the value of the direction storage register V 'to determine whether or not they match, that is,
It is determined whether the direction of movement of the blade by the current operation of the steering wheel is the same as the direction of movement of the blade by the previous operation of the steering wheel (step S30).

However, if the value of the direction storage register V 'to be compared is the initial set value V' = (0,0), V and V 'match regardless of the value of V. I assume it. As a result, such a discrimination mode occurs because:
Only when you first move the handle.

If the moving direction V of the current steering operation matches the moving direction V 'of the previous steering operation, the processor 11 sets the moving direction storage flag F1.
Is stored to store that the previous moving direction is the same as the current moving direction (step S31), the value of the direction storage register V 'is updated to the value of the direction storage register V, and the immediately preceding position is stored. The current value of each axis of the register B is updated to the value of the current position storage register of each axis (Step S3)
2). Although the value of V 'is determined to be equal to the value of V in the process of step S30, the value of V' is updated to V when the handle is first operated. The moving direction is stored in the register V 'and the initial value (0, 0) is stored.
In order to perform the replacement.

If the moving direction V of the blade by the current operation of the steering wheel does not match the moving direction V 'of the blade by the previous operation of the steering wheel and the determination result in step S30 is false, the movement of the blade is moved. Since this means that the direction has changed, the processor 11 executes the above-described SUB (A) processing, and stores the immediately preceding position of the blade read from the immediately preceding position storage register B and the end point position storage register A. Based on the relationship with the end point position of the previous divided path, the operation path of the blade from the end point position A of the previous divided path to the position immediately before the direction change point is obtained, and this operation path is determined according to the address designation of the write pointer. The data is stored in the buffer 1, and the contents of the end point storage register A are updated to the immediately preceding position where the contents of the end position storage register B are stored in the immediately preceding position storage register B. And increments the value of the write pointer stores the write address of the next split-path or miscellaneous function operation command in the buffer 1, to reset the moving direction storage flag F1 (above, step S36).

Further, the value of the direction storage register V 'is updated to the value of the direction storage register V, and the current value of each axis of the immediately preceding position storage register B is updated to the value of the current position storage register of each axis. (Step S37). Step S28
If the movement of the blade is not detected by the determination processing of step S29, the processing of steps S29 to S32 and steps S36 to S37 is not executed.

Then, step S32, step S37
Alternatively, the processor 11 that has completed the processing of step S28
Shifts to the process of step S8 again, and starts the detection process of the switch operation, the steering wheel operation and the like in the same manner as described above. The teaching work relating to each machining step of the rough machining includes the processing on the processor 11 side in steps S1 to S39 described above, and various auxiliary function operation switches 101, 102, 103, 10 by the operator.
4, 105, and various operation handles 108,
This is performed by operating the selection switches 109 and 111 and the selection switch 110.

Here, how these operations are automatically stored in the buffer 1 will be briefly described.
First, the operation of various auxiliary function operation switches such as the spindle switch 101, the spindle stop switch 102, the coolant switch 103, the coolant stop switch 104, and the tool change switch 105 is detected by the processor 11 in the determination processing in step S8, and the processing in step S24. That is, the data is stored in the buffer 1 by the processing of SUB (B).

If the operation of these auxiliary function operation switches is detected while the blade is being moved in the same direction, step S22 following the determination processing of step S9.
The set state of the movement direction storage flag flag F1 is detected by the determination processing of step S2, and the processor 11 determines in step S2
3, that is, by the processing of SUB (A), the operation path of the blade is automatically divided at the position of the blade at the time when the operation of the auxiliary function operation switch is detected, and the operation path of the blade until that time is stored in the buffer 1. After storing, step S24, that is, S
The processing of UB (B) is executed, and the operation of various auxiliary function operation switches is stored in the buffer 1. Of course, when a plurality of auxiliary function operation switches are continuously operated without moving the blade, the process of SUB (B) in step S24 is repeatedly executed each time the auxiliary function operation switch is operated, and The selection operation is stored in the buffer 1 in chronological order.

