JP2011165066A - Error display device of machine tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an error display device of a machine tool which knows an error of an operation of an actual machine tool with respect to an operation of an ideal machine tool by NC data when a machine tool with a straight shaft and a rotary shaft is targeted. <P>SOLUTION: Shaft position measurement data of a machine coordinate system regarding the straight shaft and the rotary shaft when the straight shaft and the rotational shaft of the machine tool 1 are operated based on the NC data is obtained. Coordinate transformation is performed based on the shaft position measurement data and machine information of the machine coordinate system of the straight shaft and the rotational shaft to calculate a measurement processing point moving locus of a tool in a work coordinate system. A reference processing point moving locus of the tool in the work coordinate system is displayed on a display screen based on the NC data, and the measurement processing point moving locus is overlapped on the reference processing point moving locus to be displayed on the display screen, and an error of the measurement processing point moving locus to the reference processing point moving locus is displayed on the display screen. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an error display device for displaying an error of an actual operation with respect to an ideal operation based on NC data for a machine tool having a linear axis and a rotary axis.

  Conventionally, as an error display device of a machine tool, there is one described in Japanese Patent Laid-Open No. 11-143514 (Patent Document 1). In Patent Document 1, for a machine tool having a configuration of three orthogonal axes, the position information of NC data and the position information of each actual axis of the machine tool when NC data is executed are displayed in an overlapping manner. It is described that the error is displayed. In the case of such an orthogonal three-axis machine configuration, the origin of the workpiece coordinate system included in the NC data is deviated from the origin of the machine coordinate system in the actual machine tool, but the workpiece coordinates included in the NC data Each axis command of the system coincides with an actual axis command operation in the machine tool. Therefore, by simply translating the position information of each axis of the actual machine tool, both coordinate systems can be easily matched.

  By the way, in order to enable machining of a complicated shape, there is, for example, a 5-axis machining center in which a rotation axis is added to a rectilinear axis (see, for example, Patent Document 2). In particular, simultaneous 5-axis machining that simultaneously controls the position of the rotary shaft while controlling the position of the straight axis enables machining of a more complicated shape.

JP-A-11-143514 JP 2008-090734 A

  Here, when a machine tool having a rotating shaft as described in Patent Document 2 is targeted, the error display method described in Patent Document 1 cannot be applied as it is. This is because the position information of each axis included in the NC data and the actual position information of each axis of the machine tool do not have a sufficient relationship if they are translated like a machine tool having a configuration of three orthogonal axes. is there.

  For example, in order to move the machining point by the tool from point A to point B, if the inclination in the axial direction of the tool is constant, only the straight axis is operated, but the inclination in the axial direction of the tool is changed. In this case, it is necessary to operate the straight axis and the rotary axis. As described above, when changing the inclination of the tool in the axial direction, the straight axis and the rotary axis are intertwined with each other to move the machining point of the tool. As described above, when a machine tool having a rotating shaft is targeted, it is impossible to grasp an error in actual operation with respect to an ideal operation based on NC data. For this reason, until now, errors have been grasped by actually machining a workpiece with a machine tool having a straight axis and a rotary axis and measuring the shape. In other words, adjustment is made so that the error falls within an allowable range by repeating trial and error.

  The present invention has been made in view of such circumstances, and in the case of a machine tool having a straight axis and a rotary axis, the actual machine tool operation with respect to the ideal machine tool operation based on NC data. An object of the present invention is to provide an error display device for a machine tool capable of grasping an error of the machine tool.

An error display device for a machine tool according to claim 1 comprises:
An error display device in a machine tool comprising a rectilinear axis and a rotary axis, and moving the tool relative to the workpiece by operating the linear axis and the rotary axis to process the workpiece with the tool;
A display screen;
NC data acquisition means for acquiring NC data including a machining point in the workpiece coordinate system and a tool axis direction with respect to the machining point;
A reference machining point movement locus display means for displaying a reference machining point movement locus of the tool in the workpiece coordinate system on the display screen based on the NC data;
Axis position measurement data acquisition means for acquiring axis position measurement data of a machine coordinate system related to the linear axis and the rotary axis when the linear axis and the rotary axis of the machine tool are operated based on the NC data;
Obtain machine information including coordinates of the workpiece origin in the machine coordinate system, rotation center coordinates of the rotation axis of the machine coordinate system, and tip position coordinates of the tool in the machine coordinate system in the reference state of the machine tool Machine information acquisition means for
Based on the axis position measurement data of the machine coordinate system of the linear axis and the rotation axis acquired by the axis position measurement data acquisition means and the machine information acquired by the machine information acquisition means, coordinate conversion, A measurement machining point movement locus calculating means for calculating a measurement machining point movement locus of the tool in the workpiece coordinate system;
On the display screen on which the reference machining point movement locus is displayed by the reference machining point movement locus display means, the measured machining point movement locus calculated by the measured machining point movement locus calculation means is used as the reference machining point movement locus. A measurement machining point movement trajectory display means for displaying an error of the measurement machining point movement locus with respect to the reference machining point movement locus,
It is to provide.

  In the invention according to claim 2, the error display device of the machine tool further performs coordinate conversion based on the NC data acquired by the NC data acquisition unit and the machine information acquired by the machine information acquisition unit. A reference axis position data calculating means for calculating reference axis position data of a machine coordinate system related to the linear axis and the rotary axis of the machine tool in the machine coordinate system, and the machine coordinates based on the reference axis position data The reference axis position movement locus display means for displaying the reference axis position movement locus for the straight axis and the rotation axis in the system on the display screen, and the reference axis position movement locus is displayed by the reference axis position movement locus display means. The measurement axis position shift obtained based on the axis position measurement data acquired by the axis position measurement data acquisition means is displayed on the display screen. And displayed over the trajectory is to and a measurement axis position moving trajectory display means for displaying the error in the measurement axis position moving locus with respect to the reference axis position movement locus.

According to a third aspect of the present invention, the error display device of the machine tool relates to a related display means for displaying in a related manner on the display screen a portion corresponding to a time element in the measurement machining point movement locus and the measurement axis position movement locus. Is further provided.
According to a fourth aspect of the present invention, when the related display unit selects one of the predetermined range of the measurement machining point movement locus and the measurement axis position movement locus on the display screen, the measurement machining point movement locus and The display attribute of the range corresponding to the time element in the predetermined range on the other of the measurement axis position movement trajectories is changed and displayed.

  In the invention according to claim 5, the error display device of the machine tool is a time element from a base point to an end point included in a predetermined range of the measurement machining point movement locus or the measurement axis position movement locus displayed on the display screen. Is displayed in the width of the movable region in which the slide bar is movable, and further includes a slide display means capable of moving the slide bar in the movable region, wherein the related display means includes the measurement processing point movement locus and the In the measurement axis position movement locus, a portion corresponding to the position of the slide bar in the movable region is displayed in association with the display screen.

  In the invention according to claim 6, the related display means uses a predetermined position of a time element corresponding to the measurement machining point movement locus and the measurement axis position movement locus as a base point on the display screen, and the base point in each locus. The display color is gradually changed so that the display color becomes the same kind as the time element elapses, and gradation display is performed.

  The invention according to claim 7 is characterized in that the error display device of the machine tool calculates speed or acceleration based on the axis position measurement data acquired by the axis position measurement data acquisition means, and the speed Speed acceleration display means for displaying the speed calculated by acceleration calculation means or the acceleration on the display screen, and the related display means displays the speed displayed on the display screen by the speed acceleration display means. Alternatively, in the acceleration, the measurement machining point movement locus, and the measurement axis position movement locus, a portion corresponding to a time element is displayed in association with the display screen.

