JP5632181B2 - Numerical control device and machine tool - Google Patents

Description

  The present invention relates to a numerical control device and a machine tool.

  Conventionally, numerical control (NC) of a moving device that moves tools and workpieces in various machine tools has been performed. In such numerical control, an error from the command value may occur in the position and orientation of the moving object due to various factors, and the error correction is performed. Patent Documents 1 and 2 below disclose examples of numerical control devices that perform such error correction in accordance with numerical control of a moving device.

  The numerical control device disclosed in Patent Document 1 is provided in a machine tool including a parallel link mechanism, and performs error correction on the operation of each rod of the parallel link mechanism that moves a tool. Specifically, in this numerical control device, an error between the coordinate of the command value for each moving axis of the tool and the coordinate of the actually measured value for each moving axis of the tool is specified. An error map is created in advance by recording each point. This error map is learned by a neural network, and when the machining command value is input, the neural network outputs an error value for each moving axis of the tool according to the command value. In the numerical control device, after correcting the machining command value based on the error value output from the neural network, the corrected command value is converted into a command value for each mechanical axis of each rod of the parallel link mechanism, and the conversion Each rod is driven by each drive unit of the parallel link mechanism based on the subsequent command value.

  The numerical control device disclosed in Patent Document 2 is provided in a 5-axis machining center, and performs error correction for the operations of a plurality of moving devices that move a tool. Specifically, in this numerical control device, an error map in which error data about the position and orientation of the tool is registered for each tool movement axis is stored in the storage means, and the tool movement axis obtained from the machining program is stored. Error data corresponding to each command value is calculated based on the error map. Then, the numerical control device calculates correction data for each moving axis of the tool based on the calculated error data, and corrects the command value for each moving axis based on the calculated correction data. The numerical control device drives the moving device for each axis based on the corrected command value.

JP-A-9-237112 JP 2008-269316 A

  The error correction system using the numerical control device disclosed in Patent Documents 1 and 2 depends on the machine structure of the machine tool to which the numerical control device is applied. For this reason, it is difficult to divert the numerical control device to a machine tool of another machine structure, and it is necessary to reconfigure almost all of the numerical control device for each machine tool having a different mechanical structure.

  Specifically, in the numerical control device applied to the machine tool of the parallel link mechanism of Patent Document 1, the command value is corrected using error data on the position and orientation of the tool. The form of the position and posture of the tool varies depending on the machine structure of the machine tool. For this reason, if the machine structure of the machine tool is different, most of the error correction system of the numerical control device disclosed in Patent Document 1 cannot be used.

  Further, the numerical control device used in the 5-axis machining center of Patent Document 2 also corrects the command value of the tool at the time of machining using error data based on the position and orientation of the tool. As with the numerical control device, most of the error correction system cannot be used for other machine tools having different machine structures.

  In addition, the numerical control devices disclosed in Patent Documents 1 and 2 include machine tools that include a plurality of moving devices that move a moving object such as a tool and those having moving axes parallel to each other. Not applicable. That is, in each of the above numerical control devices, the coordinates of the command value of the object are corrected based on the error data related to the position and orientation of the object, but when the movement axes of the plurality of movement devices are parallel to each other. Since the error data for the parallel movement axes is included in the error data of the position and orientation of the object as errors in the same direction, the correction amount for each of the parallel movement axes can be calculated from the error data. Can not. For this reason, in each of the numerical control devices, it is impossible to correct an error in the operation of a moving device having moving axes parallel to each other.

  The present invention has been made in order to solve the above-described problems. The object of the present invention is to promote the common use of error correction systems in various machine tools having different machine structures, and to have a plurality of parallel movement axes. It is to be able to perform error correction of the operation of each moving device having a parallel moving axis even in a machine tool including the moving device.

In order to achieve the above object, a numerical control device according to the present invention is a machine tool including a plurality of moving devices that move a workpiece or a tool that processes the workpiece as a target, and each of the moving devices. Each includes a support that supports the object, and a drive device that moves the object by moving the support in a specific machine axis direction, and the plurality of movement devices include the object. The first moving device and the second moving device are included as moving devices whose movement axes are parallel to each other. The first moving device includes a first support as the support, and the first support as the first support. A first drive device as the drive device that moves in one machine axis direction, and the second moving device has a second support member as the support member and the second support member in the first machine axis direction. In the direction of the second machine axis parallel to Provided a machine tool having a second driving device as to the drive unit, wherein a numerical controller for performing numerical control of each mobile device, wherein each mobile when placing the object in a particular location The machine indicated by the drive device of each moving device when the theoretical machine axis coordinate which is the theoretical coordinate of the machine axis indicated by the drive device of the apparatus and the object are actually arranged at the specific position An error calculation unit that calculates error data including a difference from the measured machine axis coordinate that is the coordinate of the axis, an error data storage unit that stores error data calculated by the error calculation unit, and the drive of each of the moving devices A program storage unit for storing a numerical control program for instructing the apparatus to move the support, and the numerical control program from the numerical control program stored in the program storage unit A command position reading unit that reads a command position that is a movement position of the object to be instructed, and coordinates for each machine axis for instructing driving to each moving device from the command position read by the command position reading unit And a coordinate for each machine axis calculated by the machine axis coordinate calculation unit is corrected based on the error data for each corresponding machine axis stored in the error data storage unit. Accordingly, a correction calculation unit that calculates correction coordinates for each of the mechanical axes, and a drive that drives the support body to the driving device of each moving device according to the correction coordinates for each of the mechanical axes calculated by the correction calculation unit. A control unit, wherein the error calculation unit causes the first driving device to move the first support member in a predetermined direction from a reference position in the first machine axis direction. Wherein from said calculates the error data, the same position as the reference position of the second driving device and the second support in the second machine axis direction when placing the object in the specific position by the The error data when the object is arranged at the specific position is calculated by moving the object in the same direction as the predetermined distance by the same distance as the specific distance.

  In this numerical control device, it is possible to promote the common use of error correction systems in various machine tools having different machine structures. Specifically, the error data storage unit, the program storage unit, and the command position reading unit in this numerical control device are portions that do not depend on the machine structure of the machine tool, and are therefore common to various machine tools having different machine structures. Applicable. Further, even when the position and orientation of the object to be moved by the moving device of the machine tool are different due to the different machine structures of the various machine tools, the driving devices of the plurality of moving devices are respectively Since the configuration in which the object is moved by moving the support with the machine axis of the machine is common, the correction calculation unit and the control unit can be commonly applied to machine tools having different machine structures. . Therefore, in this numerical control device, only the machine axis coordinate calculation unit that calculates the coordinates for each machine axis for instructing the driving to each moving device from the command position is a part that depends on the machine structure of the machine tool. If only the axis coordinate calculation unit is reconfigured according to the machine structure of each machine tool, most of the error correction system of the numerical control device can be used for various machine tools having different machine structures. For this reason, in this numerical control apparatus, it is possible to promote the common use of error correction systems in various machine tools having different machine structures.

  Further, in this numerical control device, the correction calculation unit corrects the coordinates for each mechanical axis corresponding to the command position indicated by the numerical control program based on the error data for each mechanical axis of the driving device constituting each moving device. . In other words, the error data based on the position and orientation of the object cannot be used to determine the error of each moving axis parallel to each other. In the apparatus, since the drive device error correction for executing the movement of the object by each moving device is performed based on the error data for each mechanical axis, the error correction of the operation of such a drive device is: This can be done regardless of whether the movement axes of the respective movement devices are parallel to each other. As a result, in this numerical control device, even if the movement axes of the moving devices are parallel to each other, the operations of these moving devices can be corrected for errors.

  Therefore, in this numerical control device, while promoting the common use of an error correction system in various machine tools having different machine structures, a machine tool including a plurality of moving devices having mutually parallel moving axes also has the parallel moving axes. Error correction of the operation of each mobile device can be performed.

In the numerical controller, the error calculation section, the error data by the object reduces the theoretical mechanical axis coordinate at that particular position from the actual mechanical axis coordinate when positioned in said specific position and Turkey to calculate the are preferred.

  According to this configuration, a series of error correction processes from accumulation of error data to error correction for each machine axis based on the error data can be performed in a numerical control device provided in the machine tool.

