Method of verifying operating command, method of controlling machining device, recording medium recorded with operating-command verification program, and operating-command verification system

A non-transitory computer readable recording medium storing an operating-command verification program for a machining system including a machining device configured to perform incremental forming, and a control device configured to control operation of the machining device based on an operating command, the machining device including:

• a first tool of which a tip-end part is arranged toward a first surface of a plate-like workpiece in a state where the workpiece is disposed at a given location;
• a first link part configured to hold the first tool and move the first tool with respect to the workpiece;
• a second tool of which a tip-end part is arranged toward a second surface opposite from the first surface of the workpiece;
• and
• a second link part configured to hold the second tool and move the second tool with respect to the workpiece, independently from the first tool,
• wherein the incremental forming is performed so that the tip-end part of the first tool and the tip-end part of the second tool are pressed against the workpiece,
• wherein the control device controls operations of the first link part and the second link part based on the operating command containing information on a plurality of first tool teaching points that define a scheduled route of the tip-end part of the first tool, and a plurality of second tool teaching points that are set corresponding to the plurality of first tool teaching points and define a scheduled route of the tip-end part of the second link, and
• wherein the operating-command verification program causes a computer to execute a teaching point poor determination comprising:
• calculating coordinates of a midpoint between one of the plurality of first tool teaching points and a subsequent first tool teaching point, and calculating coordinates of a midpoint between one of the plurality of second tool teaching points that corresponds to the one first tool teaching point and a subsequent second tool teaching point;
• calculating an inter-midpoint distance between the midpoint of the one and the subsequent first tool teaching points and the midpoint of the corresponding one and the subsequent second tool teaching points;
• determining whether the inter-midpoint distance is within a predetermined tolerance range;
• and
• when the inter-midpoint distance is determined to be outside of the predetermined tolerance range, notifying that the one and the subsequent first tool teaching points and the one and the subsequent second tool teaching points as poor.

A machining system comprising:

• a machining device configured to perform incremental forming;
• a control device configured to control operation of the machining device based on an operating command;
• and
• a computer configured to create the operating command,
• wherein the machining device includes:
• a first tool of which a tip end is arranged toward a first surface of a workpiece in a state where the workpiece is disposed at a given location;
• a first link part configured to hold the first tool and move the first tool with respect to the workpiece;
• a second tool of which a tip end is arranged toward a second surface opposite from the first surface of the workpiece;
• and
• a second link part configured to hold the second tool and move the second tool with respect to the workpiece, independently from the first tool,
• wherein the incremental forming is performed so that the tip end of the first tool and the tip end of the second tool are pressed against the workpiece,
• wherein the control device controls operations of the first link part and the second link part based on the operating command containing information on a plurality of first tool teaching points that define a scheduled route of the tip end of the first tool, and a plurality of second tool teaching points that are set corresponding to the plurality of first tool teaching points and define a scheduled route of the tip end of the second link, and
• wherein the computer executes a teaching point poor determination including:
• calculating coordinates of a midpoint between one of the plurality of first tool teaching points and a subsequent first tool teaching point, and calculating coordinates of a midpoint between one of the plurality of second tool teaching points that corresponds to the one first tool teaching point and a subsequent second tool teaching point;
• calculating an inter-midpoint distance between the midpoint of the one and the subsequent first tool teaching points and the midpoint of the corresponding one and the subsequent second tool teaching points;
• determining whether the inter-midpoint distance is within a predetermined tolerance range;
• and
• when the inter-midpoint distance is determined to be outside of the predetermined tolerance range, notifying that the one and the subsequent first tool teaching points and the one and the subsequent second tool teaching points as poor.