JP2013196130A - Processing work support method and processing work support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a processing work support method capable of reducing time and labor consumed in preparation of processing.SOLUTION: The processing work support method includes: an interference information acquisition step (S101) of acquiring interference information indicating physical interference between a plurality of parts in a mult-axis processing machine in which at least one of the plurality of parts including a tool for performing processing work is physically moved; and a work space calculation step (S102) of calculating a processing possible work space where the tool can perform the processing work excluding the space where the tool cannot perform the processing work due to interference, by using the interference information.

Description

  The present invention relates to a machining operation support method and a machining operation support apparatus that support an operation of machining a workpiece using a multi-axis machining apparatus.

  Conventionally, there is a three-axis machine as a machine for processing a workpiece that is a workpiece. The triaxial machine has three axes for translation. Specifically, these three axes correspond to the vertical direction, the horizontal direction, and the depth direction.

  FIG. 34 is a diagram illustrating an example of a triaxial processing machine according to the related art. A triaxial machine 910 shown in FIG. 34 includes a tool 911, a table 912, and the like. On the table 912, a workpiece to be processed is placed. The tool 911 performs a processing process on the workpiece placed on the table 912.

  The tool 911 moves relative to the workpiece placed on the table 912 in the X-axis direction, the Y-axis direction, and the Z-axis direction. Thereby, the triaxial processing machine 910 can perform processing on various positions of the workpiece.

  Furthermore, in recent years, a case where a 5-axis machine is used instead of a 3-axis machine is increasing. Typically, a 5-axis machine has three axes for translation and two axes for rotation.

  FIG. 35 is a diagram illustrating an example of a 5-axis machining apparatus according to the related art. A five-axis machine 920 shown in FIG. 35 includes a tool 921, a table 922, and the like. The tool 921 moves relative to the workpiece placed on the table 922 in the X-axis direction, the Y-axis direction, and the Z-axis direction.

  Further, the table 922 rotates around the A axis and rotates around the C axis. That is, the tool 921 rotates relative to the workpiece placed on the table 922 around the A axis and rotates around the C axis. As a result, the tool 921 can process the workpiece from various angles without the workpiece being placed on the table 922.

  FIG. 36 is a diagram illustrating an example of a plurality of types of 5-axis processing machines according to the related art. As shown in FIG. 36, there are various types of 5-axis machines. Moreover, the 5-axis processing machine described in Patent Document 1 is also an example of a 5-axis processing machine.

Japanese Unexamined Patent Publication No. 7-088737

  However, the 5-axis machine operates in a complicated manner by translation and rotation. In some cases, one part of the plurality of parts included in the 5-axis machine may hinder the movement of the other part. Such a phenomenon is also called interference.

  For this reason, it is not easy to determine in what procedure the workpiece is to be machined using a 5-axis machine. On the other hand, it is necessary to determine an appropriate procedure for machining a workpiece according to each of various five-axis machines. Therefore, a computer-aided manufacturing (CAM) system that determines an appropriate procedure according to the 5-axis machine is used.

  FIG. 37 is a diagram showing a usage example of the CAM system for determining an appropriate procedure according to the 5-axis machining apparatus according to the conventional technology. First, the shape of a product obtained by processing a workpiece is created by computer-aided design (CAD) (S901).

  Next, a processing step is designed (S902). Specifically, a processing method, a processing order, a jig, a tool, a processing condition, and the like are determined. At this time, a temporary arrangement for the workpiece is determined. Next, a machining path is generated (S903). The machining path is a route of machining processing performed on the workpiece, and corresponds to a specific movement of the 5-axis machine.

  A CAM system is used for process design (S902) and machining path generation (S903). Then, the final arrangement of the workpiece is determined through these steps (S904).

  On the other hand, these processes are often carried out by trial and error by simulation or the like corresponding to a specific workpiece. As described above, there are various types of 5-axis machines. As a result of trial and error, it may be found that a certain 5-axis machine cannot perform machining. In this case, trial and error is necessary again with another 5-axis machine. This consumes a great deal of time and effort.

  Accordingly, an object of the present invention is to provide a machining work support method and a machining work support apparatus that can reduce the time and labor required for machining preparation.

  In order to solve the above-described problem, a machining operation support method according to the present invention includes a physical operation between a plurality of parts in a multi-axis processing machine in which at least one of a plurality of parts including a tool for performing a machining operation physically moves. Interference information acquisition step for acquiring interference information indicating interference, and machining that allows the tool to perform machining operations, except for a space in which the tool cannot perform machining operations due to the interference, using the interference information. A work space calculating step for calculating a possible work space.

  Thereby, a workable work space corresponding to the multi-axis machine is obtained. With the obtained workable work space, it is possible to determine whether a work can be performed on various workpieces. Moreover, it becomes possible to determine the appropriate arrangement | positioning of a workpiece with the obtained workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  Further, in the work space calculating step, the workable work space may be calculated by a table coordinate system that represents a relative position from a table for placing a workpiece to be processed.

  Thereby, a workable work space is obtained at a relative position from the table. Therefore, the arrangement of the workpiece can be appropriately determined based on the relative position from the table. Thus, the time and labor spent on preparation for processing is reduced.

  In the work space calculation step, the workable work space may be calculated using the table coordinate system representing a relative position from the physically moving table.

  Thereby, even when the table moves, a workable work space is obtained at a relative position from the table. Therefore, the arrangement of the workpiece can be appropriately determined.

  Further, in the interference information acquisition step, an interference position where the interference occurs is acquired as the interference information in a tool coordinate system representing a relative position from the tool, and in the work space calculation step, the tool and the tool are acquired. The interference position is converted from the tool coordinate system to the table coordinate system using a shape creation function representing relative motion between the object and the table coordinate system using the interference position in the table coordinate system, The workable work space may be calculated.

  Thereby, regardless of the type (form) of the multi-axis processing machine, an interference position is obtained at a relative position from the table, and an appropriate workable work space is obtained.

  In the interference information acquisition step, an interference position where the interference occurs may be acquired as the interference information, and in the work space calculation step, the workable work space may be calculated using the interference position.

  Thereby, an appropriate workable work space is obtained based on the interference position. Therefore, it is possible to smoothly determine whether or not the machining operation is possible and to determine the arrangement of the workpiece.

  In the interference information acquisition step, the position of the end of the attached part which is a part attached to the tool and whose relative position from the tool is constant may be obtained as the interference position.