  The invention according to claim 8 further includes a speed acceleration calculating means for calculating a speed or acceleration based on the axis position measurement data acquired by the axis position measurement data acquiring means, the error display device of the machine tool, The related display means displays at least one of the measurement machining point movement locus and the measurement axis position movement locus displayed on the display screen in accordance with the velocity or the acceleration calculated by the velocity acceleration calculation means. It is to change and display the attribute.

  According to a ninth aspect of the present invention, the error display device of the machine tool has an axis reversal position in at least one of the rectilinear axis and the rotation axis based on the reference axis position data calculated by the reference axis position data calculation means. Further, an axis reversal position calculating means for calculating is provided, and the related display means displays the axis reversal position in an overlapping manner on a display screen on which the measured machining point movement locus is displayed.

The invention according to claim 10 is characterized in that the reference machining point movement trajectory display means and the measured machining point movement trajectory display means are the reference machining point movement trajectory and the measured machining point movement trajectory related to the selected two or three axes. Is displayed two-dimensionally or three-dimensionally on the display screen.
According to an eleventh aspect of the present invention, the reference axis position movement trajectory display means and the measurement axis position movement trajectory display means include the reference axis position movement trajectory and the measurement axis position related to two or three selected axes. The movement trajectory is two-dimensionally or three-dimensionally displayed on the display screen.

An error display device for a machine tool according to claim 12,
An error display device in a machine tool comprising a rectilinear axis and a rotary axis, and moving the tool relative to the workpiece by operating the linear axis and the rotary axis to process the workpiece with the tool;
A display screen;
NC data acquisition means for acquiring NC data including a machining point in the workpiece coordinate system and a tool axis direction with respect to the machining point;
Obtain machine information including coordinates of the workpiece origin in the machine coordinate system, rotation center coordinates of the rotation axis of the machine coordinate system, and tip position coordinates of the tool in the machine coordinate system in the reference state of the machine tool Machine information acquisition means for
Coordinate conversion is performed based on the NC data acquired by the NC data acquisition unit and the machine information acquired by the machine information acquisition unit, and the linear axis and the rotation axis of the machine tool in the machine coordinate system A reference axis position data calculating means for calculating reference axis position data of the machine coordinate system;
Based on the reference axis position data, a reference axis position movement locus display means for displaying a reference axis position movement locus for the straight axis and the rotation axis in the machine coordinate system on the display screen;
Axis position measurement data acquisition means for acquiring axis position measurement data of a machine coordinate system related to the linear axis and the rotary axis when the linear axis and the rotary axis of the machine tool are operated based on the NC data;
Measurement axis position movement obtained based on the axis position measurement data acquired by the axis position measurement data acquisition means on the display screen on which the reference axis position movement locus is displayed by the reference axis position movement locus display means Measurement axis position movement trajectory display means for displaying an error of the measurement axis position movement trajectory with respect to the reference axis position movement trajectory by displaying a trajectory in an overlapping manner;
It is to provide.

  According to the first aspect of the present invention, by performing coordinate conversion from the machine coordinate system to the workpiece coordinate system for the axis position measurement data, the movement locus of the actual machining point of the tool, that is, “measurement of the workpiece coordinate system” A machining point movement trajectory ”can be obtained. Then, by displaying the ideal tool machining point movement trajectory (“reference machining point movement trajectory”) based on NC data and the calculated actual tool machining point movement trajectory in an overlapping manner, the straight axis and rotation are displayed. For a machine tool having an axis, it is possible to grasp an error between an actual tool machining point movement locus and an ideal tool machining point movement locus based on NC data. Therefore, the error can be grasped without the need to execute a trial and error performed by actually machining the workpiece as in the prior art.

  According to the second aspect of the present invention, by performing coordinate conversion from the workpiece coordinate system to the machine coordinate system for the NC data, the movement trajectory of the ideal position of each axis of the machine coordinate system, that is, “reference axis” A “position movement locus” can be obtained. Then, the movement trajectory of the ideal axis position based on the NC data and the movement trajectory of the position of each actually operated axis ("measurement axis position movement trajectory") are displayed in an overlapping manner, so that the straight axis and rotation For a machine tool having an axis, it is possible to grasp an error between an actual movement locus of each axis position and an ideal movement locus of each axis position based on NC data. Therefore, also from this, it is possible to grasp the error without the need to execute the trial and error that is performed by actually machining the workpiece as in the prior art.

  Furthermore, a superposition display of the ideal tool machining point movement trajectory by NC data in the workpiece coordinate system and the actual tool machining point movement trajectory, and each ideal axis by NC data in the machine coordinate system. By displaying a superposition display of the position movement trajectory and the actual position movement trajectory of each axis, the machining point of the tool that could not be grasped on a machine tool having a straight axis and a rotary axis was displayed. The trajectory error can be compared with the trajectory error of the axis position. As a result, when a trajectory error of the machining point of the tool is generated, it is possible to grasp which axis has the cause.

  According to the third aspect of the present invention, in each of the one displaying the movement locus of the actual machining point of the tool in the workpiece coordinate system and the one displaying the movement locus of the actual position of each axis in the machine coordinate system, The parts corresponding to the elements are displayed in association with each other. Therefore, it can be visually grasped where the predetermined part in the movement locus of the actual machining point of the tool corresponds to the movement locus of the actual position of each axis. As a result, for example, which axis of the machine tool is the cause of the movement locus of the actual tool machining point that is significantly different from the ideal tool machining point movement locus of NC data. Can be grasped visually.

  According to the fourth aspect of the present invention, the movement locus of the actual machining point of the tool and the movement locus of the actual position of each axis are indicated by indicating the range on the work coordinate system display screen or the machine coordinate system display screen. Can be visually grasped. This display attribute includes, for example, line color, line type, line blinking, and the like.

  According to the invention of claim 5, by moving the slide bar in the movable region, the time elements of the movement locus of the actual tool machining point and the movement locus of the actual position of each axis displayed on the display screen The corresponding part moves in conjunction. That is, by moving the slide bar in the movable region, it is possible to grasp the transition in which the movement locus of the actual machining point of the tool and the movement locus of the actual position of each axis move with time. Here, the width of the movable region indicates a time element from the base end to the end point included in the arbitrarily specified range. For example, when the entire range of the movement locus of the actual machining point of the tool or the movement locus of the actual position of each axis is specified, the base point and the end point are the same position of each movement locus. In addition, when a partial range of the movement locus of the actual tool machining point or the movement locus of the actual position of each axis is specified, both end points located at the boundary of the range are movable by the slide bar. Corresponds to the start and end points of the region.

  According to the sixth aspect of the present invention, time elements correspond to the movement locus of the actual tool machining point displayed on the display screen and the movement locus of the actual position of each axis by performing gradation display. The site can be visually grasped throughout.

  According to the seventh aspect of the present invention, the speed or acceleration of each axis (straight axis and rotary axis) constituting the machine tool corresponds to the movement locus of the actual tool machining point and the movement locus of the actual position of each axis. Correspondingly displayed. Therefore, it is possible to grasp what time behavior the speed or acceleration of each axis shows in a predetermined part of the movement locus of the actual machining point of the tool or the actual movement locus of the position of each axis. For example, if there is a sudden change in speed or acceleration, the actual movement trajectory of each axis position may cause an error with respect to the desired trajectory. That is, the cause of the error can be grasped more clearly.