  The machine tool of the present invention includes the numerical control device, a workpiece moving device that moves the workpiece in a specific direction in a horizontal plane, and a position that is separated from the workpiece moving device in a horizontal direction and a direction orthogonal to the moving direction of the workpiece. And a column extending vertically, a tool for machining a workpiece, a spindle head for rotating the tool around its axis, and a vertical movement provided on the column for moving the spindle head An apparatus, a first horizontal movement apparatus, and a second horizontal movement apparatus. The work movement apparatus is provided on the base so as to be movable in a machine axis direction of a work extending in a specific direction in a horizontal plane. A workpiece support that is supported from below; and a workpiece driving device that moves the workpiece support in the workpiece machine axis direction. The vertical movement device is provided along the column. A vertical support that is movably provided in the vertical machine axis direction extending in the vertical direction and supports the first horizontal movement device, and a vertical drive device that moves the vertical support in the vertical machine axis direction, The first horizontal movement device is provided on the vertical support so as to be movable in a first horizontal machine axis direction perpendicular to both the workpiece machine axis and the vertical machine axis, and supports the second horizontal movement device. A first horizontal support and a first horizontal drive for moving the first horizontal support in the first horizontal machine axis direction, wherein the second horizontal movement device is a first parallel to the first horizontal machine axis. 2 is provided on the first horizontal support so as to be movable in the horizontal machine axis direction, and supports the spindle head in such a posture that the rotation axis of the tool by the spindle head is parallel to the second horizontal machine axis. The horizontal support and the second horizontal support are A second horizontal drive device that moves in the direction of two horizontal machine axes, wherein the numerical control device uses the coordinates for each of the mechanical axes obtained from the command position of the tool or workpiece indicated by the numerical control program as the respective machine axes. Correction coordinates for each mechanical axis are calculated by performing correction based on the error data for each machine, and driving of each driving device is controlled according to the calculated correction coordinates for each mechanical axis.

  In this machine tool, for example, when the first horizontal support body of the first horizontal movement device and the second horizontal support body of the second horizontal movement device project to the workpiece movement device side, the tool, the spindle head, and the first horizontal support body In addition, the column may bend due to the weight of the second horizontal movement device, which may cause an error in the actual position of the tool with respect to the command position of the tool. However, even in such a case, in this machine tool, the numerical control device performs error correction for each machine axis based on the error data for each machine axis, thereby causing the tool due to the deflection of the column due to the weight. The position error can be corrected.

  In this machine tool, the first horizontal machine axis for moving the first horizontal support and the second horizontal machine axis for moving the second horizontal support are parallel to each other. Since the error correction for each machine axis is performed based on the error data, the correction amount can be obtained individually for the first horizontal machine axis and the second horizontal machine axis that are parallel to each other, and the error correction of the tool position is performed. Can be done appropriately.

  Further, the machine tool of the present invention sandwiches the workpiece moving device in the horizontal direction and in the direction perpendicular to the moving direction of the workpiece, the numerical control device, the workpiece moving device that moves the workpiece in a specific direction in a horizontal plane. And a column extending vertically, a tool for machining a workpiece, a spindle head for rotating the tool around its axis, and provided on the column, the spindle head A work machine shaft including a first vertical movement device, a horizontal movement device, a second vertical movement device, a rotation movement device, and a rocking device for moving, wherein the work movement device extends in a specific direction within a horizontal plane. A table that is provided on the base so as to be movable in the direction and supports the workpiece from below, and a table driving device that moves the table in the workpiece machine axis direction The first vertical movement device is provided between the columns on both sides of the workpiece movement device above the table and is movable in the first vertical mechanical axis direction extending in the vertical direction along the columns. A cross rail that supports the horizontal movement device, and a first vertical drive device that moves the cross rail in the first vertical machine axis direction, the horizontal movement device including the work machine shaft and the first A saddle that is mounted on the cross rail so as to be movable in a horizontal mechanical axis direction perpendicular to both of the vertical mechanical axes and supports the second vertical movement device; and a horizontal drive device that moves the saddle in the horizontal mechanical axis direction. And the second vertical movement device is provided on the saddle so as to be movable in a second vertical mechanical axis direction parallel to the first vertical mechanical axis, and supports the rotational movement device. A second vertical driving device that moves the vertical support in the second vertical machine axis direction, and the rotational movement device is provided on the vertical support so as to be rotatable in the rotary machine axis direction around the vertical axis. A rotary support that supports the swing device, and a rotation drive device that rotates the rotary support in the direction of the rotary machine axis, wherein the swing device is a swing mechanical shaft about a horizontal axis. A swing support provided on the rotary support so as to be swingable in a direction, and supporting the spindle head so that a rotation axis of a tool by the spindle head is perpendicular to the horizontal axis, and the swing support A swing drive device that swings the body in the swing machine axis direction, and the numerical control device determines the coordinates for each of the machine axes obtained from the command position of the tool or workpiece indicated by the numerical control program. Compensation based on the error data for each machine axis. By correcting, the corrected coordinates for each mechanical axis are calculated, and the drive of each driving device is controlled according to the calculated corrected coordinates for each mechanical axis.

  In this machine tool, an error caused by deflection occurring in a column or a cross rail is effectively corrected by the numerical controller according to the present invention. Specifically, horizontal deflection is likely to occur in the column due to the weight of each device supported by the column, and vertical deflection occurs in the cross rail due to the weight of each device mounted on the cross rail. These deflections easily cause an error in the actual position of the tool with respect to the command position of the tool, but the numerical control device performs error correction for each machine axis based on the error data for each machine axis. The error of the tool position due to the deflection of the column and the cross rail can be corrected.

  Further, in this machine tool, the first vertical mechanical axis for moving the cross rail and the second vertical mechanical axis for moving the vertical support are parallel to each other, but based on the error data for each mechanical axis by the numerical controller. Thus, the error correction for each machine axis is performed, so that the correction amount can be individually obtained for the first vertical machine axis and the second vertical machine axis that are parallel to each other, and the error correction of the tool position can be appropriately performed. it can.

  Further, in a machine tool including a rotational movement device that rotates a tool around a predetermined axis and changes the rotation angle of the tool around the axis, a conventional technique performs error correction based on error data of the spatial position and orientation of the tool. With this numerical control device, it is not possible to appropriately correct the error of the tool for each rotation angle around the axis by the rotary movement device. In other words, since it is impossible to determine what error the rotation angle of the tool causes from the error data of the tool spatial position and orientation, the conventional numerical control device has an error for each tool rotation angle. Correction is impossible. Even in the machine tool of the present invention, since the tool is rotated in the direction of the rotary machine axis by rotating the rotary support by the rotary drive device, different errors may occur for each rotation angle in the rotary machine axis. However, since the error correction for each machine axis is performed based on the error data for each machine axis, an error to be corrected for each rotation angle in the rotating machine axis direction can be obtained. As a result, in this machine tool, appropriate error correction can be performed for each rotation angle in the rotary machine axis direction.

  Further, the machine tool of the present invention includes the numerical control device, a tool for machining a workpiece, a spindle head for rotating the tool around its axis, and a rotation axis of the tool by the spindle head. A parallel link mechanism that supports the head in a horizontal direction and translates the spindle head; and a horizontal movement device that moves the entire parallel link mechanism in a specific direction in a horizontal plane, the horizontal movement device, A base, a horizontal support provided on the base so as to be movable in a horizontal machine axis direction extending in a specific direction within a horizontal plane, and supporting the parallel link mechanism from below; The parallel link mechanism is formed in a bar shape extending in one direction, and one end portion of the parallel link mechanism. A strut that is connected to the head support portion so as to be capable of joint drive and supports the head support portion, and is installed on the horizontal support, and the one end side of each strut projects from the horizontal support. A strut support mechanism that supports each of the struts so as to be movable in the direction of the strut machine axis extending in the longitudinal direction, and is provided for each strut and supported by the head support portion. A strut drive device that moves the struts in the direction of the strut machine axis so that the spindle head moves in parallel. The numerical control device includes a first horizontal movement axis that is parallel to the horizontal machine axis, a vertical A vertical movement axis extending in a direction and a seat of each movement axis of the second horizontal movement axis perpendicular to both the first horizontal movement axis and the vertical movement axis The corrected coordinates for each machine axis are calculated by correcting the coordinates for each machine axis obtained from the command position of the tool consisting of the error data for each machine axis, and for each calculated machine axis The driving of the horizontal driving device and each of the strut driving devices is controlled according to the correction coordinates.

  In this machine tool, an error caused by the bending generated in each strut is effectively corrected by the numerical control device according to the present invention. Specifically, in this machine tool, a head support portion is connected to the end portion of each strut provided so as to protrude from the horizontal support body, and the spindle head is supported by the head support portion. Therefore, each strut is likely to bend in the vertical direction due to the weight of the tool, the spindle head, the head support portion, etc., and this bend causes an error in the actual position of the tool with respect to the command position of the tool. However, by performing error correction for each machine axis based on the error data for each machine axis, it is possible to correct the tool position error caused by the deflection of each strut.

  In this machine tool, the horizontal machine shaft that moves the horizontal support that supports the entire parallel link mechanism and the first horizontal movement shaft that constitutes the command position of the tool are parallel to each other. Since the error correction for each machine axis is performed based on the error data for each machine axis, each machine including the horizontal machine axis even if the first horizontal movement axis and the horizontal machine axis are parallel to each other. The correction amount for each axis can be obtained individually, and the error of the tool position can be corrected appropriately.

  As described above, according to the present invention, while promoting the common use of error correction systems in various machine tools having different machine structures, a machine tool including a plurality of moving devices having moving axes parallel to each other can also be used in parallel. Error correction of the operation of each moving device having a moving axis can be performed.

