JP7455271B2 - Machining program correction device, machining program correction method, and machining system - Google Patents

Description

The present disclosure relates to a machining program modification device, a machining program modification method, and a machining system that modify a machining program.

Machining using a numerically controlled machine tool uses a numerically controlled machining program in which movement commands for moving a workpiece or tool along a preset path are written. Hereinafter, numerically controlled machine tools will be simply referred to as "machine tools." The numerically controlled machining program is simply referred to as a "machining program."

In machining free-form surfaces, most machining programs are generated by approximating a curved tool path with minute line segments using a CAM (Computer Aided Manufacturing) function. When a tool path is expressed by continuous minute line segments, if there is an error in the calculation of the CAM function, the shape of the tool path may change due to the influence of the error. When the shape of the tool path changes, the quality of the machined surface is caused by scratches or streaks on the machined surface due to uneven tool path shapes between adjacent tool paths in the direction perpendicular to the direction of tool path travel. A decline may occur.

As a technique for improving the quality deterioration of machined surfaces due to irregular shapes of tool paths, Patent Document 1 proposes a technique for correcting command points of tool paths by smoothing processing for each of a plurality of tool paths. There is. The machining program correction device disclosed in Patent Document 1 reduces irregularities in the shape of tool paths between adjacent tool paths by smoothing each tool path in a direction perpendicular to the advancing direction of the tool path.

JP2020-67863A

According to the conventional technique disclosed in Patent Document 1, if there are irregularities on the machined surface at a position adjacent to the tool path, smoothing may cause an error in the tool path with respect to the machined surface. In order to prevent tool path errors due to correction, an operator who performs work to correct a machining program may set in advance locations that do not require correction. Alternatively, the machining program correction device may add processing such as monitoring the curvature of the machining surface and not performing the correction if it is determined that no correction is necessary. It is difficult for an operator to set locations that do not require correction because it imposes a heavy workload on the operator. In addition, if the machining program correction device determines whether or not correction is necessary and does not perform correction when it is determined that correction is not necessary, the uneven shape of tool paths between adjacent tool paths may be further exacerbated. is possible. As described above, the conventional technology has a problem in that it is difficult to improve the quality of the machined surface.

The present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a machining program correction device that can improve the quality of a machined surface.

In order to solve the above-mentioned problems and achieve the purpose, a machining program correction device according to the present disclosure corrects a tool path, which is a path for moving a tool by a machine tool, thereby improving the machining program correction device for machining by a machine tool. This is a machining program correction device that corrects programs. A machining program correction device according to the present disclosure includes a first feature amount calculation unit that calculates a first feature amount representing a feature of a command point on a tool path with respect to a command point indicating a position of a tool in a control cycle of a machine tool. , A target path to be corrected and an adjacent path adjacent to the target path are extracted from a plurality of tool paths arranged in a direction different from the traveling direction of the tool path, and the first feature value and adjacent path of the command point of the target path are extracted. a similarity calculation unit that calculates similarities, which are command points similar to the command points of the target route, from among a plurality of command points of adjacent routes, based on the first feature amount of the command points of the route; and a correction unit that corrects the target route based on the target path. The similarity calculation unit calculates the command point of the target route and the command of the adjacent route with which the distance error representing the difference between the first feature of the command point of the target route and the first feature of the command point of the adjacent route is the minimum. Find similarities by finding correspondences with points.

The machining program correction device according to the present disclosure has the effect of improving the quality of a machined surface.

A diagram showing a machining program correction device according to Embodiment 1 and a machining system connected to the machining program correction device. A diagram showing the functional configuration of the machining program correction device according to the first embodiment A diagram showing an example of a tool path modified by the machining program modification device according to the first embodiment. Flowchart showing the operation procedure of the machining program correction device according to the first embodiment A diagram for explaining the first feature amount calculated by the first feature amount calculation unit of the machining program correction device according to the first embodiment. A diagram for explaining extraction of a target route and an adjacent route by the similarity calculation unit of the machining program correction device according to the first embodiment. A diagram for explaining a method for calculating similarities by the similarity calculation unit of the machining program correction device according to the first embodiment. A diagram showing an example of similarities calculated by the similarity calculation unit of the machining program correction device according to the first embodiment. Flowchart illustrating the operation procedure of the similarity calculation unit configuring the machining program correction device according to the first embodiment A diagram for explaining creation of a similarity route by the correction unit of the machining program correction device according to the first embodiment. Flowchart showing the operation procedure when creating a similarity route by the correction unit of the machining program correction device according to the first embodiment A diagram for explaining an example of tool path correction by the correction unit of the machining program correction device according to the first embodiment. A diagram showing a functional configuration of a machining program correction device according to a second embodiment A diagram showing an example of a tool path modified by the machining program modification device according to the second embodiment. A diagram for explaining the second feature amount calculated by the second feature amount calculation unit of the machining program correction device according to the second embodiment. A diagram for explaining a method of classifying a tool path group into a plurality of clusters by the clustering unit of the machining program correction device according to the second embodiment. A diagram showing an example of classification results by the clustering unit of the machining program correction device according to the second embodiment. Flowchart illustrating the operation procedure of the similarity calculation unit configuring the machining program correction device according to the second embodiment Flowchart showing the operation procedure when creating a similarity route by the correction unit of the machining program correction device according to the second embodiment A diagram showing a processing system according to Embodiment 3 A diagram showing an example of the configuration of hardware that implements the machining program correction device of Embodiment 1 or 2. Flowchart showing an operation procedure when the machining program correction device according to Embodiment 1 or 2 simulates machining

Below, a machining program modification device, a machining program modification method, and a machining system according to an embodiment will be described in detail based on the drawings.

Embodiment 1.
FIG. 1 is a diagram showing a machining program modification device 11 according to the first embodiment and a machining system 1 connected to the machining program modification device 11. The processing system 1 is a system that processes a workpiece 10 by controlling a machine tool 7 that is a controlled device. The machine tool 7 processes the workpiece 10 with the tool 9 while moving the tool 9 relative to the workpiece 10.

The machining system 1 includes a CAM device 3 that is a machining program generation device, and a numerical control device 5 that controls a machine tool 7. The CAM device 3 is a computer system in which CAM software is installed. The CAM device 3 generates a machining program 4 for machining using a tool 9 based on a computer aided design (CAD) model 2 . CAD model 2 is shape data that specifies a target shape.