  According to the eighth aspect of the invention, the speed or acceleration of each axis (straight axis and rotary axis) constituting the machine tool is such that the movement locus of the actual tool machining point and the movement locus of the actual position of each axis. It is displayed by changing at least one of the display attributes. Therefore, it is possible to grasp what time behavior the speed or acceleration of each axis shows in a predetermined part of the movement locus of the actual machining point of the tool or the actual movement locus of the position of each axis. For example, if there is a sudden change in speed or acceleration, the actual movement trajectory of each axis position may cause an error with respect to the desired trajectory. That is, the cause of the error can be grasped more clearly.

  According to the ninth aspect of the present invention, it is possible to visually grasp the influence of the axis reversal position on the machining point of the tool by displaying the axis reversal position superimposed on the movement locus of the actual machining point of the tool. it can. That is, it is possible to visually grasp immediately whether or not the cause of the error is the axis reversal position. Note that the axis reversal position means, for example, the position where the X axis is reversed from the movement state in the plus direction to the movement in the minus direction or vice versa, taking the X axis as an example. Of course, the same applies to other shafts, for example, rotating shafts.

According to the invention which concerns on Claim 10, the movement locus | trajectory of the machining point of a tool can be visually grasped | ascertained by making each coordinate axis the series in 2D display or 3D display in the display of a workpiece coordinate system. According to the eleventh aspect of the present invention, the error in each axis can be visually grasped by using the series in the two-dimensional display or the three-dimensional display as each coordinate axis.
Furthermore, by displaying as described above in the workpiece coordinate system or the machine coordinate system, it is possible to grasp the locus of the machining point or the axis position of the tool without being affected by the elapsed time. There is actually a time lag between the command value based on the NC data and the actual measurement value of each axis of the machine tool. For this reason, if a time element is included in the display sequence (for example, when the horizontal axis is a time axis), there is a possibility that even if the display is actually in the correct position, a shift may appear. is there. Therefore, as in the present invention, since the movement trajectory relating to the selected two or three axes is displayed on the display screen as a series of two-dimensional display or three-dimensional display, display without including time elements is performed. . Therefore, it is possible to reliably grasp the error of the movement locus.

  According to the twelfth aspect of the present invention, by performing coordinate conversion of the NC data from the work coordinate system to the machine coordinate system, the movement trajectory of the ideal position of each axis of the machine coordinate system, that is, “reference axis A “position movement locus” can be obtained. Then, the movement trajectory of the ideal axis position based on the NC data and the movement trajectory of the position of each actually operated axis ("measurement axis position movement trajectory") are displayed in an overlapping manner, so that the straight axis and rotation For a machine tool having an axis, it is possible to grasp an error between an actual movement locus of each axis position and an ideal movement locus of each axis position based on NC data. Therefore, the error can be grasped without the need to execute a trial and error performed by actually machining the workpiece as in the prior art.

It is a perspective view of a 5-axis horizontal type machining center. It is a block diagram which shows NC apparatus and an error display apparatus. It is an example of a display screen 800. 10 is another example of a display screen 800. 10 is another example of a display screen 800. 10 is another example of a display screen 800. 10 is another example of a display screen 800.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Embodiments of an error display device for a machine tool according to the invention will be described below with reference to the drawings. In the present embodiment, the machine tool will be described by taking a five-axis horizontal machining center having three linear axes and two rotary axes as an example. Here, a 5-axis horizontal machining center having three linear axes and two rotary axes is taken as an example, but any machine tool that can move a tool relative to a workpiece by the linear axes and rotary axes will be described. Similarly, other configurations are also applicable.

(Configuration of 5-axis horizontal machining center)
The configuration of the 5-axis horizontal machining center 1 will be described with reference to FIG. FIG. 1 is a perspective view showing an appearance of a 5-axis horizontal machining center 1. As shown in FIG. 1, a 5-axis horizontal machining center 1 includes a bed 2, a column 3, a spindle head 4, a spindle 5, a saddle 6, a tilt table 7, a rotating pallet 8, and a work table 9. Composed.

  The bed 2 includes a T-shaped base 21, two Z-axis guides 22, a Z-axis drive ball screw (not shown), a Z-axis drive motor 23, and an X-axis guide (see FIG. Not shown), two X-axis drive ball screws (not shown), and two X-axis drive motors 24. The two Z-axis guides 22 and the X-axis guide are provided on the base 21 in parallel with each other in the Z-axis direction and the X-axis direction. The Z-axis driving ball screw is provided substantially in the center of the two Z-axis guides 22 in parallel with the Z-axis guide 22. The two X-axis drive ball screws are provided substantially in the center of the X-axis guide and parallel to the X-axis guide. These Z-axis driving ball screw and X-axis driving ball screw are provided with ball screw nuts that can move in the respective axial directions. The Z-axis drive motor 23 and the X-axis drive motor 24 are provided on the end side of the Z-axis drive ball screw and the end side of the X-axis drive ball screw, respectively. The ball screw is rotated.

  The column 3 is erected on the bed 2. Specifically, the lower end surface of the column 3 is slidably supported by the two Z-axis guides 22 and is connected to a ball screw nut of a Z-axis driving ball screw. That is, the column 3 slides in the Z-axis direction with respect to the bed 2 along the Z-axis guide 22 in accordance with the rotation drive of the Z-axis driving ball screw. The column 3 includes a Y-axis guide (not shown), two Y-axis drive ball screws (not shown), and two Y-axis drive motors 31. The Y-axis guide is provided on the end surface (vertical surface) of the column 3 in parallel with the Y-axis direction. The Y-axis drive ball screw is provided in parallel to the Y-axis guide. A ball screw nut that is movable in the axial direction is attached to the Y-axis driving ball screw. The Y-axis drive motor 31 is provided on the end side of the Y-axis drive ball screw, and rotationally drives the Y-axis drive ball screw.

  The spindle head 4 is slidably supported by the Y-axis guide and is connected to a ball screw nut of a Y-axis driving ball screw. That is, the spindle head 4 slides in the Y-axis direction with respect to the column 3 along the Y-axis guide as the Y-axis driving ball screw is driven to rotate. The main shaft 5 is supported by the main shaft head 4 so as to be rotatable around the Z axis. And the tool is attached to the front end side of the main axis | shaft 5 so that attachment or detachment is possible. That is, the tool can move relative to the bed 2 in the Z-axis direction and the Y-axis direction.

  The saddle 6 is provided on the bed 2 at a position facing the end surface on which the spindle head 4 of the column 3 is disposed. In the saddle 6, a pair of support portions 61 that support a tilt table 7 to be described later are provided upright on both ends in the X-axis direction. Further, an A-axis rotation motor (not shown) that can rotate the tilt table 7 is provided on one side of the support portion 61. The lower side of the saddle 6 is slidably supported by the X-axis guide and is coupled to a ball screw nut of an X-axis driving ball screw. That is, the saddle 6 slides in the X-axis direction with respect to the bed 2 along the X-axis guide as the X-axis drive ball screw rotates.

  The tilt table 7 is formed in a U-shape, and both end sides thereof are supported by the pair of support portions 61 of the saddle 6 so that the A-axis rotation (rotation about the X axis) is possible. The tilt table 7 rotates the A-axis with respect to the saddle 6 by driving an A-axis rotating motor disposed on the support portion 61 of the saddle 6. Further, a B-axis rotation motor (not shown) that can rotate the rotary pallet 8 is provided on the U-shaped concave bottom surface of the tilt table 7.