The movement of the blade by operating the X-axis operation handle 108 or the Z-axis operation handle 109, and
The movement of the blade due to the operation of the guidance operation handle 111 is detected by the discriminating processing in step S28, respectively, and the processing in steps S29 and S30 causes the moving direction V of the blade by the current handle operation and the moving direction of the blade by the previous handle operation. V '. Then, only when a change in the moving direction of the blade is detected, the operating path of the blade is automatically divided at the current direction change point, and the processing of step S36, that is, SUB (A), causes the previous divided path to be executed. An operation path from the end point position to the current position of the blade is obtained, and this is stored in the buffer 1 as an operation path for one block.

Therefore, unlike the conventional device, the handle 1
There is no need for manual operation such as operating the teaching switch 106 to save the operation path for one block each time the 08 and 109 are operated once. In addition, the operator himself or herself takes into consideration the interference of the blade during playback and the like. There is no need to determine the teaching point and divide the operating path of the blade. Further, a teaching operation relating to the operation of the auxiliary function operation switch, which is impossible with the conventional device, can be performed simultaneously with the teaching of the operation path of the blade.

The detection of the movement of the blade by the operation of the handle and the storage processing of the operation path accompanying the operation are performed regardless of whether the movement is caused by the operation of the X-axis operation handle 108 or the Z-axis operation handle 109. 1
This is exactly the same as if by the operation 11 and is processed by steps S28 to S32 and steps S33 to S37.

That is, when the guidance operation handle 111 is operated in a state where the approach operation function is selected by the selection switch 110, the blade is moved in the normal direction of the workpiece based on the processing shape element data stored in the buffer 2. Is moving (step S33),
By operating the guidance operation handle 111 in a state where the shape processing operation function is selected by the selection switch 110, the blade moves along the processing shape element while referring to the processing shape element data stored in the buffer 2. Whether or not the operator operates the X-axis operation handle 108 or the Z-axis operation handle 109 to move the blade (step S39), the data is stored in the buffer 1. Operating path is
Until you get bored, it is the actual movement path of the actual blade.

This is because the data of the current position storage registers of the X and Z axes are always referred to when the operation path is calculated in the processing of step S36 or step S23.

Therefore, without setting the machining shape element data in the buffer 2, all cutting is performed manually by the X-axis operation handle 108 or the Z-axis operation handle 109, and the operation path of the teaching operation is stored in the buffer 1. It is also possible to set the machining shape element data in the buffer 2 in advance, and obtain a semi-automatic operation obtained by a combination of the selection switch 110 and the guidance operation handle 111, that is, a shape machining operation function and an approach operation. The function and the complete manual operation using the X-axis operation handle 108 and the Z-axis operation handle 109 are arbitrarily combined, and a teaching operation is performed by making good use of these functions, and the operation path is stored in the buffer 1. You can also

Next, an ideal teaching operation utilizing the shape processing operation function and the approach operation function will be described. It is assumed that machining shape element data required for machining is already set in the buffer 2, the workpiece is attached to the spindle, and the blade is retracted to a safe position. The operator first sets the spindle switch 101
To start rotation of the spindle, that is, the work,
By operating the coolant switch 103, the supply of the lubricating coolant is started, the necessary cutting tool is selected, and the tool change switch 10 is selected.
By operating the tool 5, the automatic tool changer is operated and the necessary tool is mounted on the tool rest. These auxiliary function operation-related switch operations are sequentially detected in the determination processing of step S9, and are sequentially and sequentially stored in the buffer 1 by the SUB (B) processing in step S23.

Next, the operator operates the X-axis operation handle 108 and the Z-axis operation handle 109 to move the blade to the vicinity of the workpiece, more preferably to the machining start point of the machining shape element data. The final approach operation may be performed by selecting an approach operation function with the selection switch 110 and operating the guidance operation handle 111. In that case, the final approach operation is restricted in the normal direction of the work. As described above, the X-axis operation handle 10
If the direction of movement of the blade changes even when the blade is moved by operating the 8 or Z-axis operation handle 109, or when the blade is moved by using the approach operation function, the above-described case is applied. By the processing of steps S28 to S32 and steps S36 to S37, the operation path to the moving direction change point is automatically divided as an operation path of one block and stored in the buffer 1.