Numerical control device 5 generates control signal 6 by executing machining program 4 . The numerical control device 5 sends the generated control signal 6 to the drive section 8 of the machine tool 7. The drive unit 8 includes a motor that drives the tool 9 and a servo amplifier that controls the motor according to the control signal 6. Illustrations of the motor and servo amplifier are omitted. Machine tool 7 processes workpiece 10 by driving tool 9 according to control signal 6 .

The machining program modification device 11 is connected to each of the CAM device 3 and numerical control device 5 so as to be able to communicate with each of the CAM device 3 and numerical control device 5 . Communication may be either wired communication or wireless communication. The machining program modification device 11 acquires the machining program 4 generated by the CAM device 3 and modifies the machining program 4. The machining program modification device 11 sends the modified machining program 4 to the numerical control device 5. The numerical control device 5 controls the machine tool 7 based on the modified machining program 4.

Next, the configuration of the machining program correction device 11 will be explained. FIG. 2 is a diagram showing the functional configuration of the machining program correction device 11 according to the first embodiment. The machining program modification device 11 modifies the machining program 4 by correcting the tool path. The tool path is a path along which the tool 9 is moved by the machine tool 7, and is a path along which the tool 9 is moved relative to the workpiece 10.

The machining program modification device 11 includes a first feature value calculation section 12 , a similarity calculation section 13 , and a correction section 14 . The first feature calculation unit 12 analyzes the machining program 4 to determine a tool path and a plurality of command points arranged on the tool path. Each command point indicates the position of the tool 9 in the control cycle of the machine tool 7. The first feature amount calculation unit 12 calculates a first feature amount representing the characteristics of the command point on the tool path for each of the plurality of command points. The first feature amount calculation unit 12 outputs the tool path data and the calculation result of the first feature amount to the similarity calculation unit 13.

The similarity calculation unit 13 extracts a target route to be corrected and an adjacent route adjacent to the target route from a plurality of tool routes arranged in a direction different from the advancing direction of the tool route. The similarity calculation unit 13 calculates similarities, which are command points similar to the command points of the target route, based on the first feature amount of the command point of the target route and the first feature value of the command point of the adjacent route. Find from among multiple command points on adjacent routes. The similarity calculation unit 13 outputs tool path data and similarity data to the correction unit 14.

The correction unit 14 corrects the target route by correcting the command points of the target route based on the similarities. The correction unit 14 generates a modified machining program 15 by correcting the target route. The modified machining program 15 is the machining program 4 modified by correcting the target path. The machining program modification device 11 sends the modified machining program 15 to the numerical control device 5.

FIG. 3 is a diagram showing an example of a tool path modified by the machining program modification device 11 according to the first embodiment. FIG. 3 shows an example of a target shape 20 and an example of a plurality of tool paths 21 for machining the target shape 20. The x-axis, y-axis, and z-axis are three axes that are perpendicular to each other. In FIG. 3, the diagonally hatched portion of the target shape 20 is the machined surface to be machined by the machine tool 7. The target shape 20 includes a processed surface PS that is a free-form surface. The plurality of tool paths 21 are arranged in a direction different from the advancing direction of the tool paths 21 on the processing surface of the target shape 20 . The three tool paths 21 shown in FIG. 3 are arranged in a direction perpendicular to the advancing direction of the tool paths 21. In FIG. 3, each tool path 21 is shown by a broken line. The machine tool 7 sequentially moves the tool 9 in each of the plurality of tool paths 21.

In FIG. 3, the plurality of command points 22 on each tool path 21 are indicated by black dots. The CAM device 3 generates a machining program 4 in which a curve along a free-form surface is approximated by minute line segments. The line segment between the command points 22 represents a minute line segment. Each tool path 21 is expressed by continuous minute line segments.

Next, the operation of the machining program correction device 11 will be explained. FIG. 4 is a flowchart showing the operation procedure of the machining program correction device 11 according to the first embodiment. In step S1, the machining program correction device 11 calculates a first feature amount for each of the plurality of command points 22 on the tool path 21. Details of the first feature amount will be described later.

In step S2, the machining program correction device 11 extracts the target path and adjacent paths from the plurality of tool paths 21. In step S3, the machining program modification device 11 finds similarities between the target command points based on the first feature amount of the target command point and the first feature amount of the command point on the adjacent route. The target command point is a command point on the target route. In step S4, the machining program correction device 11 corrects the target command point based on the similarities. Through the above procedure, the machining program modification device 11 generates the modified machining program 15.

Next, the operation of the first feature value calculation section 12 will be explained. FIG. 5 is a diagram for explaining the first feature amount calculated by the first feature amount calculation unit 12 of the machining program correction device 11 according to the first embodiment. The first feature amount is, for example, the coordinates of the command point 22. The first feature calculation unit 12 calculates coordinates, which are the first feature, based on the following equation (1). The first feature calculation unit 12 calculates the coordinates of each command point 22 on the tool path 21 for each of the plurality of tool paths 21 . Note that the command point number is a number sequentially assigned to each command point 22 in each tool path 21 from the starting point 23 of the tool path 21. The starting point 23 is the 0th command point 22.

The first feature amount may be, for example, the amount of movement on the tool path 21 at the command point 22. As illustrated in FIG. 5, the movement amount 24i of the i-th command point 22i is the movement amount of the tool 9 between the command point 22i and the i-1th command point 22 (i-1). . The first feature calculation unit 12 calculates the amount of movement for each command point 22 on the tool path 21 based on the following equation (2). The first feature calculation unit 12 calculates a vector representing the amount of movement. Alternatively, the first feature value calculation unit 12 may calculate the length of a minute line segment. The length of the minute line segment represents the amount of movement.

The first feature amount may be the cumulative length of the tool path 21 at the command point 22. As illustrated in FIG. 5, the cumulative length 25i of the i-th command point 22i is the cumulative length of the movement distance between the command points 22 from the starting point 23 to the command point 22i, and This can also be said to be the length of the tool path 21 up to 22i. The first feature calculation unit 12 calculates the cumulative length of each command point 22 on the tool path 21 based on the following equation (3).

The first feature amount may be a normalized coordinate, a normalized movement amount, or a normalized cumulative length. The first feature value calculation unit 12 calculates normalized coordinates by dividing the coordinate values by the average or maximum value of the coordinate values. The first feature calculation unit 12 calculates normalized coordinates based on the following equation (4).