  The rotary pallet 8 is placed on the concave bottom surface of the tilt table 7 and is supported so as to be rotatable in a direction perpendicular to the placement surface of the tilt table 7. That is, when the tilt table 7 is in the state shown in FIG. 1, the rotation axis of the rotary pallet 8 is an axis (B axis) parallel to the Y axis. The rotary pallet 8 performs B-axis rotation with respect to the tilt table 7 by driving a B-axis rotation motor provided on the lower surface side of the tilt table 7.

  The work table 9 is disposed on the rotary pallet 8 and can place a work. Accordingly, the work placed on the work table 9 can move in the X axis, rotate in the A axis, and rotate in the B axis with respect to the bed 2. That is, with respect to the workpiece placed on the workpiece table 9, the tool mounted on the spindle 5 is relatively moved by the X, Y, and Z axis linear axes and the A and B rotation axes. It becomes possible.

(Description of NC device 200)
Next, the NC device 200 will be described with reference to FIG. The NC device 200 is a device for controlling the above-described 5-axis horizontal machining center 1 based on the input NC data 100 and machine information 300. The NC data 100 includes point group data of machining points of the tool in the workpiece coordinate system and information on the tool axis direction with respect to the point group data of the machining points. That is, the NC data 100 includes the movement locus of the machining point of the tool with the predetermined position of the workpiece as the origin.

  The machine information 300 includes the coordinates of the workpiece origin in the machine coordinate system, the rotation center coordinates of the rotation axes (A and B axes) of the machine coordinate system, and the machine coordinate system in the reference state (the state shown in FIG. 1) of the 5-axis horizontal machining center 1. And the installation position of the workpiece in the machine coordinate system in the reference state of the 5-axis horizontal machining center 1. The coordinates of the workpiece origin in the machine coordinate system correspond to information indicating where the workpiece origin of the NC data 100 is located in the machine coordinate system, that is, information indicating the position where the workpiece is installed in the machine coordinate system. Further, the tip position coordinate of the tool in the machine coordinate system in the reference state of the 5-axis horizontal machining center 1 corresponds to the length from the position of the Y axis to the tip of the tool. That is, the coordinates are substantially information on the tool length because the size of the spindle head can be grasped in advance.

  Then, in order for the NC device 200 to perform NC control of the 5-axis horizontal machining center 1, command values for the respective positions (X, Y, Z, A, B axes) are generated. The NC control unit 210 generates a command value for the position of each axis. The NC control unit 210 receives the NC data 100 and the machine information 300 and generates a command value for each axis based on them. This command value is represented by a machine coordinate system. The machine coordinate system is a coordinate system that indicates the coordinates of an axis in which the machine tool can operate with respect to the machine origin of the machine tool. In the present embodiment, the machine coordinate system means a coordinate system represented by five axes of X, Y, Z, A, and B axes that the 5-axis horizontal machining center 1 has.

  Then, in accordance with the position command value generated by the NC control unit 210, the driving unit 220 for each axis, specifically, each axis motor 23, 24, 31 is driven. The position to which each moving body has moved is detected by a position detector 230 such as a linear scale or an encoder (not shown). That is, the position of each axis detected by the position detector 230 is the position of each axis in the machine coordinate system. Thus, the position of each axis of each moving body detected by the position detector 230 is fed back to the NC control unit 210 to perform feedback control.

(Overview of error display device)
An outline of the error display device will be described with reference to FIG. Here, as described above, the NC data 100 represents the machining point of the tool in the workpiece coordinate system, and the position of each axis detected by the position detector 230 represents the position of each axis in the machine coordinate system. . Since the 5-axis horizontal machining center 1 has a straight axis and a rotary axis, the machining point of the tool in the workpiece coordinate system represented by the NC data 100 and each axis of the machine coordinate system detected by the position detector 230 The positions of cannot be compared as they are.

  For example, even when machining the same workpiece, the position of each axis in the machine coordinate system differs depending on the position where the workpiece is placed on the workpiece table 9. That is, even if the NC data is the same, the position of each axis is different if the workpiece placement position is different. This is because the machining point of the tool is determined by intricately intertwining the rotation axis with the rectilinear axis.

  Therefore, by converting the position of each axis of the machine coordinate system detected by the position detector 230 when the 5-axis horizontal machining center 1 is operated based on the NC data 100 to the work coordinate system, the tool position for the actual work is changed. Calculate the machining point. The movement trajectory of the actual tool machining point calculated in this way and the ideal tool machining point movement trajectory obtained from the NC data 100 are displayed on a display screen 800 as shown in the upper left of FIG. Overlaid on the display. That is, in the workpiece coordinate system, the ideal movement locus of the machining point of the tool can be compared with the actual movement locus.

  When the 5-axis horizontal machining center 1 is operated by the NC data 100 and the position of each axis of the machine coordinate system is detected by the position detector 230, only the machine operation is performed without machining the workpiece, so-called idle operation. May be performed, or may be performed while actually machining the workpiece. When the former idle operation is performed, the workpiece is not actually processed, so that a workpiece for adjustment is not required. On the other hand, when the latter is actually machined, the actual axis positions can be obtained in consideration of machining resistance and the like.

  By converting the coordinates of the NC data 100, the position of each axis of the ideal machine coordinate system of the 5-axis horizontal machining center 1 is calculated. Here, since the 5-axis horizontal machining center 1 has a rotation axis, this coordinate conversion includes at least rotation coordinate conversion resulting from the operation of the rotation axis. The upper right part of FIG. 3 shows the movement trajectory of each axis position of the ideal machine coordinate system calculated in this way and the movement trajectory of each axis position of the machine coordinate system actually detected by the position detector 230. As shown in FIG. That is, in the machine coordinate system, the ideal movement locus of each axis position can be compared with the actual movement locus.

  In this way, an error in the workpiece coordinate system can be grasped, and an error in the machine coordinate system can be grasped. Furthermore, in the overlay display in the workpiece coordinate system and the overlay display in the machine coordinate system, the corresponding positions are displayed in association with each other so that the corresponding positions can be grasped. As a result, it is possible to relate the situation in the machine coordinate system at a certain position in the work coordinate system.

  Here, the NC data 100 uses a plurality of preset evaluation shapes. The evaluation shape includes, for example, a shape that forms a square frame on a predetermined plane, a shape in which a corner portion of the square is R-chamfered (arc chamfering), a circle, and the like. Moreover, NC data for processing an actual product from a material can also be used. For example, at the time of initial manufacture and shipment of a general-purpose machine tool, an error is evaluated by an evaluation shape, which is used to adjust control parameters for each axis. Further, in a dedicated machine tool, the error can be evaluated by an evaluation shape, and the error can be evaluated by NC data for an actual product. In this case, the control parameters of each axis are adjusted according to both errors.

(Detailed description of error display device)
Next, details of the configuration of the error display device will be described with reference to FIG. The error display device includes a coordinate conversion processing unit 400, an error calculation unit 500, a speed / acceleration calculation unit 600, a display processing unit 700, and a display screen 800. The coordinate conversion processing unit 400, the error calculation unit 500, the speed / acceleration calculation unit 600, and the display processing unit 700 can be realized by, for example, hardware such as an electric circuit, or software using a computer. Can also be realized. The display screen 800 is a screen that displays information output by the display processing unit 700.

  The coordinate conversion processing unit 400 converts information on the work coordinate system into a machine coordinate system, and converts information on the machine coordinate system into a work coordinate system. The coordinate conversion processing unit 400 includes a forward conversion processing unit 410 that performs coordinate conversion from the machine coordinate system to the work coordinate system, and an inverse conversion processing unit 420 that performs coordinate conversion from the work coordinate system to the machine coordinate system.