1 is a schematic side view of a machine tool according to a first embodiment of the present invention. It is a functional block diagram of the numerical control apparatus by 1st Embodiment of this invention. It is a front view of the jig plate used for acquisition of error data. It is sectional drawing along the IV-IV line of the jig | tool plate shown in FIG. It is a flowchart which shows the process at the time of the error data acquisition by the numerical control apparatus of 1st Embodiment of this invention. It is a flowchart which shows the control process of the machine tool by the numerical control apparatus of 1st Embodiment of this invention. It is a schematic perspective view of the machine tool by 2nd Embodiment of this invention. It is a functional block diagram of the numerical control apparatus by 2nd Embodiment of this invention. It is a figure which shows the installation state of the jig | tool plate at the time of acquiring error data in the machine tool shown in FIG. It is a flowchart which shows the process at the time of the error data acquisition by the numerical control apparatus of 2nd Embodiment of this invention. It is a schematic perspective view of the machine tool by 3rd Embodiment of this invention. It is a functional block diagram of the numerical control apparatus by 3rd Embodiment of this invention. It is the figure which looked at the arrangement | positioning state of the jig | tool plate at the time of acquiring error data in the machine tool shown in FIG. 11 from the front. It is the figure which looked at the arrangement | positioning state of the jig | tool plate at the time of acquiring error data in the machine tool shown in FIG. 11 from the side. It is a flowchart which shows the process at the time of the error data acquisition by the numerical control apparatus of 3rd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
First, with reference to FIG. 1, the structure of the machine tool by 1st Embodiment of this invention is demonstrated.

  In the machine tool according to the first embodiment, a spindle head 12 that rotates a tool for processing a workpiece that is a workpiece is arranged so that a rotation axis of a tool by the spindle head 12 extends in a horizontal direction, and By moving the spindle head 12 forward and backward along the direction in which the rotation axis extends, the tool is configured to be brought into contact with and separated from the workpiece from the side. The machine tool is provided with two moving devices for moving the spindle head 12 in the direction in which the rotation shaft extends, and the movement axes of the tools by the two moving devices are parallel to each other.

  Specifically, the machine tool according to the first embodiment includes a workpiece moving device 2, a column 4, a vertical moving device 6, a first horizontal moving device 8, a second horizontal moving device 10, and a spindle head 12. And a control panel 14. The column 4, the vertical movement device 6, the first horizontal movement device 8 and the second horizontal movement device 10 are integrally provided, and the workpiece movement device 2 is arranged apart from them. Yes.

  The workpiece moving device 2 is a device for moving a workpiece. The workpiece moving device 2 includes a base 2a fixed on a predetermined installation location, a workpiece support 2b provided on the base 2a, and a workpiece driving device 2c that moves the workpiece support 2b (see FIG. 2). And have.

  The workpiece support 2b supports the workpiece. The work support 2b includes a table 2d provided on the base 2a so as to be movable in the X-axis direction extending in a direction perpendicular to the paper surface in FIG. 1 and the table 2d in the direction orthogonal to the X-axis direction. It has the back support part 2e provided in the edge part located in the column 4 and the other side. The workpiece is placed on the table 2d of the workpiece support 2b and set so that the back surface thereof is in contact with the back support portion 2e. The workpiece drive device 2c is provided on the base 2a and moves the table 2d of the workpiece support 2b in the X-axis direction. Thereby, the workpiece | work set to the workpiece | work support body 2b moves to a X-axis direction. In other words, in the workpiece moving device 2, the mechanical axis of the workpiece driving device 2c is the X axis, and the moving axis of the workpiece that is the moving object is the same X axis.

  The column 4 is erected at an installation location separated from the installation location of the base 2a on the opposite side to the back support portion 2e, and extends in the vertical direction.

  The vertical movement device 6 is provided in the column 4. The vertical movement device 6 includes a vertical support 6a and a vertical drive device 6b (see FIG. 2).

  The vertical support 6a is attached to the column 4 so as to be movable in the vertical direction. That is, the vertical support 6 a can move up and down along the column 4. The vertical support 6 a supports the first horizontal movement device 8. Since the first horizontal movement device 8 supports the tool via the second horizontal movement device 10 and the spindle head 12 as will be described later, the vertical support 6a indirectly supports the tool. The vertical drive device 6b is provided in the column 4 and moves the vertical support 6a in the Y-axis direction extending in the vertical direction. Accordingly, the vertical drive device 6b moves the first horizontal movement device 8, the second horizontal movement device 10, the spindle head 12, and the tool in the Y-axis direction together with the vertical support 6a. That is, in this vertical movement device 6, the mechanical axis of the vertical drive device 6b is the Y axis extending in the vertical direction, and the movement axis for moving the tool is also the same Y axis.

  The first horizontal movement device 8 is provided on the vertical support 6a. The first horizontal movement device 8 includes a first horizontal support 8a and a first horizontal drive device 8b (see FIG. 2).

  The first horizontal support 8a is provided on the vertical support 6a so as to be movable in the W-axis direction extending perpendicular to both the X-axis and the Y-axis. The first horizontal support 8 a supports the second horizontal movement device 10, and supports the tool via the second horizontal movement device 10 and the spindle head 12. The first horizontal driving device 8b is provided on the vertical support 6a, and moves the first horizontal support 8a forward and backward in the W-axis direction. As a result, the second horizontal movement device 10, the spindle head 12 and the tool move forward and backward in the W-axis direction together with the first horizontal support 8a, whereby the tool contacts and separates from the workpiece in the W-axis direction extending in the horizontal direction. To do. That is, in the first horizontal movement device 8, the mechanical axis of the first horizontal drive device 8b is the W axis, and the movement axis for moving the tool is the same W axis.

  The second horizontal movement device 10 is provided on the first horizontal support 8a. The second horizontal movement device 10 moves the tool forward and backward in the Z-axis direction parallel to the W axis, which is the movement axis of the tool by the first horizontal movement device 10. The second horizontal movement device 10 includes a second horizontal support 10a and a second horizontal drive device 10b (see FIG. 2).

  The second horizontal support 10a is provided on the first horizontal support 8a so as to be movable in the Z-axis direction parallel to the W-axis. The second horizontal support 10 a supports the spindle head 12 and supports the tool via the spindle head 12. The second horizontal drive device 10b is provided on the first horizontal support 8a, and moves the second horizontal support 10a forward and backward in the Z-axis direction. As a result, the spindle head 12 and the tool move forward and backward in the Z-axis direction together with the second horizontal support 10a, whereby the tool contacts and separates from the workpiece in the Z-axis direction extending in the horizontal direction. That is, in the second horizontal movement device 10, the mechanical axis of the second horizontal drive device 10b is the Z axis, and the movement axis for moving the tool is also the same Z axis.

  The spindle head 12 is provided on the second horizontal support 10a so that the rotation axis thereof is parallel to the W axis and the Z axis. The spindle head 12 holds a tool and rotates the tool around its axis. In addition, a tool performs processing, such as turning, with respect to a workpiece | work, when the front-end | tip part contact | abuts to a workpiece | work in the state rotated around the axis | shaft. Further, a later-described spindle position, which serves as a reference for calculating coordinates for each mechanical axis, corresponds to the position of the base end of the tool.

  The control panel 14 is for controlling and operating the respective moving devices 2, 6, 8, and 10, the spindle head 12, and other parts of the machine tool. The control panel 14 is electrically connected to the driving devices 2c, 6b, 8b, 10b of the moving devices 2, 6, 8, 10 and the driving source of the spindle head 12.

  The control panel 14 is provided with a manual operation device 14a. The manual operation device 14a can drive each of the driving devices 2c, 6b, 8b, and 10b individually by an arbitrary driving amount by an operator's manual operation, and thereby each of the supports 2b, 6a. , 8a, 10a can be individually moved by an arbitrary amount of movement. The control panel 14 is provided with a data acquisition switch 14b. As will be described later, when the operator presses the data acquisition switch 14b, the coordinates of the mechanical axes (X, Y, W, Z) indicated by the drive devices 2c, 6b, 8b, and 10b will be described later. It is configured to be captured by the actual measurement coordinate acquisition unit 20 b of the error data acquisition unit 20 of the numerical control device 16.

  The control panel 14 incorporates a numerical control device 16 (see FIG. 2) that performs numerical control of the moving devices 2, 6, 8, 10 and the driving unit of the spindle head 12.

  Next, the detailed configuration of the numerical controller 16 according to the first embodiment will be described.

  As shown in FIG. 2, the numerical controller 16 includes an error data acquisition unit 20, an error data storage unit 22, a memory 24, a command position reading unit 26, a machine axis coordinate calculation unit 28, and a correction calculation unit 30. And a drive control unit 32.