Then, the operator adjusts the cut when the approach is completed, and starts the actual cutting. In actual cutting, there are a case where only the X-axis operation handle 108 and the Z-axis operation handle 109 are used and a case where the shape processing operation function and the approach operation function are used together. X axis operation handle 1
08 and the Z-axis operation handle 109 when performing cutting using only the Z-axis operation handle 109 and the X-axis operation handle 108 while visually adjusting the depth of cut.
It is only necessary to move the blade along the workpiece while maintaining a constant cut by cooperatively operating 09, and the motion path of the blade during that time is sequentially stored in the buffer 1 in the same manner as in the approach operation.

Here, the operation in the case of performing the cutting by using the shape processing operation function and the approach operation function together will be described in detail.

When cutting is performed using both the shape processing operation function and the approach operation function, the operator operates the selection switch 110 at the stage of performing the above-described approach operation and the adjustment of the cut (step S17), and sets the flag. F
4 is set, and the mode of the guidance operation handle 111 is changed to the shape processing operation function (step S18).

Therefore, if the guidance operation handle 111 is operated in this state, the processing of step S34 is executed according to the operation amount, and the blade moves along the processing shape element. However, even if the blade is moved along the processing shape element, depending on the material shape of the attached work, the difference between the processing shape element and the actual shape may occur while moving the blade along the processing shape element. In some cases, the cutting amount may be excessive or insufficient, which may hinder cutting. In addition, while moving the blade, it may be noticed that the initial setting of the cutting amount was insufficient.

In such a case, the selection switch 110 is operated again to operate the guidance operation handle 11.
Mode 1 is changed to the approach operation function (step S
16) Operate the guidance operation handle 111 to move the blade into or out of the workpiece by the processing in step S33 to readjust the cutting amount, eliminate the excess or shortage of the cutting amount, and then operate the selection switch 110 again. Then, the mode of the guidance operation handle 111 is changed to the shape processing operation function (step S17), and the blade is moved along the processed shape element.

Of course, instead of adjusting the cutting depth using the approach operation function, the X-axis operation handle 108 or Z
It is also possible to operate the shaft operation handle 109 to adjust the depth of cut in the process of step S39. When operating the X-axis operation handle 108 or the Z-axis operation handle 109, the mode switching of the guidance operation handle 111 is unnecessary. Then, when a problem related to the cutting amount or the like occurs again while moving the blade along the processing shape element, the approach operation function and the X-axis operation handle 108 and the Z-axis operation handle 109 are used. What is necessary is just to repeat the same operation as above and readjust the cutting amount.

As described above, if the blade is moved along the processing shape element by utilizing the shape processing operation function, the X-axis operation handle 108 and the Z-axis operation The cooperative operation of the handle 109 is not necessary, and the approach operation function can be selected as needed, such as adjustment of the cutting depth, or the operation handles 108, 10
It is only necessary to make a slight error correction by manipulating 9;
This is suitable for a case where an operator with low skill level performs a teaching operation.

As described above, regardless of the state in which the blade is moving, if the moving direction of the blade changes, the aforementioned steps S28 to S3 are performed.
2 and the processing from step S36 to step S37, the operation path to the movement direction change point is automatically divided and stored in the buffer 1 as the operation path of one block. All the blade movements and various switch operations performed by the controller are stored in the buffer 1 in time series.

When the operator operates the teaching switch 106 of the operation panel 112 after the teaching operation of one element of the processing shape is completed, the processor 11 detects this operation in the discriminating process in step S8, and initializes the process in step S4. Based on the value of the read pointer P1R, the operation path of the blade for one block or the command of the auxiliary function operation for one block is read from the buffer 1 (step S40), the value of the read pointer P1R is incremented, and the buffer 1 is incremented. Is stored (step S41). Then, the processor 11 serving as the storage unit stores the command of the operation path of the blade for one block or the command of the auxiliary function operation for one block read from the buffer 1 in the process of step S40 in the CMOS memory 1.
4 is stored as an NC program for one block (step S42).

