JP4503659B2 - Numerical controller for coordinate transformation tool phase control - Google Patents

Description

  The present invention relates to a numerical control device that controls a six-axis machine that processes a workpiece (workpiece) with three linear axes and three rotary axes.

  In machining on a 5-axis machine with 2 rotary axes and 3 linear axes, the relative movement speed between the commanded workpiece and the tool is in response to the movement path of the tool tip and the movement command in the tool direction. Based on this, it is becoming more common to interpolate the tool tip movement path while interpolating the tool tip movement path, and to move the tool tip point along the commanded movement path at the commanded speed while changing the tool direction. Yes. Such commands and machining methods are called tool tip point control.

Patent Document 1 discloses a technique for performing tool tip point control in a machine tool having two rotational axes and three linear axes. This tool tip point control technology moves while interpolating (tool path and tool direction) based on the relative movement speed of the workpiece and tool with respect to the tool tip point movement path and tool direction movement command. In this technique, the interpolation point of the path is corrected and the servo motor is controlled so that the tool tip point moves on the commanded movement path at the commanded speed.
With the tool tip point control technique disclosed in Patent Document 1, when machining is performed in which the tool tip point moves at an expected speed while the rotating shaft rotates, a program can be easily created and the program length is When the tool length is changed, it is not necessary to recreate a program from the CAM and the machining cycle time can be shortened.
Patent Document 2 discloses a technique for performing coordinate transformation on a command position. By such a coordinate conversion technique, even if it is necessary to perform coordinate conversion with respect to the original command, it is not necessary to recreate a program from the CAM and the machining cycle time can be shortened.

  Patent Document 1 discloses a fiber placement device for winding a fiber (carbon fiber composite material) around a plane body, an outside of a tilted wing, a dome or a portion having a non-uniform cross section such as a cone of a rocket head. 3 and Patent Document 4. The fiber placement device disclosed in Patent Document 3 has a delivery head including a delivery roller. The fiber is wound around a mandrel via a delivery roller.

Japanese Patent Laid-Open No. 2003-195917 Japanese Patent Laid-Open No. 63-18404 JP-A-4-341829 JP 2007-133880 A

In FIG. 1, the arm position is controlled by the X, Y, and Z axes, the tool direction is controlled by the BB and CC axes, and the roller direction is controlled by the AA axis. This roller direction is the tool phase. Therefore, although the AA axis position (third rotation axis position), the roller direction, and the tool phase are synonymous, this is not particularly noted in the following description. Here, the BB and CC axes are a first rotating shaft and a second rotating shaft of a conventional 5-axis machine that controls the tool direction. The AA axis is a third rotation axis that controls the tool phase. The state shown in FIG. 1 is BB = CC = 0 (degrees) (“0” is zero), and the BB axis and the CC axis each have an operating range of −45 degrees to 45 degrees. In FIG. 1, for the sake of easy understanding, a tool and a roller portion are drawn larger than a work (for example, an aircraft fuselage).
A portion corresponding to the fiber placement machine main body disclosed in Patent Document 3 is present on the right side of FIG. “Delivery head”, “delivery roller”, and “mandrel” described in Patent Document 3 correspond to “tool”, “roller”, and “workpiece” in FIG. 1, respectively.

  NC program commands for operating a multi-axis machine are generally created using CAM. CAM is an abbreviation for “Computer Aided Manufacturing”. A program example 1-1 (see FIG. 2) created by the CAM will be described. “G43.4” is a G code command for starting tool tip point control, and “G49” is a G code command for canceling the tool tip point control. A tool length correction number is commanded with “H”, and a speed at the tool tip is commanded with “F”. “X, Y, Z” commands the tool tip position, “BB, CC” commands the tool direction, and “AA” commands the roller direction.

  Further, as in Program Example 1-2 shown in FIG. 3, the tool direction can be specified by a vector instead of “BB, CC”. The command “I, J, K” is a vector command indicating the tool direction. When the tool direction is commanded as a vector, the numerical controller controls the rotation axes (BB, CC axes) so that the tool moves in the commanded direction.

  It may be necessary to instruct coordinate conversion to the example program 1-1 shown in FIG. 2 or the example program 1-2 shown in FIG. For example, when the assumed position of the workpiece when creating a program with CAM is different from the actual workpiece position, coordinate conversion is required. Here, it is assumed that an inclined surface machining command, which is one of coordinate transformations, is performed.