  Thereby, the workable work space is calculated based on the position of the end of the attached part, which is a part whose relative position from the tool is constant. The position of the end of the attachment site is assumed to correspond to the interference boundary. Further, the position of the end of the attached part is definitely determined by the structure of the multi-axis machine. Accordingly, an appropriate workable work space can be obtained.

  In the work space calculation step, the workable work space is determined using the interference position and a work position at which the tool contacts the work when the tool performs a work on the work. It may be calculated.

  Thereby, the machining position where the tool performs the machining work is used for calculation of the workable work space. In addition to using the interference position, the interference boundary can be more appropriately obtained by using such a machining position. Accordingly, an appropriate workable work space can be obtained.

  In the work space calculating step, (i) being perpendicular to a straight line passing through the interference position and the machining position, being parallel to a surface of a table on which the workpiece is placed, and the machining Using a plane determined by an offset position that is a position on a straight line that satisfies the passing position and is different from the machining position, (ii) the interference position, and (iii) the machining position, A workable work space may be calculated.

  Thereby, a plane assumed to correspond to the boundary of interference is obtained. Accordingly, an appropriate workable work space can be obtained.

  In the work space calculation step, the workable work space may be calculated at each of a plurality of rotation angles of the rotation shaft of the multi-axis machine.

  Thereby, a workable work space corresponding to the rotation angle is obtained. Therefore, according to the rotation angle, it is possible to smoothly determine whether or not the machining operation is possible and to determine the arrangement of the workpiece. In addition, an appropriate rotation angle for machining the workpiece can be determined.

  The processing work support method may further include an image data generation step of generating image data indicating the workable work space calculated in the work space calculation step.

  As a result, image data for visually confirming the workable work space is generated. Therefore, it is possible to smoothly determine whether or not the machining operation is possible and to determine the arrangement of the workpiece.

  Further, in the work space calculating step, a plurality of workable work spaces are calculated by calculating the workable work space at each of a plurality of rotation angles of a rotation axis of the multi-axis machine, and the image data In the generation step, the image data indicating the plurality of workable workspaces calculated in the workspace calculation step by color may be generated.

  Thereby, image data for collectively determining whether or not machining work is possible, determining the arrangement of the workpiece, determining the rotation angle, and the like is generated. Therefore, the time and labor spent preparing for processing is reduced.

  Further, the machining operation support method can further perform the machining operation of the workpiece by the multi-axis machine according to the machining work space calculated in the workspace calculation step and the form of the workpiece. A step of determining whether or not the machining operation is possible may be included.

  Accordingly, whether or not the machining work is possible is appropriately determined based on the workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  The machining operation support method further includes a workpiece arrangement that determines the arrangement of the workpiece according to the form of the workable work space calculated in the workspace calculation step and the workpiece on which the machining operation is performed. A determination step may be included.

  Thereby, the arrangement of the workpiece is appropriately determined based on the workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  Further, the machining work support device according to the present invention provides interference information indicating physical interference between the plurality of parts in a multi-axis machining apparatus in which at least one of the plurality of parts including a tool for performing a machining work physically moves. And an interference information acquisition unit that acquires the machining information, and calculates a workable work space in which the tool can perform a machining operation, except for a space in which the tool cannot perform a machining operation due to the interference. It may be a machining work support device including a working space calculation unit.

  Thereby, the machining work support method according to the present invention is implemented as a machining work support apparatus.

  Further, the multi-axis machine tool according to the present invention may be a multi-axis machine machine provided with the machining operation support device.

  Thereby, the function of the machining work support device is mounted on the multi-axis machine.

  The program according to the present invention may be a program for causing a computer to execute the steps included in the machining work support method.

  Thereby, the machining work support method according to the present invention is implemented as a program.

  The computer according to the present invention may be a computer including a processor that executes the steps included in the processing work support method.

  Thereby, the processing work support method according to the present invention is implemented as a computer.

  According to the present invention, a suitable workable work space is obtained, and the time and labor required for preparation for machining are reduced.

FIG. 1 is an external view showing an example of a multi-axis machining apparatus according to an embodiment. FIG. 2 is an external view showing an example of a processing work support apparatus according to the embodiment. FIG. 3 is a block diagram illustrating a configuration of the machining work support device according to the embodiment. FIG. 4 is a flowchart showing an operation procedure of the machining work support apparatus according to the embodiment. FIG. 5 is a conceptual diagram showing an example of a method for calculating a workable work space in a state where the B-axis is rotated 120 degrees according to the embodiment. FIG. 6 is a conceptual diagram illustrating an example of a method for calculating a workable work space in a state where the B-axis is rotated by 70 degrees according to the embodiment. FIG. 7 is a flowchart illustrating an example of a procedure by which the machining work support device according to the embodiment calculates a workable work space. FIG. 8 is a diagram illustrating a table and the like according to the embodiment. FIG. 9 is a diagram illustrating a state in which the B-axis according to the embodiment is rotated 120 degrees. FIG. 10 is a diagram illustrating positions M, Q, and R in a state where the B-axis according to the embodiment is rotated 120 degrees. FIG. 11 is a diagram illustrating positions P, Q, and R in a state where the B-axis according to the embodiment is rotated 120 degrees. FIG. 12 is a diagram illustrating a first processable space in a state where the B-axis according to the embodiment is rotated 120 degrees. FIG. 13 is a diagram illustrating a second space that can be processed in a state in which the B-axis according to the embodiment is rotated 120 degrees. FIG. 14 is a diagram showing a final workable work space in a state where the B-axis according to the embodiment is rotated 120 degrees. FIG. 15 is a diagram illustrating positions S, Q, and R in a state where the B-axis according to the embodiment is rotated by 70 degrees. FIG. 16 is a diagram illustrating positions P, Q, and R in a state where the B-axis according to the embodiment is rotated by 70 degrees. FIG. 17 is a diagram showing a first processable space in a state where the B-axis according to the embodiment is rotated by 70 degrees. FIG. 18 is a diagram illustrating a second space that can be processed in a state in which the B-axis according to the embodiment is rotated by 70 degrees. FIG. 19 is a diagram illustrating a final workable work space in a state where the B-axis according to the embodiment is rotated by 70 degrees. FIG. 20 is a flowchart illustrating an example of a procedure in which the processing work support device according to the embodiment generates image data. FIG. 21 is a diagram illustrating an example of a plurality of workable work spaces according to the embodiment. FIG. 22 is a diagram illustrating an example of an image showing a plurality of workable work spaces according to the embodiment. FIG. 23 is a diagram illustrating a workable work space corresponding to the rotation angle according to the embodiment. FIG. 24 is a diagram illustrating a plurality of workable work spaces corresponding to a plurality of multi-axis machines according to the embodiment. FIG. 25 is an external view of a first workpiece according to the embodiment. FIG. 26 is a diagram illustrating a form of the first workpiece according to the embodiment. FIG. 27 is an example of a processable arrangement of the first workpiece according to the embodiment. FIG. 28 is an example of an unworkable arrangement of the first workpiece according to the embodiment. FIG. 29 is an external view of a second workpiece according to the embodiment. FIG. 30 is a diagram illustrating a form of the second workpiece according to the embodiment. FIG. 31 is a diagram illustrating a first example in the case where the machining work of the second workpiece according to the embodiment is impossible. FIG. 32 is a diagram illustrating a second example when the machining work of the second workpiece according to the embodiment is impossible. FIG. 33 is a diagram illustrating an example when the second workpiece according to the embodiment can be processed. FIG. 34 is a diagram illustrating an example of a triaxial processing machine according to the related art. FIG. 35 is a diagram illustrating an example of a 5-axis machining apparatus according to the related art. FIG. 36 is a diagram showing a plurality of types of five-axis processing machines according to the prior art. FIG. 37 is a diagram showing a usage example of the CAM system for determining an appropriate procedure according to the 5-axis machining apparatus according to the conventional technology.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiment described below shows a preferred specific example of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are described as optional constituent elements that constitute a more preferable embodiment.