  The error data acquisition unit 20 acquires error data for each corresponding mechanical axis (X, Y, W, Z) indicated by each driving device 2c, 6b, 8b, 10b of each of the moving devices 2, 6, 8, 10. To do. That is, the error data acquisition unit 20 acquires an error in the actual coordinate of each machine axis caused by various factors from the theoretical coordinate of each machine axis corresponding to the command position of the tool designated by the NC program. The error data acquisition unit 20 includes a theoretical coordinate acquisition unit 20a, an actual measurement coordinate acquisition unit 20b, an error calculation unit 20c, and a counter 20d.

  The theoretical coordinate acquisition unit 20a is a theoretical machine axis coordinate indicated by each driving device 2c, 6b, 8b, 10b of each moving device 2, 6, 8, 10 when the moving object is placed at a specific position. A certain theoretical machine axis coordinate is acquired. Specifically, the theoretical coordinate acquisition unit 20a is a manual operation device when the operator moves the object by operating the manual operation device 14a to drive the drive devices 2c, 6b, 8b, and 10b. The theoretical machine axis coordinates for each machine axis are calculated by performing inverse kinematic transformation on the position of the object indicated by 14a based on the NC program.

  The actual measurement coordinate acquisition unit 20b is an actual measurement that is a machine axis coordinate indicated by each driving device 2c, 6b, 8b, 10b of each moving device 2, 6, 8, 10 when the moving object is actually arranged at a specific position. The machine axis coordinates are acquired. The actual coordinate acquisition unit 20b captures the actual measured machine axis coordinates for each machine axis at that time from each of the driving devices 2c, 6b, 8b, and 10b in response to the data acquisition switch 14b being pressed.

  The error calculation unit 20c calculates error data for each mechanical axis corresponding to the supports 2b, 6a, 8a, and 10a of the respective moving devices 2, 6, 8, and 10. Specifically, the error calculation unit 20c is acquired by the theoretical coordinate acquisition unit 20a from the actual measurement machine axis coordinates acquired by the actual measurement coordinate acquisition unit 20b in response to the data acquisition switch 14b being pressed. The error data for each machine axis is calculated by subtracting the calculated theoretical machine axis coordinates.

  The counter 20d counts an i value and a j value described later in each error data acquisition cycle in the error data acquisition process.

  The error data storage unit 22 stores the error data calculated by the error calculation unit 20c. The error data storage unit 22 stores the error data in the form of an error table registered in an array corresponding to the acquisition position of the error data for each of the X-axis, Y-axis, Z-axis, and W-axis mechanical axes.

  The memory 24 stores an NC program (numerical control program) and various data, and is included in the concept of the program storage unit of the present invention. The NC program is a program for instructing the driving devices 2c, 6b, 8b, and 10b to drive the supports 2b, 6a, 8a, and 10a so as to move the tool according to a predetermined tool path when machining the workpiece. The data other than the NC program stored in the memory 24 includes a command position, machine axis coordinates converted from the command position, correction coordinates for each machine axis, and the like, which will be described later.

  The command position reading unit 26 reads a command position, which is a movement position of a tool or a work designated by the program, from an NC program stored in the memory 24. The command position reading unit 26 stores the read command position in the memory 24.

  The machine axis coordinate calculation unit 28 applies the command position of the tool read by the command position reading unit 26 and stored in the memory 24 to each drive device 2c, 6b, 8b, 10b of each moving device 2, 6, 8, 10. The coordinates for each machine axis for instructing driving are calculated. Specifically, the machine axis coordinate calculation unit 28 moves the X axis coordinate by which the workpiece driving device 2c moves the workpiece support 2b and the vertical driving device 6b moves the vertical support 6a from the coordinates of the command position. The Y-axis coordinates, the W-axis coordinates for the first horizontal drive 8b to move the first horizontal support 8a, and the Z-axis coordinates for the second horizontal drive 10b to move the second horizontal support 10a are calculated. . The mechanical axis coordinate calculation unit 28 calculates a spindle position of the spindle head 12 from the command position, and calculates the spindle position calculated by the spindle position calculation unit 28a from the driving devices 2c, 6b, 8b, And a coordinate conversion unit 28b for converting the coordinates into the coordinates for each machine axis for instructing driving to 10b. The coordinate conversion unit 28b performs conversion from the spindle position to the coordinates of each machine axis using an inverse kinematic relational expression. The coordinate conversion unit 28b causes the memory 24 to store the coordinates for each machine axis after conversion.

  The correction calculation unit 30 corrects each machine axis by correcting the converted machine axis coordinates converted by the coordinate conversion unit 28 b and stored in the memory 24 based on the error data stored in the error data storage unit 22. Calculate the coordinates. Then, the correction calculation unit 30 stores the calculated correction coordinates in the memory 24.

  The drive control unit 32 applies the drive devices 2c, 6b, 8b, and 10b of each of the moving devices 2, 6, 8, and 10 according to the correction coordinates for each mechanical axis calculated by the correction calculation unit 30 and stored in the memory 24. Control to drive each support 2b, 6a, 8a, 10a is performed. That is, the drive control unit 32 drives each of the driving devices 2c, 6b, 8b, and 10b so as to move each of the supports 2b, 6a, 8a, and 10a to the position indicated by the correction coordinate for each corresponding mechanical axis.

  Among the above-described units constituting the numerical control device 16, the machine axis coordinate calculation unit 28 is a part depending on the machine structure of the machine tool. In other words, since the machine structure of the machine tool from the part that supports the tool or workpiece to each drive device varies depending on the machine tool, drive is performed for each drive device from the command position of the tool or workpiece indicated by the NC program. The function of the machine axis coordinate calculation unit 28 for calculating the machine axis coordinates for instructing needs to be configured according to the machine structure of the machine tool to be applied. On the other hand, the units other than the machine axis coordinate calculation unit 28 in the numerical control device 16 do not depend on the machine structure of the machine tool, and can be used in various machine tools.

  Next, the error data acquisition process by the numerical controller 16 of the first embodiment will be described with reference to the flowchart of FIG.

  When acquiring error data according to the first embodiment, first, a jig plate 100 as shown in FIGS. 3 and 4 is set at an initial position on the table 2d of the work support 2b (step S1).

  In the first embodiment, the jig plate 100 has nine reference holes 100a formed in a square plate member as viewed from the front. Each reference hole 100 a is used to position the tip of the reference tool 102 as will be described later, and is a circular hole that penetrates in the thickness direction of the jig plate 100. The reference holes 100 a are arranged so that three are arranged in the vertical and horizontal directions of the jig plate 100. The reference holes 100a arranged in the vertical direction are arranged on a straight line along the side extending in the vertical direction of the jig plate 100, and the reference holes 100a arranged in the horizontal direction are arranged along the side extending in the horizontal direction of the jig plate 100. It is arranged on a straight line. The interval between the reference holes 100a adjacent in the vertical direction and the interval between the reference holes 100a adjacent in the horizontal direction are set to be equal. In the first embodiment, both the intervals are 500 mm. . Of the nine reference holes 100 a, the reference hole 100 a located at the center thereof is provided at the center of the jig plate 100. The initial position where the jig plate 100 is set is a position where the back surface of the jig plate 100 contacts the back support portion 2e on the table 2d. When the jig plate 100 is set in this way, the reference holes 100a aligned in the vertical direction are aligned in the Y-axis direction, and the reference holes 100a aligned in the horizontal direction are aligned in the X-axis direction.

  Next, the reference tool 102 is attached to the spindle head 12 (step S3).

  The reference tool 102 serves as a positioning reference with respect to the reference hole 100a of the jig plate 100 in acquiring error data. The reference tool 102 is formed in a cylindrical shape having a diameter slightly smaller than the inner diameter of the reference hole 100a. In step S3, the reference tool 102 is attached to the spindle head 12 so that the axis of the reference tool 102 and the rotation axis of the spindle head 12 are coaxial. Accordingly, the reference tool 102 is arranged so as to protrude from the spindle head 12 toward the jig plate 100 set at the initial position in the horizontal direction.

  Next, the mechanical axis coordinate (reference coordinate) corresponding to the reference hole 100a at the center of the jig plate 100 is measured (step S5).

  Specifically, first, the operator operates the manual operation device 14a to drive the drive devices 2c, 6b, 8b, and 10b to move the support bodies 2b, 6a, 8a, and 10a, and thereby to cure. The tool plate 100 and the reference tool 102 are moved so that the tip of the reference tool 102 is coaxial with the center reference hole 100a, and the position of the tip surface of the reference tool 102 is the moving device 6, 8, The jig plate 100 and the reference tool 102 are arranged so as to coincide with the position of the 10 side surface. In this state, when the operator presses the data acquisition switch 14b, the actual coordinate acquisition unit 20b uses the mechanical axis coordinates indicated by the respective driving devices 2c, 6b, 8b, and 10b as reference coordinates (X0, Y0, Z0). , W0).

  Thereafter, the grid partition coordinates of the error table are registered in the error data storage unit 22 based on the acquired reference coordinates (X0, Y0, Z0, W0) (step S7). The lattice division coordinates are (−500 + X0, X0, 500 + X0) on the X axis, (−500 + Y0, Y0, 500 + Y0) on the Y axis, (Z0, 500 + Z0) on the Z axis, and (W0, 500 + W0) on the W axis.