Next, the processor 11 determines whether or not the value of the read pointer exceeds the final value of the write pointer (step S43). If not, the process shifts to the process of step S40 again, and The same processing is repeated, and based on the value of the read pointer P1R incremented in the processing of step S41, the operation path of the blade for the next one block or the command of the auxiliary function operation is read from the buffer 1 and the CMOS memory is sequentially read. The program is stored as an NC program for one block in a program memory such as 14.

Then, the storage of the last operation path or the auxiliary function operation command stored in the buffer 1 is completed,
When it is detected in the determination processing in step S43 that the value of the read pointer has exceeded the final value of the write pointer, the processor 11 completes the processing for saving teaching data corresponding to one machining step, and the CRT / MDI unit 70 Display the NC program corresponding to this one processing step (step S44). FIG. 3 shows a display example of the NC program on the display of the CRT / MDI unit 70.

As shown in FIG. 3, N
In the C program display area, an operation program for one block constituting the NC program and T indicating the auxiliary function operation are displayed.
Commands and M-commands are displayed in character strings with line breaks for each block, and at the top of the operation program, symbolic figures such as an up arrow and a left arrow indicating the direction of operation of the blade executed by the block are displayed. Is done. The current position of the blade is numerically displayed in a position information display area at the lower right of the display. In the operation path display area on the left side of the display, the operation path of the tool for one processing step is displayed collectively, and further, a tool symbol indicating the current position of the tool and an auxiliary operation function executed corresponding to the tool position are displayed. The auxiliary operation function symbol shown is displayed.

The NC program generated in this way is obtained by reproducing the teaching operation by manual operation as it is until it gets tired. Therefore, the NC program is not always optimized as an NC program for automatic control. . For example, when the cutter is reciprocated in the same place due to difficulty in positioning the cutter and adjusting the cutting depth, there may be a problem that all the operations are saved as the NC program. is there.

When such a problem occurs, the editor function of the numerical controller is started (step S45), and editing is performed while referring to the NC program display area, the operation path display area, and the like of the display described above. (Step S46). For example, it is effective to perform an editing operation such as deleting batches of useless reciprocating motions that are continuously overlapped or inserting a motion program of one block instead of the blocks. When the above processing ends, the processor 11 shifts to the processing of step S2 again, and the CRT / M
It is determined whether or not the preparation processing end signal is input from the DI unit 70.

Subsequently, when teaching the operation path of the next element of the machining shape, the preparatory machining end signal is not input at this stage, and the steps S3 to S3 are performed in the same manner as described above. After the initialization process of S7 is executed, the steps S8 to S8 are performed in the same manner as described above.
The process of S11 is performed to input the next element data of the next processing shape, and this input shape is stored in the buffers 2 and 3. Since the buffer 2 has been initialized in step S5, the element data of the previously input machining shape is not stored.
The buffer 3 stores the element data of the previously input machining shape and the element data of the currently input machining shape. Then, as described above, by returning to the machining shape element data stored in the buffer 2, the operation paths relating to approach, cutting, and retraction of the blade are stored, and commands of the auxiliary operation function executed during the time are stored in time series. It will be remembered.

Thereafter, this processing is repeatedly executed, and when the teaching work in the rough machining process is completed, the operator operates the X-axis operation handle 108, the Z-axis operation handle 109, or the approach mode. A certain operation handle 111 is operated to retract the blade to a safe position, a spindle stop switch 102 is operated to stop the rotation of the work, and a coolant stop switch 104 is operated to stop the supply of the lubricating coolant. . The retreating operation of the blade and the operations of the spindle stop switch 102 and the coolant stop switch 104 are also stored in the buffer 1 in time series in the same manner as described above.