  A program example 2-1 in FIG. 4 is a program example for performing an inclined surface machining command. “G68.2” is a G code command for starting an inclined surface machining command, and “G69” is a G code command for canceling the command. “G53.1” instructs to change the coordinate of the tool direction as well. In the “G68.2” block, “X, Y, Z” designates the origin position of the coordinate transformation destination coordinate system, and “I, J, K” designates the angle for coordinate transformation. As a result, the numerical control device in the conventional 5-axis machine (three linear axes, the first rotation axis, and the second rotation axis) newly creates the commanded tool tip point position and tool direction by coordinate conversion. The tool tip position on the coordinate system and the tool direction are converted.

  As shown in a program example 2-2 in FIG. 5, the tool direction can be commanded by a vector instead of “BB, CC” as in the above-described program example 1-2 (see FIG. 3). When the tool direction is commanded as a vector, the numerical control device performs coordinate conversion of the commanded direction and controls the rotation axes (BB, CC axes) so that the tool operates in the coordinate-converted direction.

  However, in the prior art of the 5-axis machine, the roller direction of the third rotating shaft was not coordinate-transformed. Therefore, in the program example 2-1 (see FIG. 4) and the program example 2-2 (see FIG. 5), the command “AA” is not entered. This is because even if “AA” is commanded, coordinate conversion is not performed. Specifically, as will be described later, if “AA” is commanded in the coordinate conversion (inclined surface machining command) mode, an alarm is generated and the operation is stopped.

  Therefore, in the machine that controls the roller direction of the third rotating shaft, the tool tip point control and the inclined surface machining command cannot be used together. As a result, in order to use both tool tip point control and coordinate conversion in a machine that controls the roller direction of the third rotating shaft, it is necessary to re-create the tool tip point control program command that has been coordinate-converted by CAM. Is on.

  Accordingly, an object of the present invention is to provide a tool phase control capable of performing coordinate conversion (inclined surface machining command) with respect to a tool tip point control command including control of a tool phase that is the roller direction of the third rotating shaft. A numerical control device is provided.

  The invention according to claim 1 of the present application is a numerical control device that controls a six-axis machine that processes a workpiece with three linear axes and three rotary axes, and includes a linear axis three-axis command, a tool direction command, and a tool. Machining program reading means for reading a machining program including a phase command, coordinate conversion means for performing coordinate transformation with respect to the tool tip position by the linear axis three-axis command and the tool direction by the tool direction command, and the coordinates after the coordinate transformation Tool tip point control means for controlling the tool tip point position, the first rotation axis position, the second rotation axis position, and the three-axis linear axis position according to the tool tip position after conversion and the tool direction after coordinate conversion, and the tool phase command Therefore, in the numerical control apparatus having the tool phase control means for obtaining the tool phase and obtaining the third rotation axis position that becomes the tool phase, the tool phase control means performs the process after coordinate conversion. It has a post-coordinate-converted tool phase calculation means for obtaining the third rotational axis position as an angle from the tool phase 0 vector in the designated direction so that the phase becomes the designated direction, and the obtained linear axis 3 axis and rotary axis 3 axis It is the numerical control apparatus for coordinate conversion tool phase control which drives each axis | shaft to this position.

  The invention according to claim 2 is the numerical control device for coordinate conversion tool phase control according to claim 1, wherein the tool direction command is a command of the first rotation axis position and the second rotation axis position. It is.

  The invention according to claim 3 is the numerical control device for coordinate conversion tool phase control according to claim 1, wherein the tool direction command is a tool direction vector command for commanding a tool direction as a vector.

  In the invention according to claim 4, the designated direction is a vector indicating the tool phase before coordinate conversion as a tool phase command vector, and a vector obtained by performing coordinate conversion on the tool phase command vector is defined as a tool phase vector after coordinate conversion. The numerical control device for coordinate conversion tool phase control according to any one of claims 1 to 3, wherein the direction is a direction of the tool phase vector after coordinate conversion.

  In the invention according to claim 5, when the specified direction is a vector indicating the tool phase before coordinate conversion, and a vector indicating the tool phase after coordinate conversion is a tool phase command vector after coordinate conversion. The angle between the tool phase command vector and the tool tip point position moving direction based on the tool tip point position before the coordinate conversion is the movement direction of the tool tip point position after the coordinate conversion after the coordinate conversion and the tool after the coordinate conversion. The numerical control device for coordinate conversion tool phase control according to any one of claims 1 to 3, wherein the direction of the post-coordinate conversion tool phase vector is the same as the angle between the phase vector and the phase vector. is there.

  The invention according to claim 6 is the coordinate conversion tool phase control according to claim 5, wherein the tool tip point movement direction is obtained for each interpolation cycle from the tool tip point position in the past interpolation cycle and the tool tip point position in the current interpolation cycle. Numerical control device.

