In the high-efficiency machining of blade parts according to the present invention, there is no reversal of the operating direction of a rotating shaft, and a high-quality machined surface can be obtained rapidly. A machining program is created for a workpiece such that: when a part having a convex curved surface and a concave curved surface, with a pair of edge portions as a boundary, is removal-machined, a virtual convex curve, the curvature of which is not inverted with respect to the convex curved surface, with the curves of the pair of edges as the tangent line, is set for the concave curved surface; a drive surface, for defining tool orientation without curvature inversion, is created by using the virtual convex curve, the convex curve set on the convex curved surface, and the convex curves set on the pair of edges; and a tool axis direction during removal machining is set on the basis of the normal direction of the drive surface for tool orientation definition.

A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

A machining device threads a workpiece by relatively rotating the workpiece and a multi-blade tool and relatively moving them along a feed direction to perform cutting processes in the radial direction of the workpiece along the same cutting path in a predetermined spiral form. A controller performs a groove machining to form a threaded portion with vibration in the radial direction of the workpiece and a finish machining to form the threaded portion by bringing the multi-blade tool into contact with the grooved portion of the workpiece. The multi-blade tool has a first cutting blade and a second cutting blade arranged side by side along the feed direction. The controller sets amplitude of a vibration waveform to a value at which a cutting edge of the second cutting blade does not come into contact with the screw bottom surface of the workpiece in the finish machining.

A machining device threads a workpiece by relatively rotating the workpiece and a multi-blade tool and relatively moving them along a feed direction to perform cutting processes in the radial direction of the workpiece along the same cutting path in a predetermined spiral form. A controller performs a groove machining to form a threaded portion with vibration in the radial direction of the workpiece and a finish machining to form the threaded portion by bringing the multi-blade tool into contact with the grooved portion of the workpiece. The multi-blade tool has a first cutting blade and a second cutting blade arranged side by side along the feed direction. The controller sets amplitude of a vibration waveform to a value at which a cutting edge of the second cutting blade does not come into contact with the screw bottom surface of the workpiece in the finish machining.

This machining program generation device is provided with: a storage unit that stores machining conditions for respective tool regions determined on the basis of the number of effective edges in a multi-blade tool; a contact region calculation unit that calculates a tool region which comes into contact with a workpiece during machining on the basis of the shapes of the workpiece and the edge portion of the tool and of a tool path; and a machining program generation unit that generates a machining program on the basis of the tool path and the machining conditions stored in the storage unit in association with the tool region coming into contact with the workpiece.

This machining program generation device is provided with: a storage unit that stores machining conditions for respective tool regions determined on the basis of the number of effective edges in a multi-blade tool; a contact region calculation unit that calculates a tool region which comes into contact with a workpiece during machining on the basis of the shapes of the workpiece and the edge portion of the tool and of a tool path; and a machining program generation unit that generates a machining program on the basis of the tool path and the machining conditions stored in the storage unit in association with the tool region coming into contact with the workpiece.

A multi-stage incremental sheet forming system includes a forming tool, and at least one control unit in communication with the forming tool. The at least one control unit is configured to determine a convex hull of a target structure to be formed by the forming tool. The at least one control unit is further configured to operate the forming tool according to a first tool path in relation to an initial structure to form an intermediate structure having a shape based on the convex hull of the target structure. The at least one control unit is further configured to operate the forming tool according to a second tool path in relation to the intermediate structure to form one or more inward features into the intermediate structure to form the target structure.

A multi-stage incremental sheet forming system includes a forming tool, and at least one control unit in communication with the forming tool. The at least one control unit is configured to determine a convex hull of a target structure to be formed by the forming tool. The at least one control unit is further configured to operate the forming tool according to a first tool path in relation to an initial structure to form an intermediate structure having a shape based on the convex hull of the target structure. The at least one control unit is further configured to operate the forming tool according to a second tool path in relation to the intermediate structure to form one or more inward features into the intermediate structure to form the target structure.

The objective of the present invention is to provide a machine tool control device with which chips can be reliably divided and discharged, and with which damage to a tool can be suppressed by reducing shock when the tool cuts into a workpiece. A machine tool control device 100 which controls a main axis that causes a tool T to rotate relative to a workpiece W, and which executes a cutting process by controlling a feed axis to move the tool T and the workpiece W while causing the same to oscillate relative to one another in a feed direction, is provided with an oscillation command generating unit 16 which generates an oscillation command on the basis of a predetermined oscillation condition, and a position and speed control unit 15 which controls a motor 30 that drives the feed axis, on the basis of a superimposed command generated by superimposing the oscillation command generated by the oscillation command generating unit 16 onto a position command or a position deviation, wherein the oscillation command generating unit 16 changes at least one of an oscillation command phase progression method and an oscillation command amplitude, on the basis of either an oscillation phase calculated on the basis of the predetermined oscillation condition, or time.