Next, the operator operates the CRT / MDI unit 70 to input a preparatory machining end signal. The processor 11 detects this operation in the determination processing of step S2, and determines whether a finish machining program creation command has been input from the soft key 121 (step S47), or an instruction not to create a finish machining program has been issued from the soft key 122. It is determined whether the input has been made (step S48),
If a machining program creation command for finish machining has been input, the SUBC process in step S50 is started, and if a command for not creating a machining program has been input, the process proceeds to step S49.

When the machining program creation command for the finishing machining is input, the SUBC process of step S51 is started. First, the buffer 3 is read based on the read pointer P3R of the buffer 3 initialized in step S1. Is read, the pointer P3R is incremented by "1", and the read processed shape element data is written into the temporary memory M1 (steps C1 to C3). Subsequently, it is determined whether or not the pointer P3R is "1", that is, whether the read processed shape element data is the first processed shape element data (step C).
4). At first, the pointer 3R is "1", and since the first machining shape element data has been read, the process proceeds to step C5 to search for the first cutting operation in the program memory taught as rough machining. A straight line parallel to the X-axis and the Y-axis passing through the starting point of the first cutting operation program is internally created, and the two straight lines and the processing shape element stored in the temporary memory M1 are stored in the CRT / MDI unit 70. (Steps C5 to C5)
C7).

For example, as shown in FIG.
Are the processing shape elements stored in L1, L2, L3,
L4, the first machining shape element is L1, and the starting point of the first cutting operation program for rough machining is Ps, a straight line parallel to the X-axis and the Y-axis passing through the first machining shape element L1 and the starting point Ps. Intersect at two points P0 and P0 '. One of the intersections is picked and selected as the starting point of the finished shape. The intersection P0 where the starting point of the normal cutting operation program is close to Ps is selected and determined as the starting point of the finished shape (step C8). The determined coordinate position of the intersection point P0 is written into the buffer 4 as starting point data (step C9).
Is incremented by "1" (step C10).

Next, it is determined whether the value of the read pointer P3R of the buffer 3 is equal to or larger than the value of the write pointer P3W (step C1).
1) If not, read the processed shape element data from the buffer 3 from the address indicated by the read pointer P3R, increment the pointer P3R by "1", and write the read processed shape element data into the temporary memory M2. (Steps C12 to C14). The read processed shape element data (L2 in FIG. 12) and the processed shape element data (L1 in FIG. 12) stored in the temporary memory M1 are displayed on the display, and one of the intersections where the two shape elements intersect is selected. Determined (steps S15, C16).
In the example of FIG. 12, the intersection P1 is picked and selected and determined.

The intersection point selected and determined in step C16 is set as the end point, and the radius of the circular arc is read out from the temporary memory M1 as needed to create a shape program (step C17). For example, in the example shown in FIG. 12, when the intersection P1 is selected and determined as the end point in step C16, the shape stored in the temporary memory M1 is a straight line. A program is created.

The created program is written into the buffer 4, the write pointer P4W of the buffer 4 is incremented by "1", and the next machining shape element data stored in the temporary memory M2 is written into the temporary memory M1 (step C18
To C20). In the example of FIG. 12, the arc L2 of the processed shape element data is stored in the temporary memory M1.

Subsequently, the process returns to step C11, and the processing of steps C12 to C20 is repeatedly executed until the value of the read pointer P3R of the buffer 3 becomes the value of the write pointer P3W.

Referring to the example shown in FIG. 12, the processing shape element data L2 is stored in the temporary memory M1 in the processing of step C20, and the next processing is stored in the temporary memory M2 in the processing of steps C12 and C14. Shape element data L3
Is written in step C15, and the two processing shape elements L2 and L3 are drawn in step C15. In step C16, one of the intersections P2 and P2 'of the two processing shape elements L2 and L3 is selected as the end point. In this case, the intersection P2 is selected, and since the machining shape element L2 stored in the temporary memory M1 is an arc, its radius is read out. At steps C17 and C18, the program of the arc of the machining shape element L2 ending at the intersection P2 is performed. Is written to the buffer 4. In the case of an arc, whether to work clockwise or counterclockwise poses a problem. However, in lathe processing, since it is limited to those that change monotonically in the X-axis direction and the Z-axis direction, the smaller arc is selected. Is done. In the example of FIG. 12, the smaller arc from the point P1 to the point P2 in the clockwise direction is selected.