The first feature amount calculation unit 12 calculates a normalized amount of movement by dividing the amount of movement by the average or maximum value of the amount of movement. The first feature calculation unit 12 calculates the normalized movement amount based on the following equation (5).

The first feature quantity calculation unit 12 calculates the normalized cumulative length by dividing the cumulative length by the average or maximum value of the cumulative length. The first feature calculation unit 12 calculates the normalized cumulative length based on the following equation (6).

The first feature amount may be multidimensional information including at least two of normalized coordinates, normalized movement amount, and normalized cumulative length. The first feature amount calculation unit 12 calculates the first feature amount, which is multidimensional information, based on the following equation (7), for example.

Note that the first feature amount may be any amount that represents the feature of the command point 22 on the tool path 21, and is not limited to what is described in the first embodiment.

Next, the operation of the similarity calculation section 13 will be explained. FIG. 6 is a diagram for explaining extraction of a target route and an adjacent route by the similarity calculation unit 13 of the machining program correction device 11 according to the first embodiment. The similarity calculation unit 13 extracts a target path 26 from the plurality of tool paths 21. Further, the similarity calculation unit 13 extracts an adjacent route 27 adjacent to the target route 26. FIG. 6 shows an example of the target route 26 and the adjacent route 27. The similarity calculation unit 13 sequentially extracts each of the plurality of tool paths 21 as a target path 26.

The similarity calculation unit 13 calculates the first feature amount using the data of the first feature amount of each command point 22 on the target route 26 and the data of the first feature amount of each command point 22 on the adjacent route 27. Obtained from section 12. The similarity calculation unit 13 calculates each command point 22 of the target route 26 where the cumulative distance error between the first feature data of the target route 26 and the first feature data of the adjacent route 27 is the minimum. The correspondence relationship between and each command point 22 of the adjacent route 27 is determined. The cumulative distance error refers to the distance error representing the difference between the first feature amount of the command point 22 on the target route 26 and the first feature amount of the command point 22 on the adjacent route 27. It is assumed that the total amount of The similarity calculation unit 13 calculates, as a similarity, the command point 22 of the adjacent route 27 that is associated with the command point 22 of the target route 26 in the correspondence relationship that minimizes the cumulative distance error.

Here, an example of a method for calculating similarities will be described. In this example, the similarity calculation unit 13 regards each of the first feature data of the target route 26 and the first feature data of the adjacent route 27 as time series information, and uses the dynamic time warping method to Calculate similarities. The method for calculating similarities by the similarity calculation unit 13 is not limited to that described in the first embodiment.

FIG. 7 is a diagram for explaining a method for calculating similarities by the similarity calculation unit 13 of the machining program correction device 11 according to the first embodiment. The horizontal axis of the graph shown in FIG. 7 represents the command point 22 of the target route 26. The vertical axis of the graph shown in FIG. 7 represents the command point 22 of the adjacent route 27. Here, each command point 22 is represented by the numerical value of command point number +1.

In FIG. 7, the command point 22 of "p" on the target route 26 and the command point 22 of "q" on the adjacent route 27 are associated with each other. This correspondence is expressed as (p, q). In the graph shown in FIG. 7, a point 31 represents the association of (p, q). The point 32 represents the correspondence (1, 1) between the starting points of the target route 26 and the adjacent route 27. A point 33 represents a correspondence (N, M) between each end point of the target route 26 and the adjacent route 27.

The point 34 represents the correspondence (p, q+1) between the command point 22 of "p" on the target route 26 and the command point 22 of "q+1" on the adjacent route 27. The point 35 represents the correspondence (p+1, q+1) between the command point 22 "p+1" on the target route 26 and the command point 22 "q+1" on the adjacent route 27. The point 36 represents the correspondence (p+1, q) between the command point 22 of "p+1" on the target route 26 and the command point 22 of "q" on the adjacent route 27. In the graph shown in FIG. 7, the route options from point 31 to point 33 include an upward route from point 31 to point 34, an obliquely upper right route from point 31 to point 35, and a route from point 31 to point 34 in an upward direction to the right. There is a rightward route from point 31 to point 36.

The similarity calculation unit 13 calculates the distance error between the command point 22 of "p" on the target route 26 and the command point 22 of "q+1" on the adjacent route 27 in the case of selecting an upward route from the point 31, The determined distance error is added to the cumulative distance error from point 32 to point 31. The similarity calculation unit 13 calculates the distance error between the command point 22 of "p+1" on the target route 26 and the command point 22 of "q+1" on the adjacent route 27 in the case of selecting a route in the diagonally upper right direction from the point 31. The calculated distance error is added to the cumulative distance error from point 32 to point 31. The similarity calculation unit 13 calculates the distance error between the command point 22 of "p+1" on the target route 26 and the command point 22 of "q" on the adjacent route 27 in the case of selecting a rightward route from the point 31, The determined distance error is added to the cumulative distance error from point 32 to point 31.

The similarity calculating unit 13 calculates a route with the minimum cumulative distance error from the point 32 to the point 33 by performing such calculations for each correspondence that is passed from the point 32 to the point 33. The broken line shown in FIG. 7 represents an example of the calculation result of the route with the minimum cumulative distance error. Such a route represents a correspondence relationship in which the cumulative distance error between each command point 22 on the target route 26 and each command point 22 on the adjacent route 27 is minimized. The similarity calculation unit 13 calculates, as similarities, the command points 22 of the adjacent route 27 that are associated with each command point 22 of the target route 26 in a correspondence relationship that minimizes the cumulative distance error.

In the example shown in FIG. 7, among the command points 22 of the adjacent route 27, the command points 22 of "q" and the command points 22 of "q+1" are similar to the command points 22 of "p". The similarity calculation unit 13 sets the command point 22 of "q" and the command point 22 of "q+1", whichever has a smaller distance error from the command point 22 of "p", as a similarity point. In this way, when a plurality of command points 22 are calculated as similarities with respect to one command point 22 on the target route 26, the similarity calculation unit 13 calculates which of the plurality of command points 22 has the smallest distance error. One command point 22 is set as a similarity point.