  The invention according to claim 7 is the coordinate conversion tool phase control according to claim 5, wherein the movement direction of the tool tip point is obtained for each block in the command program from the tool tip point position in the past block and the tool tip point position in the current block. Numerical control device.

  In the invention according to claim 8, the tool phase 0 vector is a vector that is perpendicular to the tool direction vector and is included on a vertical plane including the tool direction vector when the vector indicating the tool direction is a tool direction vector. It is a numerical control device for coordinate conversion tool phase control according to any one of claims 1 to 7.

  The invention according to claim 9 is characterized in that the tool phase 0 vector is a vector that is perpendicular to the tool direction vector and included on a horizontal plane when a vector indicating the tool direction is a tool direction vector. The numerical control device for coordinate conversion tool phase control according to any one of Items 1 to 7.

  According to the present invention, there is provided a numerical controller for tool phase control capable of performing coordinate conversion (inclined surface machining command) on a tool tip point control command including control of a roller direction (tool phase) of a third rotating shaft. Can be provided.

  As a result, in a machine for controlling the roller direction of the third rotating shaft, tool tip point control including control of the roller direction (tool phase) of the third rotating shaft without recreating a program command using CAM. Coordinate transformation (inclined surface machining command) can be performed on

  As a result, even if coordinate conversion is performed, the positional relationship among the tool direction, the tool movement direction, and the roller direction is maintained, and the fiber is correctly processed (wound) around the workpiece.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, the prior art portion used in the embodiment of the present invention will be described. When the positions of BB and CC are commanded with respect to the BB and CC axes in the program command, a tool direction vector Vt (Vtx, Vty, Vtz) ^T indicating the tool direction is expressed as (Equation 1). Here, when BB = CC = 0 degrees (the state shown in FIG. 1), Vt is assumed to be in the positive direction of the X axis. “ ^T ” is a mathematical symbol representing transposition. “*” Is a symbol meaning multiplication.

  Thereby, the tool direction vector Vt is calculated with respect to the BB and CC axis positions. This vector is normalized and the vector length is 1.

  Here, an inclined surface machining command (coordinate conversion) is commanded. By the inclined surface machining command (coordinate conversion), the original (X, Y, Z) coordinate system becomes the (X ′, Y ′, Z ′) coordinate system after coordinate conversion (coordinate conversion indicated by a dotted line in FIG. 7). See). Further, the matrix Mc and Mc3 for coordinate conversion from the (X, Y, Z) coordinate system to the (X ′, Y ′, Z ′) coordinate system corresponding to the inclined surface machining command (coordinate conversion) are calculated. .

  Here, the X, Y, Z commanded coordinate origin position of the block “G68.2” which is the G code of the inclined surface machining command is x0, y0, z0, and is used for coordinate conversion by I, J, K. If the angle is commanded by the Euler angle and the command data of I, J, and K are α, β, and γ, respectively, the matrix Mc is as shown in the following (Formula 2). The matrix Mc has a fourth row and a fourth column. The subsequent position vectors are represented in a homogeneous coordinate system having a fourth element “1”. However, those elements are omitted when obvious.

  The matrix Mc3 is a matrix excluding the fourth row and the fourth column of the matrix Mc as shown in (Equation 3).

As shown in (Formula 4), the tool tip point command position vector Vpos (X, Y, Z, 1) ^T is coordinate-transformed by the matrix Mc, and Vpos ′ (X ′, Y ′, Z ′, 1) ^T Is the position vector. X, Y, and Z are the commanded X, Y, and Z axis positions, respectively. (See Figure 7)

Further, as shown in (Equation 5), the tool direction vector Vt (Vtx, Vty, Vtz) ^T is also coordinate-transformed to Vt ′ (Vtx ′, Vty ′, Vtz ′) ^T by the matrix Mc3. (See Figure 7)

  Then, a position BB ′ and a position CC ′ that are positions of the BB axis and the CC axis after the inclined surface machining command (coordinate conversion) are obtained from this Vt ′. That is, as in (Equation 1), the following equation (Equation 6) holds for Vt ′, BB ′, and CC ′. Therefore, as shown in (Equation 7), BB ′ and CC ′ are obtained by the conventional technique. It is done.

Next, the tool phase vector according to the present invention will be described.
First, the roller direction when AA = 0 will be described. Regardless of the position of the BB axis and the CC axis, if the AA axis is 0 degree, the roller direction is perpendicular to the tool direction and included on a vertical plane including the tool direction vector Vt (see FIG. 6). . A vector indicating this direction is referred to as a tool phase 0 vector Vp0 (Vp0x, Vp0y, Vp0z).