  The forward conversion processing unit 410 operates when the 5-axis horizontal machining center 1 is operated based on the NC data 100 for the evaluation shape, and each axis of the machine coordinate system (straight axis and rotational axis) detected by the position detector 230. (Axis) position data is acquired (axis position measurement data acquisition means). Moreover, the forward conversion process part 410 acquires the machine information input into NC apparatus 200 (machine information acquisition means). Then, the forward conversion processing unit 410 performs coordinate conversion using the acquired actual axis positions and machine information, and calculates a movement locus (measurement machining point movement locus) of the machining point of the tool in the workpiece coordinate system (measurement). Machining point movement locus calculation means).

  The inverse conversion processing unit 420 acquires the NC data 100 input to the NC apparatus 200 (NC data acquisition means), and acquires machine information input to the NC apparatus 200 (machine information acquisition means). Then, the inverse transformation processing unit 420 performs coordinate transformation using the acquired NC data 100 and machine information, and calculates position data (reference axis position data) of each axis in the machine coordinate system (reference axis position data calculation means). ).

  The error calculation unit 500 includes a tool machining point error calculation unit 510 and axis error calculation units 520. The tool machining point error calculation unit 510 calculates an error between the actual tool machining point movement locus calculated by the forward conversion processing unit 410 and the ideal tool machining point movement locus based on the NC data 100. Specifically, in each of the actual tool machining points, the closest position of the ideal tool machining point movement trajectory is calculated, and the deviation from the calculated position is used as the error at the machining point. . That is, this error corresponds to an error in the workpiece coordinate system.

Each axis error calculation unit 520 is an error between the ideal movement locus of each axis position based on the NC data 100 calculated by the inverse transformation processing unit 420 and the actual movement locus of each axis position detected by the position detector 230. Is calculated. Specifically, in each of the actual axis positions detected by the position detector 230, the closest position of the movement trajectory of each ideal axis position is calculated, and the amount of deviation from the calculated position is calculated. It is an error at each axis position. That is, this error corresponds to an error in the machine coordinate system.
Based on the position data of each axis detected by the position detector 230, the speed acceleration calculation unit 600 (speed acceleration calculation means) calculates the speed and acceleration on each axis.

  The display processing unit 700 displays the ideal movement trajectory of the machining point of the tool in the work coordinate system and the actual movement trajectory on the display screen 800 and displays the ideal movement of each axis position in the machine coordinate system. The trajectory and the actual movement trajectory are displayed in an overlapping manner. Furthermore, the magnification of the error can be adjusted so that each error is displayed in an enlarged manner, the axis to be displayed can be changed, and a speed or acceleration can be added and displayed. Note that these display modes are changed based on instruction input information by the operator.

  The display processing unit 700 includes a tool machining point movement trajectory display unit 710, each axis position movement trajectory display unit 720, a speed acceleration display unit 730, a related display unit 740, and a display screen instruction unit 750. Is done.

  The display screen instruction unit 750 changes various display modes in accordance with instructions input by the worker. The instruction to be input includes the error magnification, the type of axis to be displayed, the position to be displayed in relation to the display of the work coordinate system and the machine coordinate system (the position by scrolling, the position to input numerical values, and the position specified on the display screen 800. ), Presence / absence of gradation display, presence / absence of display of speed / acceleration, display mode of speed / acceleration, display dimension, and the like.

  The tool machining point movement locus display unit 710 displays a movement locus of an ideal tool machining point based on the NC data 100 in the workpiece coordinate system in the workpiece coordinate system column of the display screen 800 (reference machining point movement locus display means). . Further, the tool machining point movement trajectory display unit 710 inputs the actual machining point error of the tool calculated by the tool machining point error calculation unit 510 and displays the movement trajectory obtained by multiplying the error by a specified magnification in an overlapping manner. (Measured machining point movement locus display means). That is, in the work coordinate system column of the display screen 800, the movement locus of the ideal tool machining point and the movement locus of the actual tool machining point are displayed in an overlapping manner, and the difference (error) between them is displayed. It is displayed enlarged. The tool machining point movement trajectory display unit 710 displays the display dimensions in the work coordinate system column of the display screen 800 in a display mode according to the display dimension specified by the display screen instruction unit 750 and the axis to be displayed.

  Each axis position movement locus display unit 720 displays an ideal movement locus of each axis position based on the NC data 100 calculated by the inverse transformation processing unit 420 in the machine coordinate system column of the display screen 800 (reference axis position movement). Locus display means). Further, each axis position movement trajectory display unit 720 inputs the actual error of each axis position calculated by each axis error calculation unit 520, and displays the movement trajectory obtained by multiplying the error by a specified magnification (measurement). Axis position movement trajectory display means). That is, in the machine coordinate system column of the display screen 800, the ideal movement locus of each axis position and the actual movement locus of each axis position are displayed in an overlapping manner, and the difference (error) between the two is enlarged. Is displayed. Each axis position movement locus display unit 720 displays the display dimensions in the machine coordinate system column of the display screen 800 in a display mode corresponding to the display dimension specified by the display screen instruction unit 750 and the axis to be displayed.

  The speed acceleration display unit 730 (speed acceleration display unit) displays the speed and acceleration of each axis calculated by the speed acceleration calculation unit 600 on the display screen 800 in accordance with an instruction from the display screen instruction unit 750. When the display screen instruction unit 750 instructs to display the speed, the display screen 800 displays the speed. When the display screen instruction unit 750 instructs to display the acceleration, the acceleration is displayed, and neither is displayed. Are not displayed. Also, as a display mode, when a graph display is instructed, a graph is displayed in a separate field from the work coordinate system column and the machine coordinate system column, and when an attribute display is instructed, the work coordinate system column and the machine coordinate Attributes are displayed in the information displayed in the system column. For example, display attributes such as line type, line color, and blinking are changed according to speed or acceleration.

  The related display unit 740 (related display means) displays on the display screen 800 the parts corresponding to the time elements in the display of the work coordinate system column and the display of the machine coordinate system column. For example, when a position is instructed by scrolling or direct input in the display screen instruction unit 750, a part having a common time corresponding to the position is displayed as a point. When an instruction is given to surround the range in the work coordinate system field or the machine coordinate system field on the display screen 800, the display attribute of the range corresponding to the time element in the other of the work coordinate system field and the machine coordinate system field is set. Change and display. For example, display attributes such as line type, line color, and blinking are changed according to speed or acceleration. Alternatively, when the gradation display is instructed, the display of the work coordinate system column and the machine coordinate system column is displayed in gradation throughout.

(Mode of display screen of error display device)
Next, various aspects of the display screen 800 of the error display device will be described in order with reference to FIGS. First, the display screen 800 will be described with reference to FIG. From the left, a work coordinate system column, a machine coordinate system column, and a speed (or acceleration) column are displayed on the upper row. In the work coordinate system column and the machine coordinate system column, two-dimensional display or three-dimensional display is performed. In the speed or acceleration column, the horizontal axis represents time and the vertical axis represents speed or acceleration. Displayable series (axes) are displayed immediately below the work coordinate system field, the machine coordinate system field, and the speed or acceleration field, and can be selected. Furthermore, the display magnification of the error is displayed in the work coordinate system column and the machine coordinate system column. A numerical value can be input as the display magnification.