FIG. 8 is a diagram showing an example of similarities calculated by the similarity calculation unit 13 of the machining program correction device 11 according to the first embodiment. In FIG. 8, a white point on the adjacent route 27 represents a similarity point 41 corresponding to any one of the plurality of command points 22 on the target route 26. A black dot on the adjacent route 27 represents a command point 22 that does not correspond to the similarity point 41 among the plurality of command points 22 on the adjacent route 27 . A straight line 42 connecting the command point 22 on the target route 26 and the similar point 41 on the adjacent route 27 represents the correspondence between the command point 22 on the target route 26 and the similar point 41 on the adjacent route 27 . The correspondence between the command point 22 on the target path 26 and the similarity point 41 on the adjacent path 27 represents the correspondence between locations having similar features among the tool paths 21 adjacent to each other. In this way, the similarity calculation unit 13 associates locations having similar features in the tool paths 21 that are adjacent to each other.

The similarity calculation unit 13 specifies a target command point 40 from the plurality of command points 22 on the target route 26 and calculates a similarity 41 corresponding to the target command point 40. The similarity calculation unit 13 sequentially designates each command point 22 on the target route 26 as the target command point 40 and calculates the similarity point 41 corresponding to each command point 22 on the target route 26 .

FIG. 9 is a flowchart showing the operation procedure of the similarity calculation unit 13 that constitutes the machining program correction device 11 according to the first embodiment. In step S11, the similarity calculation unit 13 extracts the target route 26 by reading the data of the target route 26 from the first feature value calculation unit 12. In step S12, the similarity calculation unit 13 extracts the adjacent route 27 by reading the data of the adjacent route 27 from the first feature value calculation unit 12.

In step S13, the similarity calculation unit 13 designates one of the plurality of command points 22 on the target route 26 as the target command point 40. In step S14, the similarity calculation unit 13 calculates the similarity 41 of the target command point 40.

In step S15, the similarity calculation unit 13 determines whether the target command point 40 is the final command point 22 on the target route 26. If the target command point 40 is not the final command point 22 on the target route 26 (step S15, No), in step S16, the similarity calculation unit 13 selects the next command point 22 after the target command point 40 as the target command point. Specify 40. The similarity calculation unit 13 performs the operations from step S14 on the designated target command point 40.

On the other hand, if the target command point 40 is the final command point 22 in the target path 26 (step S15, Yes), the similarity calculation unit 13 determines that the target path 26 is one of the plurality of tool paths 21 in step S17. It is determined whether it is the final tool path 21 or not. If the target route 26 is not the final tool route 21 (step S17, No), the similarity calculation unit 13 reads the data of the next target route 26 from the first feature value calculation unit 12 in step S18. , extracts the next target route 26. The similarity calculation unit 13 performs the operations from step S12 on the next target route 26.

On the other hand, if the target path 26 is the final tool path 21 (step S17, Yes), the similarity calculation unit 13 ends the operation according to the procedure shown in FIG. In this way, the similarity calculation unit 13 calculates the similarity 41 for each command point 22 of each of the plurality of tool paths 21.

Next, the operation of the correction section 14 will be explained. The correction unit 14 calculates the similarities 41 for each set of adjacent tool paths 21 in the plurality of tool paths 21, thereby creating a similarity route that connects the plurality of calculated similarities 41 to each other. The correction unit 14 corrects the command point 22 of the target route 26 based on the obtained similarity route.

The correction unit 14 corrects the target route 26 by adjusting the position of the target command point 40 of the target route 26 based on the created similarity route. The correction unit 14 corrects the target route 26 so as to reduce the irregularity of the target route 26 with respect to the adjacent route 27 by adjusting the position of the target command point 40 . Irregularity refers to a state in which the shape of the tool path 21 is different. Alternatively, the term "irregularity" refers to a state in which the difference in shape of the tool path 21 has become large enough to exceed the allowable range in machining.

Here, in the similarity route consisting of L command points 22, three consecutive command points 22 are defined as the k-th command point 22, the k+1-th command point 22, and the k+2-th command point 22. shall be. k is any integer from 1 to L-2, and L≧3. The magnitude of the irregularity from the k-th command point 22 to the k+2-th command point 22 is, for example, between the straight line passing through the k-th command point 22 and the k+2-th command point 22 and the k+1-th command point 22. It is expressed by the distance to the command point 22.

FIG. 10 is a diagram for explaining creation of the similarity route 43 by the correction unit 14 of the machining program correction device 11 according to the first embodiment. FIG. 10 shows one similarity route 43 passing through the target command point 40 on the target route 26. The five tool paths 21 shown in FIG. 10 are part of a plurality of tool paths 21 arranged on the processing surface. The similarity route 43 spans the entire plurality of tool paths 21. FIG. 10 shows a portion of the similarity route 43 that spans five tool paths 21.

The similarity calculation unit 13 calculates a similarity 41 corresponding to the target command point 40 on the target route 26 for each of the plurality of tool routes 21 by sequentially replacing the tool routes 21 extracted as the target route 26. do. By connecting the target command points 40 and the command points 22 having the relationship of similarities 41 with straight lines 42 as shown in FIG. Route 43 is created. The correction unit 14 creates a similarity route 43 for each command point 22 on the target route 26 for which a similarity 41 has been calculated.

FIG. 11 is a flowchart showing an operation procedure when creating a similarity route 43 by the correction unit 14 of the machining program correction device 11 according to the first embodiment. In step S21, the correction unit 14 extracts the target route 26 by acquiring the data of the target route 26 from the similarity calculation unit 13. In step S22, the correction unit 14 specifies the target command point 40 from among the plurality of command points 22 on the target route 26.

The correction unit 14 acquires data on the similarity point 41 corresponding to the target command point 40 from the similarity calculation unit 13 . In step S23, the correction unit 14 adds the similarity 41 of the target command point 40 to the similarity route 43. When the first tool path 21 among the plurality of tool paths 21 is the target path 26, the correction unit 14 retains the straight line 42 connecting the target command point 40 and the similarity point 41 as the original similarity route 43. . The correction unit 14 adds the similarity point 41 to the retained similarity route 43 every time the tool path 21 extracted as the target path 26 is replaced. The correction unit 14 extends the similarity route 43 by adding the similarity 41 to the similarity route 43.

In step S24, the correction unit 14 determines whether the similarity point 41 added to the similarity route 43 is the command point 22 of the final tool path 21 among the plurality of tool paths 21. If the similarity point 41 is not the command point 22 of the final tool path 21 (step S24, No), the correction unit 14 designates the similarity point 41 as the next target command point 40 in step S25. The correction unit 14 performs the operation from step S23 on the next target command point 40.