  FIG. 1 is an external view showing an example of a multi-axis machining apparatus according to the present embodiment. The multi-axis machining apparatus 100 shown in FIG. 1 includes a tool 111, a table 112, and the like. A workpiece to be processed is placed on the table 112. The tool 111 performs processing on the workpiece placed on the table 112.

  The multi-axis machine 100 is a 5-axis machine having three axes for translation (X-axis, Y-axis, and Z-axis) and two axes for rotation (B-axis and C-axis). The tool 111 performs translational movement in the X-axis, Y-axis, and Z-axis directions. The table 112 performs a rotational motion around the B axis and the C axis. Therefore, the X axis, the Y axis, and the Z axis may be called tool spindles, respectively. Further, the B axis and the C axis may be called table spindles.

  By the translational movement, the tool 111 moves relative to the workpiece placed on the table 112 in the X-axis direction, the Y-axis direction, and the Z-axis direction. Further, the tool 111 is rotated about the B axis and rotated about the C axis relative to the workpiece placed on the table 112 by the rotational movement. The movable range corresponding to each axis of the multi-axis machine 100 may be determined in advance.

  In the following, the rotation of the tool 111, the table 112, and the like about the B axis may be expressed as the rotation of the B axis. Similarly, the rotation of the tool 111 and the table 112 around the C axis may be expressed as the rotation of the C axis.

  Further, when the table 112 in FIG. 1 is located at the lowest position and the surface of the table 112 is perpendicular to the Z axis, the rotation angle of the B axis is expressed as 0 degree. Then, from the front to the back of the multi-axis machining apparatus 100 in FIG. 1, the counterclockwise direction around the B axis is expressed as positive, and the clockwise side around the B axis is expressed as negative.

  Further, the multi-axis machine 100 may be called a multi-axis machine or a multi-axis multi-axis machine. The multi-axis processing machine 100 may be a combined processing machine having a plurality of processing functions such as cutting and grinding, or cutting and laser processing.

  FIG. 2 is an external view showing an example of the machining work support apparatus according to the present embodiment. The machining work support device 200 shown in FIG. 2 supports the work of machining a workpiece using the multi-axis machining machine 100 shown in FIG. The processing work support apparatus 200 may be a computer including an input / output interface, a memory, a processor, and the like.

  FIG. 3 is a block diagram showing a configuration of the machining work support apparatus 200 shown in FIG. The machining work support apparatus 200 shown in FIG. 3 includes an interference information acquisition unit 201 and a work space calculation unit 202. The machining work support apparatus 200 may include an image data generation unit 203, a machining work availability determination unit 204, and a workpiece arrangement determination unit 205.

  These blocks included in the processing work support apparatus 200 are realized by an electronic circuit such as an integrated circuit, for example. Alternatively, these blocks may be realized by a program. In this case, the functions of these blocks are realized by the computer (more specifically, the processor of the computer) executing the program.

  Further, the multi-axis machining apparatus 100 shown in FIG. 1 may include a machining work support device 200. Thereby, the function of the machining work support apparatus 200 is mounted on the multi-axis machining apparatus 100.

  FIG. 4 is a flowchart showing an operation procedure of the machining work support apparatus 200 shown in FIG. First, the interference information acquisition unit 201 acquires interference information (S101). The interference information indicates physical interference between a plurality of parts in the multi-axis machining apparatus 100. The plurality of parts include a tool 111 that performs a machining operation. In addition, at least one of the plurality of parts is a part that physically moves.

  Next, the work space calculation unit 202 calculates a workable work space using the interference information (S102). At that time, the work space calculation unit 202 calculates a workable work space, excluding the workless work space. The unworkable work space is a space in which the tool 111 cannot perform a work work due to interference. The workable work space is a space in which the tool 111 can perform a work work.

  Thereby, a workable work space corresponding to the multi-axis machine 100 is obtained. With the obtained workable work space, it is possible to determine whether a work can be performed on various workpieces. Moreover, it becomes possible to determine the appropriate arrangement | positioning of a workpiece with the obtained workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  Furthermore, the image data generation unit 203 may generate image data indicating the calculated workable workspace (S103). As a result, image data for visually confirming the workable work space is generated. Therefore, it is possible to smoothly determine whether or not the machining operation is possible and to determine the arrangement of the workpiece. Note that the image data generation unit 203 may output the generated image data as an image, or may transmit the image data to an external image output device.

  Further, the machining work availability determination unit 204 determines whether or not the multi-axis machine 100 is capable of machining a work according to the calculated workable work space and the form of the work. (S104). Accordingly, whether or not the machining work is possible is appropriately determined based on the workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  Further, the workpiece placement determining unit 205 may further determine the placement of the workpiece according to the calculated workable work space and the form of the workpiece on which the machining operation is performed (S105). Thereby, the arrangement of the workpiece is appropriately determined based on the workable work space. Therefore, the time and labor spent preparing for processing is reduced.

  Note that the image data generation unit 203, the machining work availability determination unit 204, and the workpiece placement determination unit 205 are arbitrary components, and all or part of them may be omitted. Further, the operations (S103, S104, and S105) corresponding to the image data generation unit 203, the machining work availability determination unit 204, and the workpiece placement determination unit 205 may be omitted.