  In this case, however, “if the BB and CC axes are located, if the AA axis is 0 degree, the roller direction is perpendicular to the tool direction and is included on the vertical plane including the tool direction vector”. However, it is also possible to add an offset to Vp0. For example, if an offset of 90 degrees is added, regardless of the position of the BB axis and the CC axis, if the AA axis is 0 degrees, the roller direction is perpendicular to the tool direction and included in the horizontal plane. (See FIG. 8).

  In this embodiment, if the AA axis is 0 degree regardless of the position of the BB and CC axes, the roller direction is perpendicular to the tool direction and is included on the vertical plane including the tool direction vector (see FIG. 6), the tool phase 0 vector Vp0 is obtained by the calculation of (Equation 8).

Here, the meaning of each item and the meaning of the symbols are as follows. “×” is a symbol representing an outer product of preceding and following vectors. “Vy” is a vertical vector (0, 1, 0) ^T. In this example, it is the Y-axis direction, but if the axis configuration is different, another axis direction may be a vertical vector. “Vt” is a tool direction vector (Vtx, Vty, Vtz) ^T indicating the tool direction obtained from the BB and CC axis positions shown in (Equation 1). During the inclined surface machining command mode, the tool phase 0 vector Vp0 before coordinate conversion is obtained using the tool direction vector Vt as shown in (Equation 8). For the tool phase 0 vector Vp0 ′ (see FIG. 7) after the coordinate conversion, the tool direction vector according to (Formula 5), which is coordinate-converted by an inclined surface machining command instead of Vt, as shown in the following (Formula 9). Vt ′ is used. Here, even in the inclined surface machining command mode, Vy is a vertical vector (Y direction) on the original coordinate system, not the Y ′ direction on the coordinate system coordinate-transformed by the inclined surface machining command.

  As a result of the calculation by (Equation 8) and (Equation 9), Vp0 and Vp0 'are perpendicular to the tool direction vector and exist on a vertical plane including the respective tool direction vectors Vt and Vt'. It is also possible to add an offset of, for example, 45 degrees with respect to the direction obtained by (Equation 8) and (Equation 9).

  Further, as shown in FIG. 8, when the AA axis is 0 degree regardless of the position of the BB and CC axes, the roller direction is a direction perpendicular to the tool direction and included in the horizontal plane. Vp0, Vp0 ′ are obtained as follows. It is also possible to add an offset such as 45 degrees with respect to the direction obtained by (Equation 10) and (Equation 11).

Therefore, the AA axis position AA indicates an angle between the tool phase command vector Vpc indicating the roller direction and the tool phase 0 vector Vp0 (see FIG. 9). Therefore, when the position of AA is commanded with respect to the AA axis, the tool phase command vector Vpc (Vpcx, Vpcy, Vpcz) ^T indicating the corresponding roller direction is calculated as (Equation 12). AA is set to 0 degree to 360 degrees.

  Here, the matrix Maa is a matrix represented by (Formula 13) rotated by AA around the tool direction vector Vt.

In the inclined surface machining command (coordinate conversion) mode, the tool phase command vector Vpc (Vpcx, Vpcy, Vpcz) ^T is also coordinate-converted as shown in (Equation 14) like the tool direction vector of (Equation 5), and Vpc '(Vpcx', Vpcy ', Vpcz') ^T (See Figure 7)

  Further, the following (Expression 15) is also established. (See Figure 7)

  Here, the matrix Maa ′ is a matrix of (Equation 16) in which Vt and AA on the right side are replaced with Vt ′ and AA ′ in the matrix Maa expressed by (Equation 13), that is, AA ′ around the tool direction vector Vt ′. A matrix that only rotates.

  This (Equation 15) can be solved because the unknown is only AA ', and AA' can be obtained. This makes it possible to obtain AA ′ when an inclined surface machining command (coordinate conversion) is performed on a tool tip point control command program including AA, and as a result, a tool tip point control command including AA. An inclined surface machining command (coordinate conversion) can be performed on the program as shown in Program example 3-1 (see FIG. 10).

  Further, as in Program Example 1-2 (see FIG. 3) and Program Example 2-2 (see FIG. 5), a tool as shown in Program Example 3-2 (see FIG. 11) instead of BB and CC. You can also specify the direction as a vector.

  Next, a second embodiment will be described. Since the explanation about Vp0 (see FIGS. 6 and 8) and the explanation about AA (see FIG. 9) have already been made in the explanation of the first embodiment, their descriptions are omitted.