  Next, in the counter 20d, the j value indicating the combination of the W-axis coordinate indicated by the first horizontal drive device 8b and the Z-axis coordinate indicated by the second horizontal drive device 10b is obtained as j. = 0 is reset (step S9). Note that j = 0 corresponds to the coordinates of (Z0, W0), j = 1 corresponds to the coordinates of (500 + Z0, W0), j = 2 corresponds to the coordinates of (Z0, 500 + W0), and j = 3 Corresponds to the coordinates of (500 + Z0, 500 + W0).

  Next, the operator manually adjusts the setting position of the jig plate 100 to place the jig plate 100 at a position corresponding to the j value (step S11). At this time, the jig plate 100 is arranged such that the position of the surface of the jig plate 100 on the side of the moving devices 6, 8, 10 is a position corresponding to the j value. Here, since j = 0 is set in step S9, the corresponding Z-axis coordinate and W-axis coordinate are (Z0, W0), so the jig plate 100 is moved from the position where it was set first. There is no need to let them.

  Next, the operator operates the manual operation device 14a to position the W-axis coordinate of the first horizontal support 8a driven by the first horizontal drive device 8b at a coordinate corresponding to the j value (step S13). Here, since j = 0 is set in step S9, the W-axis coordinate of the first horizontal support 8a is set to W0 corresponding to the j value, and therefore it is necessary to move the first horizontal support 8a. Absent. When j = 1, as in the case of j = 0, the W-axis coordinate of the first horizontal support 8a is set to W0. When j = 2, 3, the W-axis of the first horizontal support 8a is set. The coordinates are 500 + W0.

  Next, in the counter 20d, the i value indicating which of the nine reference holes 100a of the jig plate 100 is used is reset to i = 0 (step S15). The i value is associated with each reference hole 100a as shown in FIG. 2 when the jig plate 100 set on the table 2d is viewed from the moving device 2, 6, 8, 10 side, for example. And

  Next, the operator drives the work drive device 2c, the vertical drive device 6b, and the second horizontal drive device 10b using the manual operation device 14a, and positions the reference tool 102 in the reference hole 100a corresponding to the i value (step). S17).

  The positioning of the reference tool 102 with respect to the reference hole 100a is performed in the same manner as the positioning performed in step S5. The theoretical machine axis coordinate for each machine axis when the reference tool 102 is positioned in the reference hole 100a corresponding to the i value is acquired by the theoretical coordinate acquisition unit 20a.

  Next, the operator presses the data acquisition switch 14b, and accordingly, the actual measurement coordinate acquisition unit 20b acquires the actual measurement machine axis coordinates for each machine axis at that time, and the error calculation unit 20c receives the theoretical machine axis at this time. Error data which is the difference between the coordinates and the measured machine axis coordinates is calculated (step S19). Specifically, the error calculator 20c calculates error data by subtracting the corresponding theoretical machine axis coordinate from the actually measured machine axis coordinate for each machine axis (X, Y, Z, W).

  Thereafter, the error calculation unit 20c stores the calculated error data in the error data storage unit 22 (step S21). At this time, the error data is associated with an index representing the acquired position, and is registered in the error data storage unit 22 at a corresponding portion of the error array of the error table corresponding to the index.

  Next, the i value is incremented by +1 in the counter 20d (step S23).

  Thereafter, the error data acquisition unit 20 determines whether or not the i value is 9 or more (step S25). At this time, if it is determined that the i value is not 9 or more, that is, the i value is 8 or less, the processing from step S17 onward is repeated. Specifically, the reference tool 102 is positioned in the corresponding reference hole 100a after i = 1, and the error data is calculated and the error data is registered in the error table each time. Then, nine error data corresponding to a total of nine reference holes 100a are stored in the error data storage unit 22 until i = 8.

  Then, in step S23, the i value is counted up to 9, and as a result, if it is determined in step S25 that the i value is 9 or more, then the j value is incremented by +1 in the counter 20d ( Step S27).

  Thereafter, the error data acquisition unit 20 determines whether or not the j value is 4 or more (step S29). At this time, if it is determined that the j value is not 4 or more, that is, the j value is 3 or less, the processing after step S11 is repeated.

  Specifically, the setting position of the jig plate 100 is adjusted to a corresponding position after j = 0. When j = 1, it corresponds to the position of (500 + Z0, W0), and when j = 2, it corresponds to the position of (Z0,500 + W0). Therefore, when j = 1, 2, both are initial on the table 2d. The jig plate 100 is set at a position moved by +500 mm in the Z-axis (W-axis) direction from the position. Further, since j = 3 corresponds to the position of (500 + Z0, 500 + W0), the position where the jig plate 100 is further moved by +500 mm in the Z-axis (W-axis) direction than when j = 1, 2, That is, it is set at a position moved by +1000 mm in the Z-axis (W-axis) direction from the initial position. In the process of step S13, the W-axis coordinate of the first horizontal support 8a that is driven by the first horizontal driving device 8b is set as the W-axis coordinate corresponding to each j value. That is, the W axis coordinates are set to W0 when j = 1, and 500 + W0 when j = 2 and 3, respectively. In each case of j = 1 to 3, error data acquisition processes corresponding to the nine reference holes 100a composed of steps S17 to S25 are performed.

  In step S27, when the counter 20d counts up to j = 4, in step S29, the error data acquisition unit 20 determines that the j value is 4 or more, and all error data acquisition processes are completed.

  Next, the numerical control process of the machine tool by the numerical control device 16 of the first embodiment will be described along the flowchart of FIG.

  In this numerical control, first, the command position reading unit 26 reads the tool path in the NC program stored in the memory 24 (step S31). This tool path represents the locus of the tip of the tool to be moved for machining the workpiece, and shows the transition of the position of the tip of the tool in units of time or distance.

  Thereafter, the command position reading unit 26 extracts the tip position (command position) of the tool after the next time unit or distance unit of the current position of the tool from the read tool path (step S33). Then, the command position reading unit 26 stores the obtained command position of the tool in the memory 24.

  Next, the spindle position calculation unit 28a of the machine axis coordinate calculation unit 28 calculates the spindle position of the spindle head 12 from the command position of the tool (step S35). At this time, the spindle position calculation unit 28a calculates the spindle position by subtracting the tool length from the tool command position.

  Thereafter, the coordinate conversion unit 28b converts the spindle position calculated by the spindle position calculation unit 28a into coordinates for each mechanical axis of each driving device 2c, 6b, 8b, 10b using the inverse kinematic relational expression (step) S37). The coordinate conversion unit 28 b stores the converted machine axis coordinates in the memory 24.

  Next, the correction calculation unit 30 determines to which section of the error table the converted machine axis coordinates belong to the error data storage unit 22 (step S39).

  Specifically, the correction calculation unit 30 includes the X-axis coordinate, the Y-axis coordinate, the Z-axis coordinate, the W-axis coordinate of the converted machine axis coordinates, and the grid partition coordinates (−500 + X0, X0, 500 + X0) of the error table, Compare (-500 + Y0, Y0, 500 + Y0), (Z0, 500 + Z0), (W0, 500 + W0), and where the X, Y, Z, W axis coordinates are relative to the corresponding grid break coordinates Ask for.

  That is, whether the X-axis coordinate belongs to a section of −500 + X0 or less, a section of −500 + X0 or more, a section of X0 or less, a section of X0 or more and 500 + X0 or less, or a section greater than 500 + X0. Determine. Whether the Y-axis coordinate belongs to a section of −500 + Y0 or less, a section of −500 + Y0 or more, a section of Y0 or less, a section of Y0 or more and 500 + Y0 or less, or a section greater than 500 + Y0. Determine. In addition, it is determined whether the Z-axis coordinate belongs to a section that is less than or equal to Z0, a section that is larger than Z0 and that is 500 + Z0 or less, or a section that is larger than 500 + Z0. Further, it is determined whether the W-axis coordinate belongs to a section that is W0 or less, a section that is larger than W0 and that is 500 + W0 or less, or a section that is larger than 500 + W0.

  Next, the correction calculation unit 30 calculates an error estimation amount for each coordinate of the X, Y, Z, and W axes of the machine axis coordinates after the conversion based on the determined section and the error data of the error table. (Step S41).