  A slide bar is displayed in the lower column (slide display means). The slide bar is displayed so as to be movable in the movable region in accordance with an instruction from the display screen instruction unit 750. The width of the movable area in which the slide bar is movable displays the time element from the base point to the end point included in the specified range. The designated range means that the range can be designated in the work coordinate system column or the machine coordinate system column, and both boundaries of the range are a base point and an end point, respectively. If no range is specified, it is assumed that the entire range is specified. The right column of the slide bar is displayed so that point values corresponding to time elements can be directly input.

  The lower column of the slide bar is displayed so that the presence / absence of position gradation display can be selected. Position gradation display is based on the predetermined position of the corresponding time element in each movement trajectory in the work coordinate system field and the machine coordinate system field, and the same kind of display color is obtained as the time element elapses from the base point in each trajectory. The display color is gradually changed and displayed.

  The lower part of the position gradation display is displayed so that the speed acceleration display can be selected. As shown in FIG. 4, when displaying speed, when displaying acceleration, the case where neither speed nor acceleration is displayed can be selected. The lower column of the speed / acceleration display is displayed so that the speed / acceleration display type can be selected. Select the display of the speed and acceleration as the attributes of the work coordinate system column and machine coordinate system column when displaying the graph separately from the work coordinate system column and machine coordinate system column in the right column of the machine coordinate system column. it can. In the lower column of the speed / acceleration display type, the coordinate system display dimension can be selected from two-dimensional display and three-dimensional display.

  Below, the specific aspect shown in FIGS. 3-7 is demonstrated. In FIG. 3, “XY” is designated as the display axis in the work coordinate system column on the display screen 800, “1000” is input in the “magnification” column in the work coordinate system column, and the display axis in the machine coordinate system column is “XY” is instructed, “1000” is entered in the “magnification” field in the machine coordinate system field, the part indicated by “□” is instructed in the “slide bar”, and “none” is instructed in the “position gradation display” Then, “none” is designated in the “speed acceleration display” field, and “two-dimensional” is designated in “coordinate system display dimension”. Further, it is assumed that no range is specified in the work coordinate system column and the machine coordinate system column. In this case, the width of the movable region in which the slide bar operates is in all ranges, that is, the base point is P0 and the end point is P1000.

  In this case, in the work coordinate system column, the movement trajectory of the actual tool machining point displayed as an error of 1000 times is superimposed on the movement trajectory of the ideal tool machining point in the work coordinate system column. It is displayed. Further, in the machine coordinate system column, the movement locus of the actual XY axis position displayed as an error 1000 times is superimposed on the movement locus of the ideal XY axis position. Further, in the work coordinate system column and the machine coordinate system column, the part corresponding to the time corresponding to P350 of the slide bar is indicated by ●. That is, the parts indicated by ● correspond to the same time element.

  As described above, the forward conversion processing unit 410 performs coordinate conversion from the machine coordinate system to the workpiece coordinate system with respect to the detected actual position data of each axis, thereby obtaining the movement locus of the actual tool machining point. Obtainable. Then, as shown in the work coordinate system column in the upper part of FIG. 3, an ideal tool machining point movement locus based on NC data and the calculated actual tool machining point movement locus are displayed in an overlapping manner. Thus, it is possible to grasp an error between an actual tool machining point movement locus and an ideal tool machining point movement locus based on NC data for a machine tool having a straight axis and a rotation axis. Therefore, the error can be grasped without the need to execute a trial and error performed by actually machining the workpiece as in the prior art.

  In addition, the inverse transformation processing unit 420 performs coordinate transformation on the NC data 100 from the work coordinate system to the machine coordinate system, thereby obtaining a movement locus of the ideal position of each axis in the machine coordinate system. Then, as shown in the machine coordinate system column in the upper part of FIG. 3, the ideal movement trajectory of each axis position by the NC data 100 and the actual movement trajectory of each axis position are displayed in an overlapping manner. Thus, for a machine tool having a straight axis and a rotary axis, it is possible to grasp an error between an actual movement locus of each axis position and an ideal movement locus of each axis position based on NC data. Therefore, also from this, it is possible to grasp the error without the need to execute the trial and error that is performed by actually machining the workpiece as in the prior art.

  Further, the display of the work coordinate system column and the machine coordinate system column of FIG. 3 makes it possible to detect the locus error and the axis position of the machining point of the tool that could not be grasped in a machine tool having a linear axis and a rotary axis. It can be compared with the trajectory error. As a result, when a trajectory error of the machining point of the tool is generated, it is possible to grasp which axis has the cause.

  Further, in the display of the work coordinate system column and the display of the machine coordinate system column in FIG. 3, the part corresponding to the time element is displayed in association with the mark ●. Therefore, it can be visually grasped where the predetermined part in the movement locus of the actual machining point of the tool corresponds to the movement locus of the actual position of each axis. As a result, for example, the axis of the machine tool is caused by the part where the actual tool machining point movement locus has a large error with respect to the ideal tool machining point movement locus based on the NC data 100. You can grasp it visually.

  Further, by moving the slide bar in FIG. 3, the display is moved in conjunction with the position corresponding to the position of the slide bar in the display of the work coordinate system column and the display of the machine coordinate system column. That is, by moving the slide bar in the movable region, it is possible to grasp the transition in which the movement locus of the actual machining point of the tool and the movement locus of the actual position of each axis move with time.

  In FIG. 3, the display of the work coordinate system column and the display of the machine coordinate system column are two-dimensional displays in which each axis of the 5-axis horizontal machining center 1 is a series. Thereby, an error of each axis can be grasped visually. That is, the locus of the axis position can be grasped without being affected by the elapsed time. The command value based on the NC data 100 and the actual measurement value of each axis of the 5-axis horizontal machining center 1 actually cause a time lag. For this reason, if a time element is included in the display sequence (for example, when the horizontal axis is a time axis), there is a possibility that even if the display is actually in the correct position, a shift may appear. is there. However, since each series of the two-dimensional display is not a time element but an axis, it is possible to reliably grasp the error of the movement trajectory.

  In FIG. 4, “XY” is designated as the display axis in the work coordinate system column on the display screen 800, “1000” is input in the “magnification” column in the work coordinate system column, and the display axis in the machine coordinate system column is “XY” is specified, “1000” is input in the “magnification” field of the machine coordinate system field, “X” is specified as the display axis in the speed field, and the part indicated by “□” is indicated in the “slide bar” “None” is specified in “Position gradation display”, “Speed” is specified in the “Speed acceleration display” field, “Graph display” is specified in the “Speed acceleration display type” field, and “Coordinate system display dimension” is displayed. "2D" is specified. Further, it is assumed that no range is specified in the work coordinate system column and the machine coordinate system column. In this case, the width of the movable region in which the slide bar operates is in all ranges, that is, the base point is P0 and the end point is P1000.

  In this case, in the work coordinate system column, the movement trajectory of the actual tool machining point displayed as an error of 1000 times is superimposed on the movement trajectory of the ideal tool machining point in the work coordinate system column. It is displayed. Further, in the machine coordinate system column, the movement locus of the actual XY axis position displayed as an error 1000 times is superimposed on the movement locus of the ideal XY axis position. Further, a graph with the horizontal axis representing time and the vertical axis representing speed is displayed in the right column of the machine coordinate system column. Further, in the work coordinate system column, the machine coordinate system column, and the speed display column, the portions corresponding to the time corresponding to P350 of the slide bar are indicated by ●. That is, the parts indicated by ● correspond to the same time element.