When the tool tip point position is commanded by X, Y, and Z, the tool tip point position moving direction vector Vm (Vmx, Vmy, Vmz) ^T is calculated as in (Equation 17). The tool tip point position moving direction vector Vm is shown in FIG. This calculation of Vm is performed for each command block in the “coordinate-transformed tool phase calculation means 8” shown in FIG. Let Xp, Yp, and Zp be the X, Y, and Z positions one block before. However, if there are past blocks up to several times before, Vm can be calculated including them. For example, the average of the movement directions of these blocks can be Vm. However, it is assumed that the movement amount (denominator of (Equation 17)) is not 0 (zero).

  In the embodiment described above, the tool tip point position movement direction vector Vm is calculated for each command block in the “coordinate-transformed tool phase calculation means 8” shown in FIG. 14, but the “coordinates” shown in FIG. It can also be calculated for each interpolation as in the post-conversion tool phase calculation means 8 ”. If calculation is performed for each interpolation, Xp, Yp, and Zp are the X, Y, and Z positions one interpolation cycle before. However, if there are past interpolation positions up to several times before, Vm can be calculated including them. For example, the average of the moving directions for each interpolation can be set to Vm.

  Then, an angle b between the tool phase 0 vector Vp0 and the tool tip point position moving direction vector Vm is obtained by (Equation 18). (See Figure 12)

  Here, the matrix Mb is a matrix that rotates by an angle b around the tool direction vector Vt (see (Equation 19)).

  Since the only unknown in the matrix Mb shown in (Equation 19) is the angle b, the angle b is obtained by solving (Equation 18).

  Further, as shown in (Equation 20), an angle a between the tool phase command vector Vpc commanded by AA and the tool tip position movement direction vector Vm is obtained (a = b−AA). (See Figure 12)

  Then, as shown in (Equation 21), the tool tip point position moving direction vector Vm becomes Vm ′ by the inclined surface machining command (coordinate conversion). (See Figure 12)

  Next, an angle b ′ between Vm ′ and Vp0 is obtained by (Equation 22). (See Figure 12)

  Here, Mb ′ is the next matrix that rotates by the angle b ′ around the tool direction vector Vt ′ after coordinate conversion. Vt 'is the same as in the first embodiment.

  Here, since the unknown number of (Equation 22) is only b ', b' can be obtained by solving (Equation 22). The AA axis position AA 'after the inclined surface machining command (coordinate conversion) can be obtained by (Equation 24) (AA' = b'-a). (See Figure 12)

  AA ′ can be obtained by the calculation shown in (Equation 24) so that the angle a by the command before the coordinate conversion is maintained even after the coordinate conversion. That is, even if coordinate conversion is performed, the positional relationship among the tool direction, the tool movement direction, and the roller direction is maintained. Therefore, the fiber is correctly processed (wound). (See Figure 12)

  In addition, since the angle a according to the command before the coordinate conversion is maintained after the coordinate conversion, the positional relationship among the tool direction, the tool moving direction, and the roller direction is maintained even if the coordinate conversion is performed, and the fiber is processed correctly. The same applies to the first embodiment.

Next, how the tool phase control according to the embodiment of the present invention described above is processed will be described using a block diagram.
FIG. 13 is a block diagram illustrating the prior art. The machining program reading means 1 reads a machining program including three linear axis commands (tool tip position command), tool direction command and tool phase command (AA axis position command).

  The program read in analysis 2 is analyzed. Here, the analysis coordinate conversion means 4 calculates the matrices Mc and Mc3 and performs coordinate conversion on the program command position. Further, the tool phase control means 5 obtains the third rotation axis position (AA axis position) for controlling the tool phase from the tool phase command (AA axis position command). However, coordinate conversion and tool phase command cannot be performed simultaneously. Therefore, when coordinate conversion and a tool phase command are simultaneously issued, an alarm is generated by the alarm generation means 9 and the operation is stopped.

  In the interpolation 3, the tool tip point position and the tool direction are interpolated according to the contents analyzed in the analysis 2. Here, the coordinate conversion means 6 for interpolation performs coordinate conversion with Mc and Mc3 on the interpolated tool tip position and tool direction. The tool tip point position, the first rotation axis position, the second rotation axis position, and the three-axis position of the linear axis are determined by the tool tip point control means 7 according to the coordinate-converted tool tip position and the tool direction after the coordinate conversion. Ask.

  For the tool phase, normal interpolation is performed on the third rotation axis position (AA axis position) obtained by the analysis. However, coordinate conversion and tool phase command cannot be performed simultaneously. Each axis servo is controlled to drive each axis to the three linear axes and the rotation axis position obtained in the interpolation 3.