Then, the write pointer P4W of the buffer 4
Is incremented by "1", and the processed shape element data L3 stored in the temporary memory M2 is written into the temporary memory M1 (steps C19 and C20), and again (returns to step C11 and the next processed shape element data is stored in the temporary memory M2). L4 is written, and the intersection P3 of the processed shape elements L3 and L4 stored in the temporary memories M1 and M2 is obtained (step C12).
To C16). In this case, since it is the intersection of the straight line and the straight line,
There is only one intersection. If there is only one intersection, the intersection is automatically determined as the end point P3 without selecting the intersection. Then, a temporary memory M whose end point is P3
1 is created and stored in the buffer 4. As described above, the machining program for the straight line from the point P0 to the point P1, the point P1 to the point P2
Up to this point, an arc machining program and a straight machining program from point P2 to point P3 are stored in the buffer 4.

If the value of the read pointer P3R in the buffer 3 matches the value of the write pointer P3W in step C11, the process proceeds to step C21, where the last cutting operation in the program that has been taught as rough machining is searched.
X axis, Y passing through the end point of the last cutting operation program
Two straight lines parallel to the axis are internally created and the temporary memory M1
Shape element data (L4 in the example of FIG. 12) stored in
Are drawn (steps C21 to C2).
3). One of the intersections where the drawn processing shape element and the two straight lines intersect is picked and selected and determined as the end point (step C24). In the example of FIG. 3, the processing shape element L4
Of the intersections P4 and P4 'of the two cutting lines, the one closer to the end point Pe of the last cutting operation program is usually selected. If the machining shape element stored in the temporary memory M1 is an arc, its radius is read from the temporary memory M1, and a machining shape program is created with the selected intersection as the end point (step C2).
5) Write into buffer 4 (step C26).

Next, the write pointer P4W of the buffer 4 is incremented by "1" (step C27), and the read pointer P4R of the buffer 4 is initialized (step C2).
8) Read the machining shape program from the buffer 4 based on the read pointer P4R,
Is incremented by "1" (steps C29 to C3).
0), the read machining shape program is inserted before the address where the program of the auxiliary function operation of the spindle stop and the coolant stop written in the program memory is written, and is stored in the program memory (step C29). To C31). Read pointer P of buffer 4
Until the value of 4R becomes equal to or more than the value of the write pointer P4W (step C32), the processing of steps S29 to C32 is repeatedly executed to write the finishing machining program created in the program memory, and this SUBC processing is terminated. Then, the process returns to step S49 of the main routine, and enters a standby state waiting for the operation of the playback switch 107 by the operator.

When the playback switch 107 is pressed, the processor 11 sets the roughing, semi-finishing,
CMOS memory 14 according to the order of processing steps such as finishing
NC program for one machining step is read from the program memory such as
Feeding operation for one block along the operation path such as cutting and retracting, spindle ON / OFF, coolant ON / OF
F. Execute commands for various auxiliary function operations such as tool change.

At this time, on the display of the CRT / MDI unit 70, every time one block of the NC program is executed, the program display in the NC program display area is scrolled upward by one line, and the lower right of the display is displayed. In the position information display area, the current position of each axis is updated and displayed according to the current position of the blade. In addition, in the operation path display area on the display, the tool symbol moves in accordance with the movement of the blade, the operation path that the blade has passed is displayed in a different color, and each time the auxiliary operation function is executed, An auxiliary operation function symbol is displayed next to the tool symbol, that is, in accordance with the current position of the blade at that time. Note that FIG.
Are symbols of the auxiliary operation function corresponding to the spindle ON. (The above is the process of step S50).

Needless to say, such a break-back operation is performed not only immediately after the end of the teaching operation but also by specifying an NC program for a machining process such as roughing, semi-finishing, and finishing.
It can be re-executed at any time by calling it from the program memory such as the MOS memory 14.