  Specifically, when the X-axis coordinate of the machine axis coordinate after the conversion belongs to an interval of −500 + X0 or less, the error estimation value corresponding to the X-axis coordinate is directly used as the error data acquired at the position −500 + X0. And Further, when the X-axis coordinate of the machine axis coordinate after the conversion is larger than −500 + X0 and belongs to the section of X0 or less, the X-axis coordinate is located at any position between −500 + X0 and X0. Depending on whether or not the error data corresponding to the position of −500 + X0 and the error data corresponding to the position of X0 are proportionally calculated, an error estimation amount corresponding to the X-axis coordinate is calculated. Further, when the X-axis coordinate of the converted machine axis coordinate is larger than X0 and belongs to a section of 500 + X0 or less, it is determined at which position between X0 and 500 + X0 the X-axis coordinate is located. Accordingly, by performing proportional calculation from the error data corresponding to the position of X0 and the error data corresponding to the position of 500 + X0, an error estimation amount corresponding to the X-axis coordinate is calculated. If the X-axis coordinate of the machine axis coordinate after the conversion belongs to a section larger than 500 + X0, the error data corresponding to the position of 500 + X0 is used as the error estimation amount corresponding to the X-axis coordinate as it is. Then, for the Y-axis coordinate, the Z-axis coordinate, and the W-axis coordinate of the machine axis coordinates after the conversion, error estimation amounts are respectively obtained by the same method as that for the X-axis coordinate.

  Thereafter, the correction calculation unit 30 calculates the corrected coordinates by subtracting the estimated error amount for each machine axis obtained in step S41 from the corresponding coordinates of the converted machine axis (step S43). Then, the correction calculation unit 30 stores the calculated correction coordinates in the memory 24.

  Next, the drive control unit 32 outputs the movement command instructing to move the respective supports 2b, 6a, 8a, and 10a to the correction coordinates by driving the drive devices 2c, 6b, 8b, and 10b. The drive control of the apparatus is performed (step S45). Thereby, each drive device 2c, 6b, 8b, 10b moves each support body 2b, 6a, 8a, 10a according to a correction coordinate.

  Finally, the numerical controller 16 determines whether or not the tool path in the NC program has ended (step S47). Here, when it is determined that the tool path is not finished, the processing after step S33 is repeated. On the other hand, when it is determined that the tool path is finished, the numerical control is finished. As described above, the numerical control of the machine tool is performed by the numerical control device 16 of the first embodiment.

  As described above, in the first embodiment, the error data acquisition unit 20, the error data storage unit 22, the memory 24, and the command position reading unit 26 of the numerical control device 16 are not dependent on the machine structure of the machine tool. Therefore, it can be applied in common to various machine tools having different machine structures. Further, even when the position and orientation of the object to be moved by the moving device of the machine tool are different due to the different machine structures of the various machine tools, the driving devices of the plurality of moving devices are respectively Since the configuration is such that the object is moved by moving the support with the machine axis of the machine, the correction calculation unit 30 and the drive control unit 32 can be commonly applied to machine tools having different machine structures. is there. Therefore, in the numerical control device 16 of the first embodiment, only the machine axis coordinate calculation unit 28 that calculates the machine axis coordinates from the command position is a part that depends on the machine structure of the machine tool, and only the machine axis coordinate calculation unit 28 only. Is reconfigured according to the machine structure of each machine tool, most of the error correction system of the numerical control device 16 can be used for various machine tools having different machine structures. For this reason, in the first embodiment, it is possible to promote the common use of error correction systems in various machine tools having different machine structures.

  Moreover, in the numerical control device 16 of the first embodiment, the correction calculation unit 30 is based on error data for each mechanical axis of the driving devices 2c, 6b, 8b, and 10b that constitute the moving devices 2, 6, 8, and 10. Thus, the coordinates for each machine axis corresponding to the command position indicated by the numerical control program are corrected. In other words, the error data based on the position and orientation of a moving object such as a tool cannot be discriminated from each other, so that the operation of the moving device having the parallel moving axes cannot be corrected. In the numerical control device 16 of the first embodiment, the error correction of the driving of the driving devices 2c, 6b, 8b, 10b for executing the movement of the object by the moving devices 2, 6, 8, 10 is performed on each machine. Since the error correction of the operation of the driving devices 2c, 6b, 8b, and 10b is performed based on the error data about the axes, whether or not the movement axes of the respective moving devices 2, 6, 8, and 10 are parallel to each other. It can be done regardless. As a result, in the numerical control device 16 of the first embodiment, even if the movement axes of the moving devices 8 and 10 are parallel to each other, the operations of the moving devices 8 and 10 can be corrected for errors.

  Therefore, in the numerical control device 16 of the first embodiment, the machine tool including the moving devices 8 and 10 having moving axes parallel to each other is promoted while promoting the common use of the error correction system in various machine tools having different machine structures. The error correction of the operation of the moving devices 8 and 10 can be performed.

  In the first embodiment, the numerical controller 16 calculates error data by subtracting the theoretical machine axis coordinate at the specific position from the actually measured machine axis coordinate when the moving object is positioned at the specific position. In order to provide the error calculation unit 20c, a series of error correction processes from accumulation of error data to error correction for each machine axis based on the error data is performed in the numerical controller 16 provided in the machine tool. Can do.

  Further, in the first embodiment, the tool, the spindle head 12, the first horizontal support 8a, and the second horizontal movement with the first horizontal support 8a and the second horizontal support 10a projecting toward the workpiece moving device 2 side. The column 4 bends due to the weight of the device 10, which may cause an error in the actual position of the tool relative to the command position of the tool. However, in the first embodiment, the numerical controller 16 can correct an error in the tool position caused by the deflection of the column 4 due to the weight.

(Second Embodiment)
Next, with reference to FIG. 7, the structure of the machine tool by 2nd Embodiment of this invention is demonstrated.

  The machine tool according to the second embodiment moves a tool in each of a horizontal direction, a vertical direction, a rotation direction around a vertical axis, and a swinging direction around the horizontal axis on a workpiece placed on a table 42b. The workpiece is machined with the tool. In this machine tool, two moving devices (first vertical moving device 46 and second vertical moving device 50) for moving the tool in the vertical direction are provided, and the mechanical axes of both moving devices are parallel to each other. It has become.

  Specifically, the machine tool includes a workpiece moving device 42, a plurality of columns 44, an unillustrated tool, a spindle head 12, a first vertical moving device 46, a horizontal moving device 48, and a second moving device. A vertical movement device 50, a rotary movement device 52, a swing device 54, and a control box 56 are provided. Among these, the first vertical movement device 46, the horizontal movement device 48, the second vertical movement device 50, the rotary movement device 52, and the swing device 54 move the tool held by the spindle head 12 in each direction. .

  The workpiece moving device 42 moves the workpiece in a specific direction within the horizontal plane. The work moving device 42 includes a bed 42a installed at a predetermined installation location, a table 42b movably provided on the bed 42a, and a table driving device 42c (see FIG. 8) for moving the table 42b. Have. The table 42b supports the workpiece from below. That is, the work is placed on the table. The table 42b is mounted on the bed 42a so as to be movable in the X-axis direction extending in a specific direction within a horizontal plane. The X axis is included in the concept of the work machine axis of the present invention. The table driving device 42c is provided on the bed 42a and moves the table 42b in the X-axis direction.

  Each column 44 is erected at a position facing each other across the workpiece moving device 42 in the width direction of the workpiece moving device 42. That is, the columns 44 are erected at positions facing each other across the workpiece moving device 42 in a direction perpendicular to the moving direction of the workpiece in the horizontal direction. Each column 44 extends in the vertical direction.

  The spindle head 12 holds the tool and rotates the tool around the axis, as in the first embodiment.

  The first vertical movement device 46 includes a cross rail 46a and a first vertical drive device 46b (see FIG. 8). The cross rail 46a is stretched across the columns 44 on both sides of the work moving device 42 in a horizontal posture. The cross rail 46 a is supported on the front surface of the column 44. The cross rail 46a is supported by the column 44 so as to be movable in the W-axis direction extending in the vertical direction along the column 44. The W axis is included in the concept of the first vertical mechanical axis of the present invention. Further, the cross rail 46 a supports the horizontal movement device 48.

  The first vertical drive device 46b moves the cross rail 46a in the W-axis direction. The first vertical drive device 46b includes a motor (not shown) provided with a cross rail 46a, a ball screw (not shown) attached along each column 44, and the power of the motor to each ball screw. And a transmission mechanism (not shown) that transmits the signals in synchronization. Each ball screw is screwed into a corresponding end portion in the longitudinal direction of the cross rail 46a, and the cross rail 46a moves in the W-axis direction in accordance with the rotational drive of the ball screw.

  The horizontal movement device 48 includes a saddle 48a and a horizontal drive device 48b (see FIG. 8). The saddle 48a is mounted on the cross rail 46a so as to be movable in the Y-axis direction perpendicular to both the X-axis and the W-axis. That is, the saddle 48a is movable in the longitudinal direction of the cross rail 46a so as to cross the table 42b in the width direction above the table 42b. The Y axis is included in the concept of the horizontal mechanical axis of the present invention. The saddle 48 a supports the second vertical movement device 50. The horizontal drive device 48b moves the saddle 48a in the Y-axis direction.

  The second vertical movement device 50 includes a vertical support 50a and a second vertical drive device 50b (see FIG. 8). The vertical support 50a is provided on the saddle 48a so as to be movable in the Z-axis direction (vertical direction) parallel to the W-axis. The Z axis is included in the concept of the second vertical mechanical axis of the present invention. The vertical support 50a supports the rotational movement device 52 at a position below the cross rail 46a and above the workpiece movement device 42. The second vertical drive device 50b moves the vertical support 50a in the Z-axis direction.