  As described above, the work space calculation unit 202 uses the interference information to calculate a workable work space excluding the workless work space. In the case of the multi-axis machine 100 of FIG. 1, the calculation method of the workable work space differs depending on whether or not the rotation angle of the B axis is from −90 degrees to 90 degrees. 5 and 6 illustrate the concept of the calculation method for the case where the rotation angle of the B axis is not −90 degrees to 90 degrees, and the calculation method for the case where the rotation angle of the B axis is −90 degrees to 90 degrees. Demonstrate the concept.

  FIG. 5 is a conceptual diagram showing an example of a method for calculating a workable work space in a state where the B-axis shown in FIG. 1 is rotated by 120 degrees. In the upper part of FIG. 5, a tool 111, an attached part 113, a table 112, and a space 300 are shown. The table 112 is rotated 120 degrees around the B axis.

  The attachment portion 113 is a portion attached to the tool 111 and moves accompanying the tool 111. Therefore, the attached portion 113 is a portion whose relative position from the tool 111 is constant. The attached portion 113 may include the tool 111 or the tool 111 itself.

  The space 300 is a space for placing a workpiece, and is a space that is predetermined as a processing space. Typically, the space 300 is defined by the specifications of the multi-axis machine 100. The space 300 may be calculated from a movable range corresponding to each axis. The interference information acquisition unit 201 or the work space calculation unit 202 can geometrically calculate the space 300 from the movable range corresponding to each axis.

  In this state, the interference information acquisition unit 201 obtains the position P shown in the middle part of FIG. The position P is an interference position where the attached site 113 and the table 112 interfere with each other. It is assumed that the attachment site 113 and the table 112 interfere with each other at the end position of the attachment site 113. The interference information acquisition unit 201 may obtain the position of the end of the attached site 113 as the position P. Further, the interference information acquisition unit 201 obtains the position Q of the tip of the tool 111. The tip of the tool 111 is a position (machining position) at which the tool 111 contacts the workpiece when performing the machining operation.

  The work space calculation unit 202 uses a straight line passing through the position P and the position Q and a straight line passing through the position Q and along the main axis of the tool 111 (a straight line passing through the position Q and parallel to the Z axis). The workable work space 301 shown in FIG. These two straight lines are the boundaries of the workable work space 301 and the non-workable work space 302. The unworkable work space 302 is a space in which the tool 111 cannot perform a work work due to interference between the table 112 and the attached portion 113.

  The work space calculation unit 202 uses the position P and the position Q as interference information, and calculates a workable work space 301 in which the tool 111 can perform a work work, except for the work space 302 that cannot be processed.

  FIG. 6 is a conceptual diagram illustrating an example of a method for calculating a workable work space in a state where the B-axis illustrated in FIG. 1 is rotated by 70 degrees. 6 shows the tool 111, the attached portion 113, the table 112, and the space 300, as in FIG. In FIG. 6, the table 112 is rotated 70 degrees around the B axis. And the interference information acquisition part 201 calculates | requires the position P similarly to the example of FIG.

  The work space calculation unit 202 calculates the workable work space 303 shown in FIG. 6 using a straight line passing through the position P and the position Q and a straight line passing through the position Q and parallel to the surface of the table 112. These two straight lines are the boundaries between the workable work space 303 and the non-workable work space 304.

  Both the workable work space 301 in FIG. 5 and the workable work space 303 in FIG. 6 are expressed in a tool coordinate system based on the position of the tool 111. In order to determine the arrangement of the workpieces, these workable workspaces are preferably expressed in a table coordinate system based on the position of the table 112. Therefore, the work space calculation unit 202 uses a shape creation function. The shape creation function is a function that represents the relative motion between the tool and the workpiece. Specifically, the shape creation function is expressed by Equation 1.

Here, r _T is a position vector in the tool coordinate system and indicates a position in the tool coordinate system. The tool coordinate system is a coordinate system corresponding to coordinates viewed from the tool. That is, the tool coordinate system is a coordinate system representing a relative position from the tool. Specifically, r _T is expressed by Equation 2. X _T , y _T, and z _{T in} Equation 2 are an x coordinate value, a y coordinate value, and a z coordinate value in the tool coordinate system, respectively.

R _W is a position vector in the workpiece coordinate system, and indicates a position in the workpiece coordinate system. The workpiece coordinate system is a coordinate system corresponding to coordinates viewed from the workpiece. That is, the workpiece coordinate system is a coordinate system that represents a relative position from the workpiece. Specifically, r _W is expressed by Equation 3. X _W , y _W, and z _{W in} Equation 3 are an x-coordinate value, a y-coordinate value, and a z-coordinate value in the workpiece coordinate system, respectively.

A ⁱ (i = 1,..., N) is a simultaneous conversion matrix corresponding to each relative motion. The position vector in the tool coordinate system can be converted into the position vector in the workpiece coordinate system by the shape creation function. That is, the coordinates seen from the tool can be converted into coordinates seen from the workpiece by the shape creation function. For example, the shape creation function related to the multi-axis machining apparatus 100 shown in FIG.

R _C is a transformation matrix corresponding to rotation about the C axis. R _B is a transformation matrix corresponding to rotation about the B axis. T _Y is a transformation matrix corresponding to translation in the direction of the Y axis. T _X is a transformation matrix corresponding to translation in the direction of the X axis. T _Z is a transformation matrix corresponding to translation in the Z-axis direction. The coordinates viewed from the tool are converted into the coordinates viewed from the workpiece by the conversion matrix corresponding to these relative motions. Note that transformation matrices such as R _C and T _Y are also called coordinate codes. For example, the coordinate code corresponding to Equation 4 may be expressed as CBYXZ.

  The relative position from the workpiece to the table 112 on which the workpiece is placed is constant. Therefore, the workpiece coordinate system can be regarded as equivalent to a table coordinate system representing a relative position from the table 112. Therefore, the position vector in the workpiece coordinate system can be converted into the position vector in the table coordinate system by the shape creation function.

In the multi-axis machining apparatus 100 shown in FIG. 1, the attachment portion 113 of the tool 111 and the table 112 physically interfere with each other by rotation about the B axis. Therefore, in order to obtain the position of interference in the table coordinate system, a transformation matrix (R _B ) corresponding to rotation about the B axis is used. This transformation matrix (R _B ) is expressed by Equation 5.