[0085]

According to the present invention, since the NC program for the finishing process can be automatically created, there is no need to manually teach the operation path of the finishing process, and the NC program for the finishing process can be safely and easily made. As a result, it is only necessary to teach the machining operation path by manual operation only for the rough machining, and the entire machining can be easily and easily taught.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a teaching and application of an embodiment to which the present invention is applied.
FIG. 2 is a block diagram showing a main part of a numerical control device with a playback function and a machine tool (lathe) driven and controlled by the numerical control device.

FIG. 2 is a conceptual diagram showing an operation panel of the numerical control device of the embodiment.

FIG. 3 is a conceptual diagram showing a display example of a display of the numerical control device of the embodiment.

FIG. 4 is a flowchart illustrating an outline of a teaching process performed by the numerical controller according to the embodiment;

FIG. 5 is a continuation of the flowchart showing an outline of the teaching processing;

FIG. 6 is a continuation of the flowchart showing an outline of the teaching processing;

FIG. 7 is a continuation of the flowchart showing an outline of the teaching processing;

FIG. 8 is a continuation of the flowchart showing an outline of the teaching processing.

FIG. 9 is a continuation of the flowchart showing an outline of the teaching processing;

FIG. 10 is a flowchart for creating a finish shape operation path following the flowchart showing the outline of the teaching processing;

FIG. 11 is a continuation of the flowchart for creating the finish shape operation path.

FIG. 12 is an explanatory diagram of creating a machining program for a finishing machining operation path.

[Explanation of symbols]

 Reference Signs List 10 Numerical control device with teaching / playback function 11 Processor 12 ROM 13 RAM 14 CMOS memory 15 Interface 16 Programmable machine controller 17 I / O unit 18 Interface 19 Interface 21 Bus 30, 31 Axis control circuit 40, 41 Servo amplifier 50 , 51 Servo motor 60 Spindle control circuit 61 Spindle amplifier 62 Spindle motor 70 CRT / MDI unit 71 Manual pulse generator group 101 Spindle switch 102 Spindle stop switch 103 Coolant switch 104 Coolant stop switch 105 Tool change switch 106 Teaching switch 107 Playback switch 108 Operation handle for X axis 109 Operation handle for Z axis 1 0 select switch 111 for guidance operating handle 112 control panel

Claims (3)

[Claims] 1. A teaching function for manually operating a machine via a numerical controller and storing its operation path as an NC program in the numerical controller, and automatically re-executing the taught operation path according to the NC program. In a numerical control device with a teaching / playback function having a playback function, a storage means for storing data of a series of input processing shape elements constituting a processing shape, and a processing shape element stored in the storage means Means for determining the intersection of adjacent machining shape elements in the data;
A teaching method comprising: means for creating an NC program for an operation path of finish machining based on machining shape element data stored in the storage means and an obtained intersection, and storage means for storing the NC program. -Numerical control unit with playback function. 2. A teaching function for manually operating a machine via a numerical controller and storing the operation path in the numerical controller as an NC program, and re-executing the taught operation path by automatic control according to the NC program. In a numerical control device with a teaching / playback function having a playback function, a storage means for storing data of a series of input processing shape elements constituting a processing shape, and a storage means obtained by teaching of rough processing. Means for obtaining a starting point and an ending point of a finishing operation based on the cutting start position and the cutting end position obtained from the stored NC program and the first and last processing shape element data of a series of processing shape element data stored in the storage means; Of adjacent machining shape elements in the machining shape element data stored in the means. By means for obtaining a point, the obtained starting point and end point of the finishing processing, the processed shape element data stored in the storage means, and the obtained intersection,
Means for creating an NC program for the operation path of the finishing process. 3. The automatic operation according to claim 1, wherein when the NC program of the operation path of the finishing machining is created and stored in the storage means, the NC program automatically stored in the storage means is executed to perform automatic operation. Numerical control unit with teaching / playback function.