On the other hand, if the similarity point 41 is the command point 22 of the final tool path 21 (step S24, Yes), in step S26, the correction unit 14 determines that the target command point 40 is the final command point 22 of the target tool path 26. Determine whether it exists or not. If the target command point 40 is not the final command point 22 on the target route 26 (step S26, No), in step S27, the correction unit 14 changes the command point 22 next to the target command point 40 to the target command point 40. specify. The correction unit 14 performs the operation from step S23 on the next target command point 40.

On the other hand, if the target command point 40 is the final command point 22 in the target path 26 (step S26, Yes), the correction unit 14 determines that the target path 26 is the final command point 22 among the plurality of tool paths 21 in step S28. It is determined whether the path is the tool path 21 or not. If the target route 26 is not the final tool route 21 (step S28, No), the correction unit 14 reads the data of the next target route 26 from the similarity calculation unit 13 in step S29, thereby determining the next target route 21. Extract 26. The correction unit 14 performs the operations from step S22 on the next target route 26.

On the other hand, if the target path 26 is the final tool path 21 (step S28, Yes), the correction unit 14 ends the operation according to the procedure shown in FIG. In this way, the correction unit 14 creates a similarity route 43 at each command point 22 of the plurality of tool paths 21.

FIG. 12 is a diagram for explaining an example of correction of the tool path 21 by the correction unit 14 of the machining program correction device 11 according to the first embodiment. An arrow 47 shown in FIG. 12 represents the magnitude of the irregularity of the target route 26 with respect to the adjacent route 27. In the example shown in FIG. 12, the correction unit 14 generates a smoothed route 44 by smoothing the similarity route 43 passing through the target command point 40, and smoothes the command point 22 of the target route 26 from the target command point 40. It is replaced with a correction point 45 on the conversion route 44. That is, the correction unit 14 adjusts the position of the command point 22 by moving the command point 22 onto the smoothing route 44. The smoothing route 44 shown in FIG. 12 is a curve. The correction unit 14 smoothes the similarity route 43 using, for example, a B-Spline curve or a NURBS (Non-Uniform Rational B-Spline) curve. Note that the smoothing route 44 may be a straight line. The correction unit 14 can reduce the irregularity of the target route 26 with respect to the adjacent route 27 by adjusting the position of the command point 22 of the target route 26 based on the smoothed route 44 .

Further, the correction unit 14 may obtain a plane 46 that passes through the target command point 40 and two command points 22 adjacent to the target command point 40 on the target route 26, and the correction point 45 may be positioned on the plane 46. These two command points 22 are a command point 22 adjacent to the target command point 40 in the direction of movement of the tool 9, and a command point 22 adjacent to the target command point 40 in the opposite direction to the direction of movement of the tool 9. That is, the correction unit 14 may obtain a plane 46 that passes through consecutive command points 22 on the plane 46 and adjust the position of the target command point 40 on the plane 46. Thereby, the correction unit 14 can reduce the displacement of the correction point 45 from the plane 46 along which the target route 26 passes.

The machining program modification device 11 according to the first embodiment acquires data on the tool path 21 from the machining program 4 provided by the machining system 1 and generates a modified machining program 15 . The machining program modification device 11 may be provided with data on the tool path 21 from the machining system 1, and may generate the modified machining program 15 based on the provided data on the tool path 21.

According to the first embodiment, the machining program correction device 11 modifies the target route 26 based on the first feature amount of the command point 22 of the target route 26 and the first feature amount of the command point 22 of the adjacent route 27. Similar points 41 corresponding to the command points 22 are found, and the target route 26 is corrected based on the similar points 41. The machining program correction device 11 uses the similarities 41 determined based on the first feature amount to correct the target path 26, thereby taking into account the correspondence between locations having similar features in the tool paths 21 adjacent to each other. This makes it possible to make corrections. Therefore, the machining program correction device 11 can reduce the irregularity of the target path 26 with respect to the adjacent path 27. Furthermore, the machining program correction device 11 can reduce the occurrence of errors in the tool path 21 with respect to the machining surface due to correction. As described above, the machining program correction device 11 has the effect of being able to improve the quality of the machined surface.

Embodiment 2.
FIG. 13 is a diagram showing the functional configuration of a machining program correction device 11A according to the second embodiment. The machining program modification device 11A has the same configuration as the machining program modification device 11 shown in FIG. 2, with the addition of a second feature value calculation section 51 and a clustering section 52. In Embodiment 2, the same components as in Embodiment 1 described above are given the same reference numerals, and configurations that are different from Embodiment 1 will be mainly explained.

The second feature amount calculation unit 51 determines the tool path 21 by analyzing the machining program 4, and calculates a second feature amount representing the characteristics of the tool path 21. The clustering unit 52 divides the tool path group for machining the workpiece 10 into a plurality of clusters based on the second feature amount. The first feature calculation unit 12, similarity calculation unit 13, and correction unit 14 perform the same processing as in the first embodiment for the plurality of tool paths 21 for each cluster. That is, the first feature amount calculation unit 12 calculates the first feature amount of each command point 22 on the tool path 21 for each of the plurality of tool paths 21 of each cluster. The similarity calculation unit 13 extracts the target route 26 and the adjacent route 27 for each cluster to obtain similarities 41. The correction unit 14 corrects the target route 26 for each cluster.

FIG. 14 is a diagram showing an example of the tool path 21 corrected by the machining program correction device 11A according to the second embodiment. FIG. 14 shows an example of the target shape 20A and an example of a tool path group for machining the target shape 20A. The hatched surface of the target shape 20A is a processed surface to be processed by the machine tool 7. The target shape 20A includes two processed surfaces PS1 and PS2 that are free-form surfaces. The processed surface PS1 and the processed surface PS2 are located at positions apart from each other in the target shape 20A. FIG. 14 shows six tool paths 21-1, 21-2, 21-3, 21-4, 21-5, and 21-6, which are tool paths 21 constituting a tool path group.

Next, the operation of the second feature value calculation section 51 will be explained. FIG. 15 is a diagram for explaining the second feature amount calculated by the second feature amount calculation unit 51 of the machining program correction device 11A according to the second embodiment. The second feature amount calculation unit 51 calculates the second feature amount of each tool path 21 included in the tool path group.

The second feature amount is, for example, the coordinates of the center of gravity position 53 of the tool path 21, the principal component 54 of the tool path 21, the principal component vector of the tool path 21, or the tool path length 55. The principal component 54 is an approximate straight line of each command point 22 on the tool path 21. The tool path length 55 is the length from the starting point 23 to the ending point 25 of the tool path 21.