Here, t _Bx is an offset value corresponding to the x coordinate value of the B axis that is the center of rotation. T _Bz is an offset value corresponding to the z-coordinate value of the B axis that is the center of rotation. Θ is an angle of rotation (rotation angle) about the B axis. Using this transformation matrix (R _B ), the shape creation function is expressed by Equation 6. And the position in a tool coordinate system is converted into the position of a table coordinate system by Formula 6. The machining work support apparatus 200 can calculate a machining work space in the table coordinate system using Equation 6.

  FIG. 7 is a flowchart illustrating an example of a procedure by which the machining work support apparatus 200 illustrated in FIG. 3 calculates the machining work space 301. First, the interference information acquisition unit 201 simulates a state in which the B axis is rotated 120 degrees (S201).

  FIG. 8 is a diagram showing the table 112 and the like shown in FIG. In FIG. 8, a tool 111, a table 112, an attached portion 113, and a space 300 are shown in the tool coordinate system. The table 112 in FIG. 8 is not rotating. The interference information acquisition unit 201 simulates a state in which the B axis is rotated 120 degrees from this state (201 in FIG. 7).

  FIG. 9 is a diagram illustrating a state where the B-axis illustrated in FIG. 1 is rotated 120 degrees. The interference information acquisition unit 201 acquires the coordinate values of the four positions M, P, Q, and R in this state (S202 in FIG. 7).

  The position P is an interference position where interference occurs. The position Q is the position of the tip of the tool 111. The position M is a position on a straight line along the main axis of the tool 111 (a straight line passing through the position Q and parallel to the Z axis), and is a position different from the position Q. The position R is an offset position.

  Specifically, the position R is a position on a straight line that satisfies the three conditions of being perpendicular to the straight line passing through the position P and the position Q, being parallel to the surface of the table 112, and passing through the position Q. In this case, the position is different from the position Q. There may be a distance between the position Q and the position R that corresponds to the radius of the attached site 113. The position R is a position used for obtaining a plane described later. If it is possible to obtain an equivalent plane, the position R may be determined under different conditions.

Further, the interference information acquisition unit 201 acquires the coordinate value of the B axis that is the center of rotation in order to obtain t _Bx and t _Bz of Expression 6. Then, the work space calculation unit 202 converts the positions M, P, Q, and R from the tool coordinate system to the table coordinate system by using the shape creation function expressed by Equation 6, so that the position M, P, Q, and R are calculated (S203 in FIG. 7).

  Then, the work space calculation unit 202 calculates a plane passing through the positions M, Q, and R and a plane passing through the positions P, Q, and R (S204 in FIG. 7). Then, the work space calculation unit 202 cuts a workable space from the space 300 using the calculated plane (S205 in FIG. 7). 10 and 11 show these operations.

  FIG. 10 is a diagram showing, in a table coordinate system, positions M, Q, and R in a state where the B axis shown in FIG. 1 is rotated by 120 degrees. The work space calculation unit 202 calculates a plane passing through the positions M, Q, and R in the table coordinate system. Then, the work space calculation unit 202 divides the space 300 by a plane passing through the positions M, Q, and R.

  FIG. 11 is a diagram showing, in the table coordinate system, positions P, Q, and R in a state where the B axis shown in FIG. 1 is rotated by 120 degrees. The work space calculation unit 202 calculates a plane passing through the positions P, Q, and R in the table coordinate system. Then, the work space calculation unit 202 divides the space 300 by a plane passing through the positions P, Q, and R.

  FIG. 12 is a diagram illustrating a first space that can be processed in a state in which the B-axis illustrated in FIG. 1 is rotated 120 degrees. That is, the space 311 illustrated in FIG. 12 is a first space in which the tool 111 can perform a machining operation in a state where the B axis is rotated 120 degrees. The work space calculation unit 202 sets a space 311 that can be processed as a space 311 that is far from the table 112 among the two spaces obtained by dividing the space 300 by planes that pass through the positions M, Q, and R shown in FIG. get.

  FIG. 13 is a diagram showing a second space that can be machined in a state where the B-axis shown in FIG. 1 is rotated by 120 degrees. That is, the space 312 shown in FIG. 13 is a second space in which the tool 111 can perform a machining operation in a state where the B axis is rotated 120 degrees. The work space calculation unit 202 sets the space far from the table 112 among the two spaces obtained by dividing the space 300 along the plane passing through the positions P, Q, and R shown in FIG. get.

  FIG. 14 is a diagram showing a final workable work space 301 in a state where the B-axis shown in FIG. 1 is rotated by 120 degrees. The work space calculation unit 202 assembles (combines) the workable space 311 shown in FIG. 12 and the workable space 312 shown in FIG. 13 so that the B axis is rotated by 120 degrees. The final workable work space 301 is calculated (S206 in FIG. 7).

  By the above-described procedure, the machining work support apparatus 200 calculates the workable work space 301 in a state where the table 112 of the multi-axis machine 100 is rotated 120 degrees around the B axis. Note that the multi-axis machining apparatus 100 can rotate the table 112 around the C axis. Therefore, the work space calculation unit 202 of the processing work support device 200 may calculate a rotationally symmetric space obtained by rotating the workable work space 301 shown in FIG. 14 as the workable work space.

  In the above-described procedure (FIGS. 7 to 14), a case where the rotation angle of the B axis is 120 degrees is shown as an example of a case where the rotation angle of the B axis is not from −90 degrees to 90 degrees. The following procedure (FIGS. 15 to 19) shows a case where the rotation angle of the B axis is 70 degrees as an example of the case where the rotation angle of the B axis is from −90 degrees to 90 degrees.

  FIG. 15 is a diagram illustrating the positions S, Q, and R in a state where the B-axis illustrated in FIG. 1 is rotated by 70 degrees. The positions Q and R are equivalent to the positions Q and R shown in FIGS. The position S is a position on the straight line that is different from the positions Q and R, passes through the position Q, is parallel to the surface of the table 112, and is perpendicular to the direction of the rotation axis (B axis). The work space calculation unit 202 calculates a plane passing through the positions S, Q, and R shown in FIG. Then, the work space calculation unit 202 divides the space 300 by a plane passing through the positions S, Q, and R.

  FIG. 16 is a diagram showing positions P, Q, and R in a state where the B-axis shown in FIG. 1 is rotated by 70 degrees. The positions P, Q, and R are positions equivalent to the positions P, Q, and R shown in FIGS. The work space calculation unit 202 calculates a plane that passes through the positions P, Q, and R shown in FIG. Then, the work space calculation unit 202 divides the space 300 by a plane passing through the positions P, Q, and R.