  In FIG. 4, the speeds of the respective axes constituting the 5-axis horizontal machining center 1 are displayed in association with the movement locus of the actual tool machining point and the movement locus of the actual position of each axis. Therefore, it is possible to grasp the time behavior of the speed of each axis in a predetermined part of the movement locus of the actual machining point of the tool or the movement locus of the actual position of each axis. For example, if there is a rapid change in speed, there is a possibility that the actual movement trajectory of each axis position will cause an error with respect to the desired trajectory. That is, the cause of the error can be grasped more clearly.

  In FIG. 5, “XY” is designated as the display axis in the work coordinate system column on the display screen 800, “1000” is input in the “magnification” column in the work coordinate system column, and the display axis in the machine coordinate system column is “AB” is instructed, “1000” is input in the “magnification” field in the machine coordinate system field, “X” is instructed in the acceleration field, and the part indicated by “□” in the “slide bar” is instructed. “None” is specified in “Position gradation display”, “Acceleration” is specified in the “Speed acceleration display” field, “Graph display” is specified in the “Speed acceleration display type” field, and “Coordinate system display dimension” "2D" is specified. Further, it is assumed that no range is specified in the work coordinate system column and the machine coordinate system column. In this case, the width of the movable region in which the slide bar operates is in all ranges, that is, the base point is P0 and the end point is P1000.

  In this case, in the work coordinate system column, the movement trajectory of the actual tool machining point displayed as an error of 1000 times is superimposed on the movement trajectory of the ideal tool machining point in the work coordinate system column. It is displayed. Further, in the machine coordinate system column, the movement trajectory of the actual AB axis position displayed as an error of 1000 times is superimposed on the movement trajectory of the ideal AB axis position. Further, a graph with time on the horizontal axis and acceleration on the vertical axis is displayed in the right column of the machine coordinate system column. Further, in the work coordinate system field, the machine coordinate system field, and the acceleration display field, the part corresponding to the time corresponding to P350 of the slide bar is indicated by ●. That is, the parts indicated by ● correspond to the same time element.

  In FIG. 5, the acceleration of each axis constituting the 5-axis horizontal machining center 1 is displayed in association with the movement locus of the actual machining point of the tool and the movement locus of the actual position of each axis. Therefore, it is possible to grasp what time behavior the acceleration of each axis shows in a predetermined part of the movement locus of the actual machining point of the tool or the movement locus of the actual position of each axis. For example, if there is a sudden change in acceleration, there is a possibility that the actual movement locus of each axis position will cause an error with respect to the desired locus. That is, the cause of the error can be grasped more clearly.

  In FIG. 6, “XY” is designated as the display axis in the work coordinate system column on the display screen 800, “1000” is input in the “magnification” column in the work coordinate system column, and the display axis in the machine coordinate system column is “XY” is instructed, “1000” is entered in the “magnification” field in the machine coordinate system field, the part indicated by “□” is instructed in the “slide bar”, and “none” is instructed in the “position gradation display” Then, “none” is designated in the “speed acceleration display” field, and “two-dimensional” is designated in “coordinate system display dimension”. In the work coordinate system column, a range is designated by a rectangular frame. In this case, the width of the movable region in which the slide bar is operated has a base point P120 corresponding to one end point of the specified range, and an end point P400 corresponding to the other end point.

  In this case, in the work coordinate system column, the movement trajectory of the actual tool machining point displayed as an error of 1000 times is superimposed on the movement trajectory of the ideal tool machining point in the work coordinate system column. It is displayed. Further, in the machine coordinate system column, the movement locus of the actual XY axis position displayed as an error 1000 times is superimposed on the movement locus of the ideal XY axis position. Further, in this machine coordinate system column, the range from the base point P120 to the end point P400 designated by the range in the work coordinate system column is displayed by a bold line. Further, in the work coordinate system column and the machine coordinate system column, the part corresponding to the time corresponding to P350 of the slide bar is indicated by ●. That is, the parts indicated by ● correspond to the same time element.

  In this case, by indicating the range in the display of the work coordinate system column, it is possible to visually grasp the correspondence between the movement locus of the actual machining point of the tool and the movement locus of the actual position of each axis. In addition to the thick line, this display attribute may be changed in line color, line type, blinking line, and the like. Further, although the range is specified in the display of the work coordinate system column, the range may be specified in the display of the machine coordinate system column. In this case, the display of the work coordinate system column changes the display attribute according to the range of the designated machine coordinate system column.

  FIG. 7 shows an outline of an example of three-dimensional display. In the workpiece coordinate system column and the machine coordinate system column of FIG. 7, the three axes of the series are illustrated, and the movement locus of the machining point of the tool and the movement locus of the position of each axis are not shown. Moreover, the direction of the axis | shaft of the series of FIG. 7 is only an example, and can be changed suitably. In FIG. 7, “XYZ” is designated as the display axis in the work coordinate system field on the display screen 800, “1000” is input in the “magnification” field in the work coordinate system field, and the display in the machine coordinate system field is displayed. “XYZ” is specified for the axis, “1000” is input in the “magnification” field in the machine coordinate system field, the part indicated by “□” is specified in the “slide bar”, and “none” is displayed in the “position gradation display”. Is displayed, “None” is specified in the “Speed / acceleration display” field, and “3D” is specified in “Coordinate system display dimension”.

  Although not shown, when “Yes” is indicated in the position gradation display, the display color of the work coordinate system column and the machine coordinate system column is such that the display color becomes the same type as the base point P0 progresses to the end point P1000. Are displayed with gradual changes. In this way, by displaying the gradation, the part corresponding to the time element is entirely covered in the movement locus of the actual tool machining point displayed on the display screen 800 and the movement locus of the actual position of each axis. Can be grasped visually.

  In addition, when the attribute display is instructed in the speed acceleration display type, the display is displayed in the display color corresponding to the speed and the display color corresponding to the acceleration in each of the work coordinate system column and the machine coordinate system column. Is done. Thereby, it is possible to grasp what time behavior the speed or acceleration of each axis shows in a predetermined part of the movement locus of the actual machining point of the tool or the movement locus of the actual position of each axis. For example, if there is a sudden change in speed or acceleration, the actual movement trajectory of each axis position may cause an error with respect to the desired trajectory. That is, the cause of the error can be grasped more clearly.

  In addition, an axis inversion position calculation unit (axis inversion position calculation means) for calculating the inversion position of each axis can be provided, and a mark indicating the axis inversion position can be displayed in the work coordinate system column and the machine coordinate system column. The reversal position of each axis means the position where each axis is reversed from the movement state in the plus direction to the movement in the minus direction, or the position where the movement state in the minus direction is reversed to the movement in the plus direction. Each axis inversion position is calculated based on ideal position data of each axis based on the NC data 100, that is, position data of each axis of the machine coordinate system calculated by the inverse transformation processing unit 420. In this way, by displaying the axis reversal position so as to overlap the movement locus of the actual machining point of the tool, it is possible to visually grasp the influence of the axis reversal position on the machining point of the tool. That is, it is possible to visually grasp immediately whether the cause of the error is backlash due to axis reversal. In addition, by indicating a different mark for each axis, it is possible to grasp which axis is the axis inversion.