The second feature amount may be the normalized coordinates of the center of gravity position 53. The second feature value calculation unit 51 calculates normalized coordinates by dividing the coordinate values by the average or maximum value of the coordinate values. Similarly, the second feature amount calculation unit 51 calculates a normalized principal component 54, a normalized principal component vector, or a normalized tool path length 55 as the second feature amount. It's okay. The second feature amount is multidimensional information including at least two of normalized coordinates, normalized principal components 54, normalized principal component vectors, and normalized tool path lengths 55. It's okay. Note that the second feature amount may be any amount that represents the feature of the tool path 21, and is not limited to what is described in the second embodiment.

Next, the operation of the clustering section 52 will be explained. FIG. 16 is a diagram for explaining a method of classifying a tool path group into a plurality of clusters by the clustering unit 52 of the machining program correction device 11A according to the second embodiment. The clustering unit 52 acquires data of each tool path 21 constituting the tool path group and a second feature amount of each tool path 21 from the second feature amount calculation unit 51. The clustering unit 52 classifies the tool path group into a plurality of clusters based on the acquired second feature amount. For the classification by the clustering unit 52, for example, a method such as a k-means method or a DBSCAN (Density-Based Spatial Clustering of Applications with Noise) method can be applied.

Here, it is assumed that the clustering unit 52 has acquired each data of the coordinates of the center of gravity position 53, the principal component 54, the principal component vector, and the tool path length 55 as data of the second feature amount. In this case, the barycenter position coordinate (x), barycenter position coordinate (y), barycenter position coordinate (z), principal component (x), principal component (y), principal component (z), first principal component vector (x) , first principal component vector (y), first principal component vector (z), second principal component vector (x), second principal component vector (y), second principal component vector (z), third principal component The vector (x), the third principal component vector (y), the third principal component vector (z), and the tool path length 55 are 16 components of the second feature quantity. (x) represents a component in the x-axis direction, (y) represents a component in the y-axis direction, and (z) represents a component in the z-axis direction. The first principal component vector, the second principal component vector, and the third principal component vector are obtained, for example, by principal component analysis of command point data on the tool path 21. The clustering unit 52 classifies each tool path 21 by comparing the second feature amount of each tool path 21 in 16 dimensions.

The clustering unit 52 plots points representing the second feature amount of each tool path 21 on the graph, and plots the points on the graph so that the points that are close to each other on the graph are within the same area representing the range of the cluster. Define the cluster area. FIG. 16 shows an example of a plot result when the second feature quantity has three components. The three axes of the graph shown in FIG. 16 represent the first component, second component, and third component, which are components of the second feature amount, respectively. Note that the number of components of the second feature amount is not limited to three, but is arbitrary. In this way, the clustering unit 52 performs clustering so that tool paths 21 having second feature amounts that are close to each other are assigned to the same cluster.

In FIG. 16, a point 56-1 represents the second feature amount of the tool path 21-1. Point 56-2 represents the second feature amount of tool path 21-2. Point 56-3 represents the second feature amount of tool path 21-3. Point 56-4 represents the second feature amount of tool path 21-4. Point 56-5 represents the second feature amount of tool path 21-5. Point 56-6 represents the second feature of tool path 21-6. Furthermore, in the example shown in FIG. 16, three points 56-1, 56-2, 56-3 are included in the area 57-1 indicating the first cluster, and three points 56-4, 56-5 are included in the area 57-1 indicating the first cluster. , 56-6 are included in the region 57-2 indicating the second cluster. As a result, the clustering unit 52 classifies the three tool paths 21-1, 21-2, and 21-3 into the first cluster, and classifies the three tool paths 21-4, 21-5, and 21-6 into the first cluster. Classify into the second cluster.

FIG. 17 is a diagram showing an example of classification results by the clustering unit 52 of the machining program correction device 11A according to the second embodiment. The tool paths 21-1, 21-2, and 21-3 classified into the first cluster 58-1 are the tool paths 21 on the processing surface PS1. The tool paths 21-4, 21-5, and 21-6 classified into the second cluster 58-2 are the tool paths 21 on the processing surface PS2. In this way, the clustering unit 52 classifies each tool path 21 of the tool path group in the workpiece 10 into clusters of tool paths 21 having common features.

The first feature calculation unit 12 acquires data of each tool path 21 for each cluster from the clustering unit 52. The first feature amount calculation unit 12 calculates the first feature amount of each command point 22 on the tool path 21 for each of the plurality of tool paths 21 of each cluster.

FIG. 18 is a flowchart showing the operation procedure of the similarity calculation unit 13 that constitutes the machining program correction device 11A according to the second embodiment. In step S31, the similarity calculation unit 13 extracts the plurality of tool paths 21 of the target cluster by acquiring data of the plurality of tool paths 21 of the target cluster from the first feature calculation unit 12. The target cluster is a cluster in which the tool path 21 is corrected.

In step S32, the similarity calculation unit 13 extracts the target path 26 from the plurality of tool paths 21 of the target cluster. In step S33, the similarity calculation unit 13 extracts adjacent routes 27 from the plurality of tool routes 21 of the target cluster.

In step S34, the similarity calculation unit 13 designates one of the plurality of command points 22 on the target route 26 as the target command point 40. In step S35, the similarity calculation unit 13 calculates the similarity 41 of the target command point 40.

In step S36, the similarity calculation unit 13 determines whether the target command point 40 is the final command point 22 on the target route 26. If the target command point 40 is not the final command point 22 on the target route 26 (step S36, No), in step S37, the similarity calculation unit 13 selects the next command point 22 after the target command point 40 as the target command point. Specify 40. The similarity calculation unit 13 performs the operations from step S35 on the designated target command point 40.

On the other hand, if the target command point 40 is the final command point 22 in the target route 26 (step S36, Yes), the similarity calculation unit 13 determines that the target route 26 is the final tool route in the target cluster in step S38. 21 is determined. If the target route 26 is not the final tool route 21 in the target cluster (step S38, No), the similarity calculation unit 13 extracts the next target route 26 from the plurality of tool routes 21 in the target cluster in step S39. . The similarity calculation unit 13 performs the operations from step S33 on the next target route 26.