  FIG. 14 is a diagram for explaining an embodiment of the present invention in which a post-coordinate conversion tool phase calculation means 8 is added to the prior art shown in FIG. A post-coordinate-transformed tool phase calculation means 8 is added to the tool phase control means 5 shown in FIG. 13 so that the tool phase after the coordinate conversion becomes the designated direction as the angle from the tool phase 0 vector in the designated direction. Obtain the rotation axis position. As described above, since coordinate conversion and tool phase command can be simultaneously issued, the alarm generating means 9 shown in FIG. 13 of the prior art becomes unnecessary.

  FIG. 15 is another block diagram for explaining the prior art. The machining program reading means 1 reads a machining program including a linear axis 3-axis command (tool tip position command), a tool direction command, and a tool phase command (AA axis position command). The program read in analysis 2 is analyzed. The analysis coordinate conversion means 4 calculates the matrices Mc and Mc3 and performs coordinate conversion on the program command position. However, coordinate conversion and tool phase command cannot be performed simultaneously. Therefore, when coordinate conversion and a tool phase command are simultaneously issued, an alarm is generated by the alarm generation means 9 and the operation is stopped.

  In interpolation 3, the tool tip point position and the tool direction are interpolated according to the analyzed contents. Here, the coordinate conversion means 6 for interpolation performs coordinate conversion with Mc and Mc3 on the interpolated tool tip position and tool direction. The tool tip point position, the first rotation axis position, the second rotation axis position, and the three-axis position of the linear axis are determined by the tool tip point control means 7 according to the coordinate-converted tool tip position and the tool direction after the coordinate conversion. Ask. Further, the tool phase control means 5 obtains the third rotation axis position for controlling the tool phase. However, coordinate conversion and tool phase command cannot be performed simultaneously. Each axis servo is controlled to drive each axis to the positions of the three linear axes and the three rotation axes obtained by the interpolation.

  FIG. 16 is a diagram for explaining an embodiment of the present invention in which a post-coordinate conversion tool phase calculation means 8 is added to the prior art shown in FIG. The post-coordinate conversion tool phase calculation means 8 is added to the tool phase control means shown in FIG. 15, and the third rotation is performed as an angle from the tool phase 0 vector in the designated direction so that the tool phase after the coordinate transformation becomes the designated direction. Find the axis position. As described above, since coordinate conversion and tool phase command can be simultaneously issued, the alarm generating means 9 shown in FIG. 15 of the prior art becomes unnecessary.

  FIG. 17 is a flowchart showing an algorithm of processing in the post-coordinate conversion tool phase calculation means 8 shown in FIG. It demonstrates according to each step. AA, BB and CC axis command positions AA, BB and CC are obtained (step SA1). Then, Vt is calculated by (Equation 1), and Vt 'is calculated by (Equation 5) (step SA2). Note that Mc and Mc3 used here have already been obtained. In addition, for BB and CC, when the tool direction is commanded by the BB and CC axis commands as in the program example 3-1 (FIG. 10), the commanded BB and CC axis positions are the program examples 3-2 ( When the tool direction is commanded as a vector as shown in FIG. 11), it is the BB and CC axis positions converted from the commanded vector.

  Next, Vp0 is calculated by (Equation 8), Vp0 'is calculated by (Equation 9), and Vpc' is calculated by (Equation 14) (step SA3). Then, AA 'is calculated by solving (Equation 15) (step SA4), and the process is terminated.

  FIG. 18 is a flowchart showing an algorithm of processing in the post-coordinate conversion tool phase calculation means 8 shown in FIG. It demonstrates according to each step. It is determined whether or not F1 is 0 (step SB1). If F1 is 0, F1 is set to 1 and the X, Y, and Z positions at the start of the block are set to Xp, Yp, and Zp, and the process proceeds to step SB2. Transition (step SB9, step SB10). On the other hand, if F1 is not 0, X, Y, Z, AA, BB, CC axis command positions X, Y, Z, AA, BB, CC are obtained (step SB2). Here, X, Y, Z, AA, BB, and CC are calculated by the conventional tool tip point control means and tool phase control means.

  Next, Vt is calculated by (Equation 1) and Vt 'by (Equation 5) (step SB3). Mc and Mc3 have already been obtained. Then, Vp0 is obtained from (Equation 8), Vp0 'is obtained from (Equation 9), Vm is obtained from (Equation 17), and "b" is obtained by solving (Equation 18) (step SB4).