  FIG. 17 is a diagram showing a first space that can be machined in a state where the B-axis shown in FIG. 1 is rotated by 70 degrees. That is, the space 321 shown in FIG. 17 is a first space in which the tool 111 can perform a machining operation with the B axis rotated by 70 degrees. The work space calculation unit 202 sets the space far from the table 112 among the two spaces obtained by dividing the space 300 by planes passing through the positions S, Q, and R shown in FIG. get.

  FIG. 18 is a diagram showing a second space that can be processed in a state where the B-axis shown in FIG. 1 is rotated by 70 degrees. That is, the space 322 illustrated in FIG. 18 is a second space in which the tool 111 can perform a machining operation in a state where the B axis is rotated by 70 degrees. The work space calculation unit 202 sets a space far from the table 112 as a workable space 322 out of two spaces obtained by dividing the space 300 by planes passing through the positions P, Q, and R shown in FIG. get.

  FIG. 19 is a diagram showing a final workable work space 303 in a state where the B-axis shown in FIG. 1 is rotated by 70 degrees. The work space calculation unit 202 assembles (combines) the workable space 321 shown in FIG. 17 and the workable space 322 shown in FIG. 18 so that the B axis is rotated by 70 degrees. The final workable work space 303 is calculated.

  According to the above-described procedure, the machining work support apparatus 200 calculates the workable work space 303 in a state in which the table 112 of the multi-axis machine 100 is rotated 70 degrees around the B axis. As described above, the multi-axis machining apparatus 100 can rotate the table 112 around the C axis. Therefore, the work space calculation unit 202 of the processing work support device 200 may calculate a rotationally symmetric space obtained by rotating the workable work space 303 shown in FIG. 19 as the workable work space.

  The image data generation unit 203 of the processing work support apparatus 200 may generate image data indicating a plurality of workable work spaces calculated by the above-described procedure. 20 to 23 show a procedure for generating image data.

  FIG. 20 is a flowchart illustrating an example of a procedure in which the processing work support apparatus 200 illustrated in FIG. 3 generates image data. First, the image data generation unit 203 colors each of the plurality of calculated workable workspaces (S301).

  FIG. 21 is a diagram illustrating an example of a plurality of workable work spaces calculated by the work work support apparatus 200 shown in FIG. FIG. 21 shows a plurality of workable work spaces corresponding to a plurality of rotation angles around the B axis. The image data generation unit 203 colors each of the plurality of workable work spaces.

  Two workable workspaces corresponding to two rotation angles with opposite positive and equal absolute values are considered equivalent by rotation about the C axis. For example, these two workable workspaces are given the same color. A plurality of workable work spaces corresponding to a plurality of rotation angles having different absolute values are given different colors. More specifically, a darker color is applied as the absolute value of the rotation angle is larger, and a lighter color is applied as the absolute value of the rotation angle is smaller.

  21 shows a plurality of workable operations corresponding to 50 degrees, 60 degrees,..., 130 degrees, 140 degrees, −50 degrees, −60 degrees,..., −130 degrees, and −140 degrees. Space is shown as an example. However, a plurality of workable work spaces corresponding to a plurality of rotation angles different from the example of FIG. 21 may be colored.

  The image data generation unit 203 superimposes a plurality of workable workspaces with colors (S302 in FIG. 20). Then, the image data generation unit 203 generates image data indicating a plurality of workable workspaces (S304 in FIG. 20).

  FIG. 22 is a diagram showing an example of an image showing a plurality of workable work spaces calculated by the work work support apparatus 200 shown in FIG. With the image in FIG. 22, a plurality of workable work spaces corresponding to a plurality of rotation angles can be visually recognized.

  For example, the plurality of workable work spaces shown in FIG. 22 are color-coded according to the rotation angle. When the absolute value of the rotation angle is larger, a darker color is applied, and when the absolute value of the rotation angle is smaller, a lighter color is applied. In the image of FIG. 22, the upper part is represented by a dark color and the lower part is a light color. It is represented by This makes it possible to appropriately recognize the workable work space corresponding to the rotation angle.

  FIG. 23 is a diagram showing a workable work space calculated by the work work support apparatus 200 shown in FIG. 3 and showing the workable work space corresponding to the rotation angle. FIG. 23 shows a workable work space when the B axis is rotated 110 degrees, and a workable work space when the B axis is rotated 70 degrees. The workable work space corresponding to the rotation angle can be determined based on the image of FIG.

  Further, the machining work support apparatus 200 can calculate a plurality of workable work spaces in the same procedure for a plurality of multi-axis machines in addition to the multi-axis machine 100 in FIG. That is, the machining operation support apparatus 200 geometrically obtains interference information according to the physical form of each of the plurality of multi-axis machines in the same procedure, and can process the work space corresponding to the multi-axis machine. Can be calculated geometrically. For example, the processing work support device 200 can calculate the workable work space based on the form (length and radius) of the attached part including the tool, the radius of the table, and the like.

  FIG. 24 is a diagram showing a plurality of workable work spaces calculated by the work work support apparatus 200 shown in FIG. 3 and showing a plurality of workable work spaces corresponding to a plurality of multi-axis machines. It is. 24, a workable work space corresponding to the first multi-axis machine, a workable work space corresponding to the second multi-axis machine, a workable work space corresponding to the third multi-axis machine, A workable work space corresponding to a fourth multi-axis machine is shown.

  For example, in the first multi-axis machine, the second multi-axis machine, the third multi-axis machine, and the fourth multi-axis machine, the form (length and radius) of the attached portion including the tool And the radius of the table are different from each other. The machining work support apparatus 200 calculates a plurality of different workable work spaces as shown in FIG. 24 according to these differences.

  FIG. 25 to FIG. 26 show examples of determining whether or not machining work is possible and determining the arrangement of the workpiece. In the example shown in FIGS. 25 to 26, a plurality of workable work spaces shown in FIG. 24 are used. Here, the structure of the plurality of axes in the first, second, third, and fourth multi-axis machines is the same as the structure of the plurality of axes in the multi-axis machine 100 shown in FIG. .

  FIG. 25 is an external view of a first workpiece on which whether or not machining work is possible is determined. With respect to the workpiece 410 shown in FIG. 25, whether or not machining work is possible is determined, and the arrangement on the table is determined.