  The rotation moving device 52 includes a rotation support 52a and a rotation driving device 52b (see FIG. 8). The rotary support 52a is provided on the vertical support 50a so as to be rotatable in the C-axis direction around the vertical axis. The C axis is included in the concept of the rotary machine shaft of the present invention. The rotation support body 52a supports the swing device 54 at the lower part thereof. The rotation drive device 52b rotates the rotation support body 52a in the C-axis direction.

  The swing device 54 includes a swing support 54a and a swing drive device 54b (see FIG. 8). The swing support 54a is provided on the rotation support 52a so as to be swingable in the A-axis direction with the horizontal axis as the center. The A axis is included in the concept of the oscillating machine shaft of the present invention. The swing support 54a supports the spindle head 12 so that the rotation axis of the tool by the spindle head 12 is perpendicular to the horizontal axis that is the swing center of the swing support 54a. The swing drive device 54b swings the swing support 54a in the A-axis direction.

  The control box 56 is basically the same as the control panel 14 of the first embodiment, and the drive devices 42c, 46b, 48b, 50b, 52b, 54b, the spindle head 12, and other machine tools. Control and operate each part. The control box 56 is provided with a manual operation device 56a and a data acquisition switch 56b similar to the manual operation device 14a and the data acquisition switch 14b of the first embodiment. A numerical controller 58 is incorporated in the control box 56.

  Next, the configuration of the numerical controller 58 according to the second embodiment will be described with reference to FIG.

  In the numerical control device 58 of the second embodiment, the numerical control device 16 of the first embodiment and the mechanical axis coordinate calculation unit 28 are different.

  That is, the machine axis coordinate calculation unit 28 of the numerical controller 58 of the second embodiment is calculated by the spindle position calculation unit 28a that calculates the spindle position of the spindle head 12 from the command position and the spindle position calculation unit 28a. Coordinates for each mechanical axis (X axis, W axis, Y axis, Z axis, C axis, A axis) for instructing driving of the main shaft position to each of the driving devices 42c, 46b, 48b, 50b, 52b, 54b And a coordinate conversion unit 28c for converting to. The coordinate conversion unit 28c performs conversion from the spindle position to the coordinates of each machine axis using an inverse kinematic relational expression, which is the coordinate of the numerical control device 16 of the first embodiment. This is different from the inverse kinematic relational expression used by the conversion unit 28b. In the second embodiment, the machine structure of the machine tool of the second embodiment, that is, the structure of each moving device 42, 46, 48, 50, 52, 54, the relative positional relationship between these moving devices, and Depending on the support structure, a relational expression that can convert the coordinates of the spindle position into the coordinates of each machine axis (X axis, W axis, Y axis, Z axis, C axis, A axis) is created and converted Programmed for use in section 28c.

  In addition, the drive control unit 32 performs drive control of the six drive devices 42c, 46b, 48b, 50b, 52b, and 54b, which are more than in the case of the first embodiment, based on the correction coordinates.

  The other configuration of the numerical control device 58 according to the second embodiment is the same as the configuration of the numerical control device 16 according to the first embodiment.

  Next, an error data acquisition process by the numerical controller 58 of the second embodiment will be described with reference to the flowchart of FIG.

  In the error data acquisition process, first, as shown in FIG. 9, the jig plate 100 is set at an initial position on the table 42b of the workpiece moving device 42 (step S1). At this time, the jig plate 100 used is the same as the jig plate 100 used in the first embodiment. The jig plate 100 is placed on the table 42b and the jig plate 100 is placed in a state in which the swinging angle of the swinging support 54a is 0 degrees (the rotation axis of the spindle head 12 extends in the vertical direction). The jig plate 100 is arranged so that the position of the rotation axis of the spindle head 12 coincides with the center of the central reference hole 100a.

  Next, a reference tool 102 similar to that used in the first embodiment is attached to the spindle head 12 (step S3). At this time, in the oscillating device 54, the oscillating support 54a is fixed in an attitude in which the oscillating angle is 0, that is, an attitude in which the axis of the reference tool 102 extends in the vertical direction.

  Thereafter, the mechanical axis coordinate (reference coordinate) corresponding to the reference hole 100a at the center of the jig plate 100 is measured in the same manner as in the first embodiment (step S5), and a numerical value is calculated based on the measured reference coordinate. The grid break coordinates of the error table are registered in the error data storage unit 22 of the control device 58 (step S7). Here, for the X-axis, Y-axis, Z-axis, and W-axis, the lattice break coordinates similar to those of the first embodiment are registered, and in addition, 0 degrees for the A axis is registered as the lattice break coordinates. , (0 degrees, 90 degrees, 180 degrees, 270 degrees, 360 degrees) are registered as grid delimiter coordinates for the C axis. In this embodiment, 0 degrees is registered as the grid separation coordinates of the A axis in order to obtain error data with the swing support 54a fixed at 0 degrees in the A axis direction, that is, in a vertical posture. It is.

  Then, each process of step S9, S11, S13 is performed similarly to each process of step S9, S11, S13 in the said 1st Embodiment.

Next, in the counter 20d, the c _i value is reset to c _i = 0 (step S15). The c _i value is a value corresponding to the rotation angle of the rotary support 54a in the C-axis direction in acquiring error data. That is, c _i = 0 sets the rotation angle of the rotation support 54a to 0 degrees, c _i = 1 sets the rotation angle of the rotation support 54a to 90 degrees, and c _i = 2 sets the rotation support 54a to the rotation support 54a. The rotation angle is 180 degrees, c _i = 3 indicates that the rotation angle of the rotation support 54a is 270 degrees, and c _i = 4 indicates that the rotation angle of the rotation support 54a is 360 degrees.

Next, the operator positions the rotary support 54a by operating the manual operating device 56a to the rotational angle of the C-axis direction corresponding to c _i value (step S17). Here, since c _i = 0 in step S15, the rotation support 54a is positioned so that the rotation angle in the C-axis direction is 0 degree.

  Thereafter, the processes in steps S19, S21, S23, S25, S27, and S29 are performed in substantially the same manner as the processes in S15, S17, S19, S21, S23, and S25 in the first embodiment. However, in the calculation of error data in step S23, error data for the X-axis, Y-axis, Z-axis, W-axis, A-axis, and C-axis are calculated.

Then, _{c i} value in the counter 20d is counted up by +1 (step S31), then whether or not the _{c i} values of 5 or more in the error data acquisition unit 20 is determined (step S33). Here, c _i value is not 5 or more, that is, the c _i values were determined to be 4 or less, the processes in and after step S17 are repeated. _{Specifically,} the rotational angle of the C-axis direction corresponding respectively to the _{c i} values of _c i = 1 or later (90, 180, 270 degrees, 360 degrees) are respectively rotating supports 54a are positioned, each time The error data corresponding to the nine reference holes 100a of the jig plate 100 is calculated and the error data is registered in the error table.

Then, _{c i} value is counted up to five in step S31, as a result, the _{c i} values are determined to be 5 or more in step S33, then, j value in the counter 20d is incremented by +1 ( Step S35), then, it is determined in the error data acquisition unit 20 whether the j value is 4 or more (Step S37). Here, when it is determined that the j value is not 4 or more, that is, the j value is 3 or less, the processing from step S11 is repeated. This process is basically the same as in the case of the first embodiment. Specifically, in this process, the jig plate 100 is set at each position corresponding to the j value, and each time the rotation support 54a is positioned at each rotation angle corresponding to c _i = 0-4. At the same time, error data corresponding to the nine reference holes 100a is acquired for each rotation angle.

  The method of setting the jig plate 100 at each position corresponding to each value after j = 1 is as follows.

  That is, when j = 1, as shown in FIG. 9, the spacers 104 having a height of 500 mm are respectively placed on both ends in the Y-axis direction of the jig plate 100 set when j = 0. A second jig plate 100 is loaded thereon. At this time, a ruler 106 is applied to the four surfaces of the outer edge of the first jig plate 100 and the second jig plate 100 used when j = 0, and the first jig plate 100 is set to 2 with respect to the first jig plate 100. By aligning the position of the first jig plate 100, the second jig plate 100 is arranged immediately above the first jig plate 100 used when j = 0. When j = 1, for each reference hole 100a of the second jig plate 100 in the same manner as the method of acquiring error data using the first jig plate 100 when j = 0. The reference tool 102 is positioned to acquire error data. When j = 2, error data is acquired using the second jig plate 100 used when j = 1. When j = 3, a spacer 104 having a height of 500 mm is further stacked on the second jig plate 100 in the same manner as described above, and the third jig plate 100 is similarly placed thereon. To do. Also in this case, the third jig plate 100 is arranged directly on the first and second jig plates 100 using the ruler 106. Then, using this third jig plate 100, error data when j = 3 is acquired in the same manner as when j = 0-2.