  Next, “a” is calculated by (Equation 20) (step SB5). Vm ′ is calculated by (Expression 21), and b ′ is obtained by solving (Expression 22) (Step SB6). Then, AA 'is calculated by (Equation 24) (step SB7). Next, X, Y, and Z are set to Xp, Yp, and Zp (step SB8), and the process ends.

  Note that “F1” in step SB1 is a flag for identifying the first interpolation cycle. The initial state of F1 is zero. In step SB4, Xp, Yp, and Zp are obtained from the X, Y, and Z positions at the start of the block in the first interpolation period (when F1 = 0), and after the second interpolation period, Xp, Yp, and Zp are the previous time. Although the X, Y, and Z positions in the interpolation period are used, it is also possible to hold a plurality of past interpolation data after the second interpolation period and obtain Vm from these data. For example, the average Vm in the moving direction for each interpolation can be used.

  FIG. 19 is a block diagram of a numerical controller (CNC) 100 according to an embodiment for executing the tool phase control of the present invention. The CPU 11 is a processor that controls the numerical controller 100 as a whole. The CPU 11 reads a system program stored in the ROM 12 via the bus 20 and controls the entire numerical controller 100 according to the system program.

  The RAM 13 stores temporary calculation data and display data and various data input by the operator via the LCD / MDI unit 70.

  The SRAM memory 14 is configured as a non-volatile memory that is backed up by a battery (not shown) and that retains the memory state even when the numerical controller 100 is turned off. In the SRAM memory 14, a machining program read via the interface 15, a machining program input via the LCD / MDI unit 70, and the like are stored. Various machining programs such as machining programs for implementing the present invention can be input via the interface 15 or the LCD / MDI unit 70 and stored in the SRAM memory 14.

  The ROM 12 is pre-stored with various system programs for executing processing in an editing mode and processing for automatic operation required for creating and editing a machining program. A program according to the present invention for controlling the tool phase is also stored in the ROM 12.

  The interface 15 enables connection between the numerical controller 100 and an external device 72 such as an adapter. A machining program, various parameters, and the like are read from the external device 72 side. Further, the machining program edited in the numerical control apparatus 100 can be stored in the external storage means via the external device 72.

  A PMC (programmable machine controller) 16 outputs a signal to an auxiliary device (for example, a greasing device) of a machine tool via an I / O unit 17 using a sequence program built in the numerical control device 100 and controls it. To do. In addition, it receives signals from various switches on the operation panel provided in the machine tool body, performs necessary signal processing, and then passes them to the CPU 11.

  The LCD / MDI unit 70 is a manual data input device having a display and a keyboard. The interface 18 receives commands and data from the keyboard of the LCD / MDI unit 70 and passes them to the CPU 11. The interface 19 is connected to an operation panel 71 having a manual pulse generator.

  The servo control means 30 to 35 for each axis receives the movement command for each axis from the CPU 11 and outputs the command for each axis to the servo amplifiers 40 to 45. The servo amplifiers 40 to 45 receive this command and drive the servo motors 50 to 55 for each axis. The servo motors 50 to 55 for each axis incorporate a position detection device (not shown), and feed back a feedback signal from the position detection device to the servo control means 30 to 35. The servo control means 30 to 35 for each axis performs position and speed feedback control based on the feedback signal.

  The configuration of the numerical control device 100 described above is the same as the configuration of the conventional numerical control device, and this numerical control device 100 can control the tool tip point by controlling the 6-axis machining tool. The numerical control apparatus according to the embodiment of the present invention performs the processing described in the first embodiment or the second embodiment described above, thereby performing tool tip point commands including control of the tool phase. Thus, the numerical control device can perform coordinate conversion (inclined surface machining command).