  FIG. 26 is a diagram showing a form of the workpiece 410 shown in FIG. The workpiece 410 has a diameter of 200 mm and the workpiece 410 has a height of 180 mm. In this example, it is determined whether or not the machining operation of the machining target portions 411 and 412 of the workpiece 410 can be performed in a state where the B axis is rotated 110 degrees or −110 degrees. In addition, an appropriate arrangement of the workpiece 410 is determined on the assumption that the machining operation of the machining target portions 411 and 412 is performed in a state where the B axis is rotated 110 degrees or −110 degrees.

  FIG. 27 is an example of a workable arrangement of the workpiece 410 shown in FIG. The workable work space shown in FIG. 27 is a workable work space corresponding to the fourth multi-axis machine in FIG. In the arrangement of the workpiece 410 shown in FIG. 27, the machining target portion 411 of the workpiece 410 is included in the workable work space corresponding to the state where the B axis is rotated by −110 degrees. Further, the processing target portion 412 of the workpiece 410 is included in a workable work space corresponding to a state in which the B axis is rotated 110 degrees. Therefore, in the arrangement of FIG. 27, a processing operation is possible.

  FIG. 28 is an example of an unworkable arrangement of the workpiece 410 shown in FIG. The workable work space shown in FIG. 28 is a workable work space corresponding to the fourth multi-axis machine tool shown in FIG. 24, like the workable work space shown in FIG.

  In the arrangement of the workpiece 410 shown in FIG. 28, the machining target portion 411 of the workpiece 410 is not included in the workable work space corresponding to the state in which the B axis is rotated 110 degrees or −110 degrees. In this case, the fourth multi-axis processing machine cannot process the processing target portion 411.

  A processing target portion 412 of the workpiece 410 is included in a workable work space corresponding to a state in which the B axis is rotated 110 degrees. However, a part of the workpiece 410 protrudes from a predetermined space as a space for placing the workpiece 410. Arranging the workpiece 410 in this way is dangerous. Therefore, the arrangement shown in FIG. 28 is inappropriate.

  FIG. 29 is an external view of a second workpiece on which whether or not machining work is possible is determined. With respect to the workpiece 420 shown in FIG. 29, whether or not the machining operation is possible is determined, and the arrangement on the table is determined.

  FIG. 30 is a diagram showing a form of the workpiece 420 shown in FIG. The workpiece 420 has a diameter of 200 mm and the workpiece 420 has a height of 250 mm. In this example, it is determined whether or not the machining operation of the machining target portions 421 and 422 of the workpiece 420 can be performed in a state where the B axis is rotated 110 degrees or −110 degrees.

  FIG. 31 is a diagram showing a first example in the case where the machining operation of the workpiece 420 shown in FIG. 29 is impossible. The workable work space shown in FIG. 31 is a workable work space corresponding to the fourth multi-axis machine in FIG. In practice, the workable work space in FIG. 31 is the same as the workable work space in FIG.

  However, the workpiece 420 is 70 mm larger than the workpiece 410. Accordingly, a part of the workpiece 420 protrudes from a space that is predetermined as a space for arranging the workpiece 420. Arranging the workpiece 420 in this way is dangerous. Therefore, the arrangement shown in FIG. 31 is inappropriate.

  In addition, it is impossible to arrange the workpiece 420 so as not to protrude from the space for arranging the workpiece 420 and to arrange the machining target portions 421 and 422 in the workable work space. In other words, the fourth multi-axis machining apparatus cannot perform the machining operation of the machining target portions 421 and 422 of the workpiece 420.

  FIG. 32 is a diagram illustrating a second example in the case where the machining operation of the workpiece 420 illustrated in FIG. 29 is impossible. The workable work space shown in FIG. 32 is a workable work space corresponding to the third multi-axis machine in FIG. The workable work space corresponding to the third multi-axis machine is larger than the workable work space corresponding to the fourth multi-axis machine.

  In this example, the processing target portion 422 of the workpiece 420 is included in a workable work space corresponding to a state in which the B axis is rotated 110 degrees. Therefore, the machining target portion 422 of the workpiece 420 can be machined.

  However, the processing target portion 421 of the workpiece 420 is not included in the workable work space corresponding to the state in which the B axis is rotated 110 degrees or −110 degrees. Therefore, in this state, the machining target portion 421 of the workpiece 420 cannot be machined. In the third multi-axis machining apparatus, it is necessary to change the arrangement of the workpiece 420 between when the machining target portion 421 is machined and when the machining target portion 422 is machined. Therefore, it is inappropriate to use the third multi-axis machine for the work of the work target portions 421 and 422 of the workpiece 420.

  FIG. 33 is a diagram illustrating an example when the work 420 shown in FIG. 29 can be processed. The workable work space shown in FIG. 33 is a workable work space corresponding to the second multi-axis machine shown in FIG.

  In the arrangement of the workpiece 420 shown in FIG. 33, the machining target portion 421 of the workpiece 420 is included in the workable work space corresponding to the state where the B axis is rotated by −110 degrees. Further, the processing target portion 422 of the workpiece 420 is included in a workable work space corresponding to a state in which the B axis is rotated 110 degrees. Therefore, in the arrangement of FIG. 33, a processing operation is possible. That is, the second multi-axis machining apparatus can appropriately machine the machining target portions 421 and 422 of the workpiece 420.

  As in the example shown in FIGS. 25 to 33, it is possible to appropriately determine whether or not the machining work is possible and to determine the arrangement of the workpiece based on the calculated image showing the workable work space. . Note that the machining work availability determination unit 204 of the machining work support apparatus 200 may determine whether or not the machining work is possible based on the calculated workable work space. In addition, the workpiece placement determination unit 205 of the machining work support device 200 may determine the placement of the workpiece based on the calculated workable work space.

  As described above, the machining work support device 200 according to the present embodiment calculates a workable work space corresponding to each of various multi-axis machines. In particular, the machining work support device 200 calculates a work space that can be machined except for a space that cannot be machined due to physical interference between a plurality of parts.

  As a result, it is possible to determine whether or not machining work can be performed on various workpieces. In addition, it is possible to determine an appropriate arrangement for various workpieces. That is, possible arrangements of machining operations are determined for various workpieces before the machining path is generated. Therefore, the time and labor spent preparing for processing is reduced.

  Note that the machining work support apparatus 200 according to the present embodiment uses a matrix corresponding to rotation about the B axis. However, the machining operation support apparatus 200 is obtained by a matrix corresponding to rotation about the A axis or the C axis, a matrix corresponding to movement in the X axis, Y axis, or Z axis direction, or a combination thereof. A matrix may be used. With these matrices, even when the table moves variously, the workable work space can be acquired in the table coordinate system.