On the other hand, if the target path 26 is the final tool path 21 in the target cluster (step S38, Yes), in step S40, the similarity calculation unit 13 determines that the target cluster is the final cluster in the workpiece 10. Determine whether or not. If the target cluster is not the final cluster (step S40, No), in step S41, the similarity calculation unit 13 acquires data of the plurality of tool paths 21 of the next target cluster from the first feature calculation unit 12. By doing so, a plurality of tool paths 21 of the next target cluster are extracted. The similarity calculation unit 13 performs the operations from step S32 on the next target cluster.

On the other hand, if the target cluster is the final cluster in the workpiece 10 (step S40, Yes), the similarity calculation unit 13 ends the operation according to the procedure shown in FIG. 18. In this way, the similarity calculating unit 13 extracts the target route 26 and the adjacent route 27 for each cluster to obtain the similarities 41. The similarity calculation unit 13 calculates the similarity 41 of each command point 22 for each of the plurality of tool paths 21 of each cluster.

19 is a flowchart showing the operation procedure when the correction unit 14 of the machining program correction device 11A according to the second embodiment creates a similarity route 43. In step S51, the correction unit 14 extracts a plurality of tool paths 21 of the target cluster by acquiring data of the plurality of tool paths 21 of the target cluster from the similarity calculation unit 13.

In step S52, the correction unit 14 extracts the target path 26 from the plurality of tool paths 21 of the target cluster. In step S53, the correction unit 14 specifies the target command point 40 from among the plurality of command points 22 on the target route 26.

The correction unit 14 acquires data on the similarity point 41 corresponding to the target command point 40 from the similarity calculation unit 13 . In step S54, the correction unit 14 adds the similarity 41 of the target command point 40 to the similarity route 43.

In step S55, the correction unit 14 determines whether the similarity 41 added to the similarity route 43 is the command point 22 of the final tool path 21 in the target cluster. If the similarity point 41 is not the command point 22 of the final tool path 21 of the target cluster (step S55, No), the correction unit 14 designates the similarity point 41 as the next target command point 40 in step S56. The correction unit 14 performs the operation from step S54 on the next target command point 40.

On the other hand, if the similarity point 41 is the command point 22 of the final tool path 21 in the target cluster (step S55, Yes), in step S57, the correction unit 14 determines that the target command point 40 is the command point 22 of the final tool path 21 in the target cluster. It is determined whether it is the command point 22 or not. If the target command point 40 is not the final command point 22 on the target route 26 (step S57, No), in step S58, the correction unit 14 changes the command point 22 next to the target command point 40 to the target command point 40. specify. The correction unit 14 performs the operation from step S54 on the next target command point 40.

On the other hand, if the target command point 40 is the final command point 22 in the target path 26 (step S57, Yes), the correction unit 14 determines that the target path 26 is the final tool path 21 in the target cluster in step S59. Determine whether it exists or not. If the target path 26 is not the final tool path 21 (step S59, No), the correction unit 14 extracts the next target path 26 from the plurality of tool paths 21 of the target cluster in step S60. The correction unit 14 performs the operations from step S53 on the next target route 26.

On the other hand, if the target path 26 is the final tool path 21 in the target cluster (step S59, Yes), in step S61, the correction unit 14 determines whether the target cluster is the final cluster in the workpiece 10. to judge. If the target cluster is not the final cluster (step S61, No), in step S62, the correction unit 14 obtains data of the plurality of tool paths 21 of the next target cluster from the similarity calculation unit 13, thereby determining the next cluster. A plurality of tool paths 21 of the target cluster are extracted. The correction unit 14 performs the operations from step S52 on the next target cluster.

On the other hand, if the target cluster is the final cluster in the workpiece 10 (step S61, Yes), the correction unit 14 ends the operation according to the procedure shown in FIG. 19. In this way, the correction unit 14 corrects the target route 26 for each cluster.

According to the second embodiment, the machining program correction device 11A classifies the tool path group of the workpiece 10 into a plurality of clusters based on the second feature amount, and corrects the target path 26 for each cluster. The machining program correction device 11A can perform correction to reduce irregularities among a plurality of tool paths 21 having common features. As described above, the machining program correction device 11A has the effect of being able to improve the quality of the machined surface.

Embodiment 3.
FIG. 20 is a diagram showing a processing system 1B according to the third embodiment. The machining system 1B includes a CAM device 3, a machining program modification device 11, a numerical control device 5, and a machine tool 7. In Embodiment 3, the same components as in Embodiment 1 or 2 described above are given the same reference numerals, and configurations that are different from Embodiment 1 or 2 will be mainly explained.

By including the machining program correction device 11 according to the first embodiment, the machining system 1B has the effect that it is possible to improve the quality of the machined surface. Note that the machining system 1B may include the machining program modification device 11A according to the second embodiment.

The machining system 1B may implement the same machining program method as in the first or second embodiment using the CAM device 3 or the numerical control device 5 instead of having the machining program correction devices 11 and 11A. In this case as well, the processing system 1B can improve the quality of the processed surface.

Next, hardware that implements the machining program correction device 11, 11A of the first or second embodiment will be described. FIG. 21 is a diagram showing an example of a hardware configuration for realizing the machining program correction device 11, 11A of the first or second embodiment.

The main parts of the machining program correction devices 11 and 11A are realized by a processing circuit 61 having a processor 63 and a memory 64. The main parts of the machining program correction device 11 are a first feature amount calculation section 12, a similarity calculation section 13, and a correction section 14. The main parts of the machining program correction device 11A are a second feature amount calculation section 51, a clustering section 52, a first feature amount calculation section 12, a similarity calculation section 13, and a correction section 14.

The input unit 62 is a circuit that receives input signals from the outside to the machining program correction devices 11 and 11A. The input unit 62 receives the machining program 4. The output unit 65 is a circuit that outputs the signals generated by the machining program correction devices 11 and 11A to the outside. The output unit 65 outputs the modified machining program 15. The display unit 66 is a display that displays information.

The processor 63 is a CPU (Central Processing Unit). The processor 63 may be an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). The memory 64 is a nonvolatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). or volatile memory.

The processor 63 executes a machining program modification program. The machining program modification program is a program in which processing for operating as each part constituting the main part of the machining program modification device 11, 11A is written. The machining program modification program is stored in the memory 64 in advance. The processor 63 reads and executes the machining program modification program stored in the memory 64, thereby operating as each component forming the main part of the machining program modification device 11, 11A.