It is a figure explaining the processing machine which has the 3rd rotating shaft which controls a tool phase. It is a program example 1-1. It is a program example 1-2. It is a program example 2-1. It is a program example 2-2. Regardless of the position of the BB and CC axes, if the AA axis is 0 degree, the roller direction (tool phase 0 vector) is perpendicular to the tool direction and included on the vertical plane including the tool direction vector. FIG. It is a figure explaining that the original (X, Y, Z) coordinate system is converted into (X ′, Y ′, Z ′) after coordinate conversion by the inclined surface machining command (coordinate conversion) according to the present invention. is there. FIG. 5 is a diagram showing that regardless of the position of the BB and CC axes, if the AA axis is 0 degree, the roller direction (tool phase 0 vector) is perpendicular to the tool direction and included in the horizontal plane. is there. The AA axis position AA is a diagram for explaining that it represents an angle between a tool phase command vector Vpc and a tool phase 0 vector Vp0 indicating the roller direction. It is a program example 3-1. It is a program example 3-2. It is a figure explaining computing the tool tip point position moving direction vector Vm concerning the present invention. It is a block diagram of a prior art. It is the block diagram which concerns on this invention which added the tool phase calculation means after coordinate transformation to the tool phase control means shown by FIG. It is another block diagram of a prior art. FIG. 16 is a block diagram according to the present invention in which a tool phase calculation unit after coordinate conversion is added to the tool phase control unit shown in FIG. 15. It is a flowchart which shows the algorithm of the process in the tool phase calculation means after coordinate transformation in the 1st Embodiment of this invention. It is a flowchart which shows the algorithm of the process in the tool phase calculation means after coordinate transformation in the 2nd Embodiment of this invention. 1 is a block diagram of a numerical controller (CNC) that is an embodiment of the present invention. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Machining program reading means 2 Analysis 3 Interpolation 4 Analysis coordinate conversion means 5 Tool phase control means 6 Interpolation coordinate conversion means 7 Tool tip point control means 8 Coordinate conversion tool phase calculation means 9 Alarm generation means 11 Processor (CPU)
12 ROM
13 RAM
14 SRAM
30 X-axis servo control means 31 Y-axis servo control means 32 Z-axis servo control means 33 AA-axis servo control means 34 BB-axis servo control means 35 CC-axis servo control means 100 Numerical control device

Claims (9)

A numerical control device for controlling a six-axis machine that processes a workpiece with three linear axes and three rotary axes, and a machining program that reads a machining program including a linear axis three-axis command, a tool direction command, and a tool phase command Reading means, coordinate conversion means for performing coordinate conversion with respect to the tool tip point position by the linear axis three-axis command and tool direction by the tool direction command, post-coordinate tool tip position and coordinate conversion after the coordinate conversion Tool tip point control means for controlling the tool tip position, the first rotary shaft position, the second rotary shaft position, and the triaxial position of the linear axis according to the tool direction, and the tool phase is obtained according to the tool phase command and becomes the tool phase. In a numerical controller having a tool phase control means for obtaining the third rotation axis position,
In the tool phase control means, there is provided a tool phase calculation means after coordinate conversion for obtaining a third rotation axis position as an angle from the tool phase 0 vector in the specified direction so that the tool phase after coordinate conversion is in the specified direction, A numerical control device for phase control of a coordinate conversion tool that drives each axis to the positions of the obtained three linear axes and three rotation axes.   2. The numerical control device for coordinate conversion tool phase control according to claim 1, wherein the tool direction command is a command of the first rotation axis position and the second rotation axis position.   2. The numerical control device for coordinate conversion tool phase control according to claim 1, wherein the tool direction command is a tool direction vector command for commanding a tool direction as a vector.   The designated direction is a tool phase after coordinate conversion when a vector indicating the tool phase before coordinate conversion is used as a tool phase command vector, and a vector obtained by performing coordinate conversion on the tool phase command vector is used as a tool phase vector after coordinate conversion. The numerical control device for coordinate conversion tool phase control according to any one of claims 1 to 3, wherein the direction is a vector direction.   When the designated direction is a vector indicating the tool phase before coordinate conversion and a vector indicating the tool phase after coordinate conversion is a tool phase command vector after coordinate conversion, the tool phase command vector and coordinates The angle between the tool tip point position moving direction by the tool tip point position before conversion is the angle between the movement direction of the tool tip point position after the coordinate conversion after the coordinate conversion and the tool phase vector after the coordinate conversion. The numerical control device for coordinate conversion tool phase control according to any one of claims 1 to 3, wherein the direction of the post-coordinate conversion tool phase vector is the same.   6. The numerical control device for coordinate conversion tool phase control according to claim 5, wherein the moving direction of the tool tip point is obtained for each interpolation cycle from the tool tip point position in the past interpolation cycle and the tool tip point position in the current interpolation cycle.   6. The numerical control device for coordinate conversion tool phase control according to claim 5, wherein the tool tip point moving direction is obtained for each block in the command program from a tool tip point position in a past block and a tool tip point position in a current block.   The tool phase 0 vector is a vector that is perpendicular to the tool direction vector and included on a vertical plane including the tool direction vector when a vector indicating the tool direction is a tool direction vector. The numerical control apparatus for coordinate conversion tool phase control as described in any one of 1-7.   The tool phase 0 vector is a vector that is perpendicular to the tool direction vector and included on a horizontal plane when a vector indicating the tool direction is a tool direction vector. Controller for coordinate conversion tool phase control as described in 1.

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