  Further, the machining operation support apparatus 200 according to the present embodiment is similar in procedure to various other multi-axis machines including the 5-axis machine shown in FIG. 36 and the multi-axis machine having a multi-axis mechanism. The workable work space of the processing machine can be calculated.

  The processing work support device according to the present invention has been described based on the embodiment, but the present invention is not limited to the embodiment. Embodiments obtained by subjecting the embodiments to modifications conceivable by those skilled in the art and other embodiments realized by arbitrarily combining the components in the embodiments are also included in the present invention.

  For example, a process performed by a specific processing unit may be performed by another processing unit. In addition, the order in which the processes are executed may be changed, or a plurality of processes may be executed in parallel.

  In addition, the present invention can be realized not only as a machining work support apparatus, but also as a machining work support method using the processing means constituting the machining work support apparatus as steps. For example, these steps are performed by a computer.

  The present invention can be realized as a program for causing a computer to execute the steps included in the machining operation support method. The program may be incorporated in software such as CAD or CAM. Furthermore, the present invention can be realized as a non-transitory computer-readable recording medium such as a CD-ROM in which the program is recorded.

  Further, the processing work support device may be realized by a computer. For example, the computer has a processor that executes the steps included in the above-described machining operation support method.

  Further, the plurality of components included in the processing work support apparatus may be realized as an LSI (Large Scale Integration) that is an integrated circuit. These components may be individually made into one chip, or may be made into one chip so as to include a part or all of them. Although referred to here as an LSI, it may be referred to as an IC (Integrated Circuit), a system LSI, a super LSI, or an ultra LSI depending on the degree of integration.

  Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. A programmable programmable gate array (FPGA) or a reconfigurable processor capable of reconfiguring connection and setting of circuit cells inside the LSI may be used.

  Furthermore, if integrated circuit technology that replaces LSI emerges as a result of advances in semiconductor technology or other technologies derived from it, naturally, using that technology, the components included in the processing work support device are integrated into an integrated circuit. Also good.

  The machining operation support method according to the present invention can be applied to the entire manufacturing industry in which workpieces are machined using a multi-axis machine, and is particularly useful in factories that use various multi-axis machines.

DESCRIPTION OF SYMBOLS 100 Multi-axis processing machine 111,911,921 Tool 112,912,922 Table 113 Attached part 200 Machining work support apparatus 201 Interference information acquisition part 202 Work space calculation part 203 Image data generation part 204 Machining work availability judgment part 205 Workpiece arrangement Determination unit 300, 311, 312, 321, 322 Space 301, 303 Machinable work space 302, 304 Non-workable work space 410, 420 Workpiece 411, 412, 421, 422 Machining target part 910 Three-axis machine 920 Five axes Processing machine

Claims (17)

An interference information acquisition step of acquiring interference information indicating physical interference between the plurality of parts in a multi-axis machining machine in which at least one of the plurality of parts including a tool performing a machining operation physically moves;
A work space calculating step of calculating a workable work space in which the tool can perform a machining operation, except for a space in which the tool cannot perform a machining operation due to the interference, using the interference information. Work support method. The machining work according to claim 1, wherein in the work space calculation step, the workable work space is calculated by a table coordinate system representing a relative position from a table on which a workpiece to be machined is placed. Support method. The machining work support method according to claim 2, wherein in the work space calculation step, the workable work space is calculated using the table coordinate system representing a relative position from the physically moving table. In the interference information acquisition step, in a tool coordinate system representing a relative position from the tool, an interference position where the interference occurs is acquired as the interference information,
In the work space calculation step, the interference position is converted from the tool coordinate system to the table coordinate system using a shape creation function representing a relative motion between the tool and the workpiece, and the table coordinate system includes the table coordinate system. The machining work support method according to claim 2 or 3, wherein the machining work space is calculated in the table coordinate system using an interference position. In the interference information acquisition step, an interference position where the interference occurs is acquired as the interference information,
5. The machining work support method according to claim 1, wherein in the work space calculation step, the workable work space is calculated using the interference position. The processing according to claim 5, wherein, in the interference information acquisition step, a position of an end of an attached part which is a part attached to the tool and whose relative position from the tool is constant is obtained as the interference position. Work support method. In the work space calculating step, the workable work space is calculated using the interference position and a work position where the tool contacts the work when the tool performs a work on the work. The processing work support method according to claim 5 or 6. In the work space calculating step, (i) being perpendicular to a straight line passing through the interference position and the machining position, being parallel to a surface of a table on which the workpiece is placed, and the machining position. The machining is possible using a plane determined by an offset position that is a position on a straight line that satisfies passing and is different from the machining position, (ii) the interference position, and (iii) the machining position. The machining work support method according to claim 7, wherein the work space is calculated. The machining work support method according to any one of claims 1 to 8, wherein, in the work space calculation step, the workable work space is calculated at each of a plurality of rotation angles of a rotation axis of the multi-axis machine. The processing according to any one of claims 1 to 9, wherein the processing work support method further includes an image data generation step of generating image data indicating the workable work space calculated in the work space calculation step. Work support method. In the work space calculating step, a plurality of workable work spaces are calculated by calculating the workable work space at each of a plurality of rotation angles of a rotation axis of the multi-axis machine,
The processing work support method according to claim 10, wherein in the image data generation step, the image data is generated by color-coding the plurality of workable work spaces calculated in the work space calculation step. In the machining operation support method, whether or not the machining operation of the workpiece can be performed by the multi-axis machine according to the workable workspace calculated in the workspace calculation step and the form of the workpiece. A machining work support method according to claim 1, further comprising a machining work availability determination step for judging whether or not. The machining operation support method further includes a workpiece arrangement determining step of determining the arrangement of the workpiece according to the workable work space calculated in the workspace calculation step and the form of the workpiece on which the machining operation is performed. The processing work support method according to any one of claims 1 to 12. An interference information acquisition unit that acquires interference information indicating physical interference between the plurality of parts in a multi-axis machining apparatus in which at least one of the plurality of parts including a tool that performs a machining operation physically moves;
A work space calculating unit that calculates a workable work space in which the tool can perform a machining operation, except for a space in which the tool cannot perform a machining operation due to the interference, using the interference information. Work support device. A multi-axis machining apparatus comprising the machining operation support device according to claim 14. A program for causing a computer to execute the steps included in the machining operation support method according to any one of claims 1 to 13. A computer comprising a processor that executes the steps included in the machining work support method according to claim 1.

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