Although it is assumed that the machining program modification program is stored in the memory 64 in advance, the present invention is not limited thereto. The machining program modification program may be provided to the user of the machining program modification device 11, 11A in a state written in a storage medium readable by the computer system, and may be installed in the memory 64 by the user. The storage medium may be a portable storage medium such as a flexible disk, or a flash memory such as semiconductor memory. The machining program modification program may be installed into the memory 64 from another computer or server device via a communication network.

The machining program correction devices 11 and 11A correct the tool path 21 in real time while the machine tool 7 is machining, and generate a modified machining program 15. The machining program correction devices 11 and 11A may correct the tool path 21 at times other than during machining, and may generate the modified machining program 15 at times other than during machining. The machining program correction devices 11 and 11A may test machining performance by simulating machining by the machine tool 7 based on the corrected tool path 21.

FIG. 22 is a flowchart showing an operation procedure when the machining program correction apparatus 11, 11A according to the first or second embodiment simulates machining. In step S71, the machining program correction devices 11 and 11A generate a model of the workpiece by simulating the machining in the processor 63. In step S72, the machining program correction device 11, 11A stores the generated model in the memory 64.

In step S73, the processing program correction device 11, 11A generates an image of the processed product by rendering the model in the processor 63. In step S74, the machining program correction device 11, 11A displays the image on the display unit 66. With the above, the machining program correction devices 11 and 11A complete the operation according to the procedure shown in FIG. 22. By comparing the displayed image with the CAD model 2, the user can verify the corrected tool path 21 before performing actual machining.

The configurations shown in each of the embodiments above are examples of the contents of the present disclosure. The configuration of each embodiment can be combined with other known techniques. The configurations of each embodiment may be combined as appropriate. It is possible to omit or change a part of the configuration of each embodiment without departing from the gist of the present disclosure.

1, 1B machining system, 2 CAD model, 3 CAM device, 4 machining program, 5 numerical control device, 6 control signal, 7 machine tool, 8 drive unit, 9 tool, 10 workpiece, 11, 11A machining program correction device , 12 first feature calculation unit, 13 similarity calculation unit, 14 correction unit, 15 correction processing program, 20, 20A target shape, 21, 21-1, 21-2, 21-3, 21-4, 21 -5, 21-6 Tool path, 22, 22i, 22 (i-1) Command point, 23 Start point, 24i Movement amount, 25 End point, 26 Target path, 27 Adjacent path, 31, 32, 33, 34, 35, 36, 56-1, 56-2, 56-3, 56-4, 56-5, 56-6 points, 40 Target command point, 41 Similar points, 42 Straight line, 43 Similar points route, 44 Smoothing route, 45 Correction point, 46 Plane, 47 Arrow, 51 Second feature calculation unit, 52 Clustering unit, 53 Center of gravity position, 54 Principal component, 55 Tool path length, 57-1, 57-2 Region, 58-1 First Cluster, 58-2 Second cluster, 61 Processing circuit, 62 Input section, 63 Processor, 64 Memory, 65 Output section, 66 Display section, PS, PS1, PS2 Machining surface.

Claims (9)

A machining program correction device that corrects a machining program for machining by the machine tool by correcting a tool path that is a path for moving a tool by the machine tool,
a first feature amount calculation unit that calculates a first feature amount representing a feature of the command point on the tool path with respect to a command point indicating the position of the tool in a control cycle of the machine tool;
A target route to be corrected and an adjacent route adjacent to the target route are extracted from the plurality of tool routes arranged in a direction different from the direction of travel of the tool route, and the first target route of the command point of the target route is extracted. Based on the feature quantity of the command point of the adjacent route and the first feature quantity of the command point of the adjacent route, the similarity point, which is the command point similar to the command point of the target route, is determined from the plurality of command points of the adjacent route. a similarity calculation unit that calculates from among;
a correction unit that corrects the target route based on the similarities;
Equipped with
The similarity calculation unit calculates the target route such that a distance error representing a difference between the first feature of the command point of the target route and the first feature of the command point of the adjacent route is minimized. A machining program correction apparatus characterized in that the similarities are determined by determining the correspondence between the command points of the adjacent route and the command points of the adjacent route . The correction unit calculates the similarities for the command points in each of the plurality of tool paths, creates a similarity route that connects the plurality of obtained similarities, and based on the similarity route. The machining program correction device according to claim 1, wherein the target path is corrected by adjusting the position of the command point on the target path. 2. The correction unit adjusts the position of the command point by smoothing the similarity route and moving the command point of the target route onto the smoothed similarity route. The machining program correction device described in . 3. The machining program correction device according to claim 2, wherein the correction unit calculates a plane passing through the continuous command points on the target path, and adjusts the position of the command points on the plane. The first feature quantity includes at least one of the coordinates of the command point, the amount of movement of the tool at the command point, and the length of the tool path to the command point. A machining program correction device according to any one of claims 1 to 4. a second feature calculation unit that calculates a second feature representing the feature of the tool path;
further comprising a clustering unit that classifies a group of tool paths for machining a workpiece into a plurality of clusters based on the second feature amount ,
The similarity calculating unit calculates the similarities by extracting the target route and the adjacent route for each cluster,
The machining program correction device according to any one of claims 1 to 5 , wherein the correction unit corrects the target path for each cluster. The second feature amount includes at least one of the coordinates of the center of gravity position of the tool path, a principal component that is an approximate straight line of the plurality of command points on the tool path, and a tool path length. 7. The machining program correction device according to claim 6 . A machining program modifying method in which a machining program modifying device modifies a machining program for machining using the tool by correcting a tool path that is a path for moving a tool with respect to a workpiece, the method comprising:
for a command point indicating the position of the tool in a control cycle, obtaining a first feature amount representing a feature of the command point on the tool path;
extracting a target route to be corrected and an adjacent route adjacent to the target route from a plurality of the tool routes arranged in a direction different from a direction of travel of the tool route;
Based on the first feature of the command point of the target route and the first feature of the command point of the adjacent route, the command point is similar to the command point of the target route. finding a point from among the plurality of command points on the adjacent route;
correcting the target route by correcting the command point of the target route based on the similarities;
including;
The command point of the target route and the adjacent one where the distance error representing the difference between the first feature of the command point of the target route and the first feature of the command point of the adjacent route is minimum. A method for modifying a machining program, characterized in that the similarity is determined by determining a correspondence between the route and the command point . a machining program generation device that generates a machining program;
The machining program modification device according to any one of claims 1 to 7 , which modifies the generated machining program;
a numerical control device that controls a controlled device based on the modified machining program;
A processing system characterized by comprising:

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