1: 5-axis horizontal machining center 2: bed, 21: base, 22: Z-axis guide 23: Z-axis drive motor, 24: X-axis drive motor 3: column, 31: Y-axis drive motor 4: spindle head , 5: main shaft, 6: saddle, 61: support unit 7: tilt table, 8: rotating pallet, 9: work table 100: NC data, 200: NC device, 210: NC control unit 220: drive unit, 230: position Detector 300: Machine information 400: Coordinate conversion processing unit 410: Forward conversion processing unit 420: Inverse conversion processing unit 500: Error calculation unit 510: Tool machining point error calculation unit 520: Each axis error calculation unit 600: Speed acceleration calculation unit 700: Display processing unit 710: Tool machining point movement locus display unit 720: Each axis position movement locus display unit 730: Speed acceleration display unit 740: Related display unit 75 : Display screen instruction unit 800: display screen

Claims (12)

An error display device in a machine tool comprising a rectilinear axis and a rotary axis, and moving the tool relative to the workpiece by operating the linear axis and the rotary axis to process the workpiece with the tool;
A display screen;
NC data acquisition means for acquiring NC data including a machining point in the workpiece coordinate system and a tool axis direction with respect to the machining point;
A reference machining point movement locus display means for displaying a reference machining point movement locus of the tool in the workpiece coordinate system on the display screen based on the NC data;
Axis position measurement data acquisition means for acquiring axis position measurement data of a machine coordinate system related to the linear axis and the rotary axis when the linear axis and the rotary axis of the machine tool are operated based on the NC data;
Obtain machine information including coordinates of the workpiece origin in the machine coordinate system, rotation center coordinates of the rotation axis of the machine coordinate system, and tip position coordinates of the tool in the machine coordinate system in the reference state of the machine tool Machine information acquisition means for
Based on the axis position measurement data of the machine coordinate system of the linear axis and the rotation axis acquired by the axis position measurement data acquisition means and the machine information acquired by the machine information acquisition means, coordinate conversion, A measurement machining point movement locus calculating means for calculating a measurement machining point movement locus of the tool in the workpiece coordinate system;
On the display screen on which the reference machining point movement locus is displayed by the reference machining point movement locus display means, the measured machining point movement locus calculated by the measured machining point movement locus calculation means is used as the reference machining point movement locus. A measurement machining point movement trajectory display means for displaying an error of the measurement machining point movement locus with respect to the reference machining point movement locus,
An error display device for a machine tool, comprising: In claim 1,
The machine tool error display device further includes:
Coordinate conversion is performed based on the NC data acquired by the NC data acquisition unit and the machine information acquired by the machine information acquisition unit, and the linear axis and the rotation axis of the machine tool in the machine coordinate system A reference axis position data calculating means for calculating reference axis position data of the machine coordinate system;
Based on the reference axis position data, a reference axis position movement locus display means for displaying a reference axis position movement locus for the straight axis and the rotation axis in the machine coordinate system on the display screen;
Measurement axis position movement obtained based on the axis position measurement data acquired by the axis position measurement data acquisition means on the display screen on which the reference axis position movement locus is displayed by the reference axis position movement locus display means Measurement axis position movement trajectory display means for displaying an error of the measurement axis position movement trajectory with respect to the reference axis position movement trajectory by displaying a trajectory in an overlapping manner;
An error display device for a machine tool, comprising: In claim 2,
The error display device of the machine tool further includes related display means for displaying on the display screen a portion corresponding to a time element in the measurement machining point movement locus and the measurement axis position movement locus. Error display device for machine tools. In claim 3,
The related display means, when selecting a predetermined range of the measurement machining point movement locus and the measurement axis position movement locus on the display screen, the other of the measurement machining point movement locus and the measurement axis position movement locus. An error display device for a machine tool, wherein a display attribute of a range corresponding to a time element in the predetermined range is changed and displayed. In claim 3,
The error display device of the machine tool has a movable region in which a slide bar can move a time element from a base point to an end point included in a predetermined range of the measurement machining point movement locus or the measurement axis position movement locus displayed on the display screen. And a slide display means capable of moving the slide bar in the movable region,
The related display means displays, on the display screen, a portion corresponding to the position of the slide bar in the movable region in the measurement machining point movement locus and the measurement axis position movement locus. Error display device. In claim 3,
In the display screen, the related display means uses a predetermined position of a corresponding time element in the measurement machining point movement locus and the measurement axis position movement locus as a base point on the display screen. An error display device for a machine tool, wherein the display color is gradually changed so as to become a display color and gradation is displayed. In any one of Claims 3-6,
The error display device of the machine tool is
Speed acceleration calculation means for calculating speed or acceleration based on the axis position measurement data acquired by the axis position measurement data acquisition means;
Speed acceleration display means for displaying the speed or acceleration calculated by the speed acceleration calculation means on the display screen;
Further comprising
The related display means includes a portion corresponding to a time element in the speed or acceleration displayed on the display screen by the speed acceleration display means and the measurement machining point movement locus and the measurement axis position movement locus. An error display device for a machine tool, characterized in that the display is related to a display screen. In any one of Claims 3-6,
The error display device of the machine tool further includes speed acceleration calculation means for calculating a speed or acceleration based on the axis position measurement data acquired by the axis position measurement data acquisition means,
The related display means displays at least one of the measurement machining point movement locus and the measurement axis position movement locus displayed on the display screen in accordance with the velocity or the acceleration calculated by the velocity acceleration calculation means. An error display device for a machine tool, wherein an attribute is changed and displayed. In any one of Claims 3-6,
The machine tool error display device is configured to calculate an axis reversal position calculation unit that calculates an axis reversal position in at least one of the rectilinear axis and the rotation axis based on the reference axis position data calculated by the reference axis position data calculation unit. Further comprising
An error display device for a machine tool, wherein the related display means displays the axis reversal position on a display screen on which the measured machining point movement locus is displayed. In any one of Claims 1-9,
The reference machining point movement trajectory display means and the measured machining point movement trajectory display means display the reference machining point movement trajectory and the measured machining point movement trajectory on two or three selected axes on the display screen in two dimensions. An error display device for a machine tool characterized by display or three-dimensional display. In any one of Claims 2-9,
The reference axis position movement trajectory display means and the measurement axis position movement trajectory display means display the reference axis position movement trajectory and the measurement axis position movement trajectory related to two or three selected axes on the display screen in two dimensions. An error display device for a machine tool characterized by display or three-dimensional display. An error display device in a machine tool comprising a rectilinear axis and a rotary axis, and moving the tool relative to the workpiece by operating the linear axis and the rotary axis to process the workpiece with the tool;
A display screen;
NC data acquisition means for acquiring NC data including a machining point in the workpiece coordinate system and a tool axis direction with respect to the machining point;
Obtain machine information including coordinates of the workpiece origin in the machine coordinate system, rotation center coordinates of the rotation axis of the machine coordinate system, and tip position coordinates of the tool in the machine coordinate system in the reference state of the machine tool Machine information acquisition means for
Coordinate conversion is performed based on the NC data acquired by the NC data acquisition unit and the machine information acquired by the machine information acquisition unit, and the linear axis and the rotation axis of the machine tool in the machine coordinate system A reference axis position data calculating means for calculating reference axis position data of the machine coordinate system;
Based on the reference axis position data, a reference axis position movement locus display means for displaying a reference axis position movement locus for the straight axis and the rotation axis in the machine coordinate system on the display screen;
Axis position measurement data acquisition means for acquiring axis position measurement data of a machine coordinate system related to the linear axis and the rotary axis when the linear axis and the rotary axis of the machine tool are operated based on the NC data;
Measurement axis position movement obtained based on the axis position measurement data acquired by the axis position measurement data acquisition means on the display screen on which the reference axis position movement locus is displayed by the reference axis position movement locus display means Measurement axis position movement trajectory display means for displaying an error of the measurement axis position movement trajectory with respect to the reference axis position movement trajectory by displaying a trajectory in an overlapping manner;
An error display device for a machine tool, comprising:

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