  The other configuration of the error data acquisition process by the numerical controller 58 of the second embodiment is the same as that of the first embodiment.

  Next, a numerical control process of the machine tool by the numerical control device 58 of the second embodiment will be described.

  The numerical control process of the machine tool in the second embodiment is basically the same as the numerical control process of the machine tool in the first embodiment. However, in this second embodiment, the coordinates for each machine axis of the X-axis, Y-axis, Z-axis, W-axis, A-axis, and C-axis are calculated from the command position of the tool, and the error table for each machine axis coordinate is calculated. Based on the above, an error estimation amount for each mechanical axis is calculated by the same method as in the first embodiment. At this time, interpolation calculation is not performed for the A axis, and the swing angle of the swing support body 54a in the A axis direction is set to 0 degree. Then, correction coordinates for each machine axis are calculated by correcting the machine axis coordinates based on the calculated error estimation amount for each machine axis, and the table 42b, the cross rail 46a, and the saddle 48a are added to the correction coordinates. The table drive device 42c, the first vertical drive device 46b, the horizontal drive device 48b, the second vertical drive device 50b, the rotation drive device 52b, and the vertical support member 50a, the rotation support member 52a, and the swing support member 54a The drive of the swing drive device 54b is controlled.

  The other configuration of the numerical control process according to the second embodiment is the same as that of the first embodiment.

  In the second embodiment, the column 44 may be bent due to the weight of each device supported by the column 44, or the cross rail may be bent due to the weight of each device mounted on the cross rail 46a. If the column 44 and the cross rail 46a are bent, the actual position of the tool may cause an error with respect to the command position of the tool. However, even in this case, the numerical controller 58 can correct the error in the tool position caused by the deflection of the column 44 and the cross rail 46a.

  In the second embodiment, the W axis that moves the cross rail 46a and the Z axis that moves the vertical support 50a are parallel to each other. Since error correction is performed for each machine axis, correction amounts can be obtained individually for the parallel W axis and Z axis, and error correction of the tool position can be performed appropriately.

  In the second embodiment, since the rotation support 52a is rotated by the rotation driving device 52b to rotate the tool in the C-axis direction, different errors may occur for each rotation angle in the C-axis direction. Since the control device 58 performs error correction for each machine axis based on the error data for each machine axis, an error to be corrected for each rotation angle in the C-axis direction can be obtained. As a result, in the second embodiment, appropriate error correction can be performed for each rotation angle in the C-axis direction.

  The other effects of the second embodiment are the same as those of the first embodiment.

(Third embodiment)
Next, with reference to FIG. 11, the structure of the machine tool by 3rd Embodiment of this invention is demonstrated.

  The machine tool according to the third embodiment is a machine tool provided with a parallel link mechanism 66. The machine tool includes a horizontal moving device 64 that moves the entire parallel link mechanism 66 in the horizontal direction, and a moving axis (U-axis) by the horizontal moving device 64 and the parallel link mechanism 66 move the tool. Of the plurality of movement axes, the horizontal movement axis (X-axis) is parallel.

  Specifically, this machine tool includes a workpiece support device 62, a tool (not shown), a spindle head 12, a horizontal moving device 64, a parallel link mechanism 66, and a control panel (not shown).

  The workpiece support device 62 is a device for supporting a workpiece, and is installed at a predetermined installation location. The work support device 62 has a support surface 62a which is a vertical surface, and supports the work in a state where the work is in contact with the support surface 62a.

  The spindle head 12 holds the tool and rotates the tool around the axis, as in the first embodiment.

  The horizontal movement device 64 moves the entire parallel link mechanism 66 in the U-axis direction extending in a direction parallel to the support surface 62a of the work support device 62 in a horizontal plane. The U axis is included in the concept of the horizontal mechanical axis of the present invention. The horizontal moving device 64 includes a base 64a, a horizontal support 64b, and a horizontal driving device 64c (see FIG. 12).

  The base 64a is installed at a location separated from the work support device 62 in a direction perpendicular to the support surface 62a.

  The horizontal support 64b is provided on the base 64a so as to be movable in the U-axis direction. The horizontal support 64b supports the parallel link mechanism 66 from below. Specifically, the upper surface of the horizontal support 64b is substantially horizontal, and support legs 78a (described later) of the parallel link mechanism 66 are installed on the upper surface.

  The horizontal driving device 64c moves the horizontal support 64b in the U-axis direction.

  The parallel link mechanism 66 supports the spindle head 12 in such a posture that the rotation axis of the tool by the spindle head 12 extends in the horizontal direction and in a direction perpendicular to the support surface 62a of the work support device 62. The spindle head 12 is moved in parallel. The parallel link mechanism 66 moves the tool together with the spindle head 12 to a command position composed of X-axis, Y-axis, and Z-axis coordinates. The X axis is a horizontal axis parallel to the U axis, and the Y axis is a vertical axis. The Z axis is an axis extending in a direction perpendicular to both the X axis and the Y axis. The parallel link mechanism 66 includes a head support portion 68, a plurality of struts 70 to 75, a tip joint 76, a strut support mechanism 78, and a plurality of strut drive devices 80 to 85.

  The head support portion 68 supports the spindle head 12. The head support portion 68 supports the spindle head 12 so that the rotation axis of the tool by the spindle head 12 is coaxial with the axis of the head support portion 68. Further, the head support portion 68 is configured so that the tip of the tool held by the spindle head 12 faces the support surface 62a of the work support device 62 and the rotation axis of the tool extends in a horizontal direction perpendicular to the support surface 62a. The spindle head 12 is supported.

  The first to sixth struts 70 to 75 are each formed in a bar shape extending in one direction. In this embodiment, six struts 70 to 75 are provided. One end of each strut 70 to 75 is connected to the base end side of the head support portion 68 (the side opposite to the side supporting the spindle head 12) via the tip joint 76 so as to be capable of joint driving. The first to sixth struts 70 to 75 support the head support portion 68 by being connected to the head support portion 68 in this way.

  The strut support mechanism 78 is installed on the horizontal support body 64b of the horizontal movement device 64, and supports the struts 70 to 75. The strut support mechanism 78 supports the struts 70 to 75 in such a posture that one end side supporting the head support portion 68 projects from the horizontal support 64b to the work support device 62 side. The strut support mechanism 78 supports the struts 70 to 75 so as to be movable in the L-axis direction extending in the longitudinal direction. The L axis is included in the concept of the strut mechanical axis of the present invention.

  Specifically, the strut support mechanism 78 includes a support leg 78a installed on the horizontal support 64b, and a strut support portion 78b supported by the support leg 78. The strut support portion 78b is disposed so as to be positioned at each vertex of an equilateral triangle when viewed from the work support device 62 side. Each strut support portion 78b supports two struts 70 to 75 two by two. And each strut support part 78b is supporting the intermediate part of the longitudinal direction of a corresponding thing among struts 70-75. Each strut support portion 78b has two intermediate joints 78c, and each intermediate joint 78c is connected to one strut. Each intermediate joint 78c supports a strut to be connected so as to be movable in the longitudinal direction (L-axis direction).

  The first to sixth strut driving devices 80 to 85 (see FIG. 12) move the first to sixth struts 70 to 75 in the respective L-axis directions so that the spindle head 12 supported by the head support portion 68 moves in parallel. It is something that moves. That is, the first strut driving device 80 is the first strut 70, the second strut driving device 81 is the second strut 71, the third strut driving device 82 is the third strut 72, and the fourth strut driving device 83 is the fourth strut. The strut 73, the fifth strut driving device 84 moves the fifth strut 74, and the sixth strut driving device 85 moves the sixth strut 75 in the L-axis direction of each strut.

  A control panel (not shown) is used to control and operate each of the driving devices 64c, 80 to 85, the spindle head 12, and other driving units. This control panel is provided with a manual operation device and a data acquisition switch similar to the manual operation device 14a and the data acquisition switch 14b of the first embodiment. The manual operation device according to the third embodiment is configured such that the horizontal driving device 64c and the first to sixth strut driving devices 80 to 85 can be individually driven by an arbitrary driving amount. As a result, the horizontal support 64b and the first to sixth struts 70 to 75 can be individually moved by an arbitrary amount of movement. Further, when the operator presses the data acquisition switch, the L machine coordinates of each of the first to sixth struts 70 to 75 indicated by the first to sixth strut driving devices 80 to 85 are acquired as error data of the numerical controller 90. The actual coordinate acquisition unit 20b of the unit 20 takes in the data. A numerical control device 90 is incorporated in the control panel.

  Next, the configuration of the numerical controller 90 according to the third embodiment will be described with reference to FIG.

  The numerical control device 90 according to the third embodiment is different from the numerical control device 16 according to the first embodiment in the mechanical axis coordinate calculation unit 28.

  Specifically, the machine axis coordinate calculation unit 28 of the numerical controller 90 of the third embodiment includes a spindle position calculation unit 28a that calculates a spindle position and a tool attitude vector from the command position of the tool, and its spindle position calculation. A coordinate conversion unit 28d for converting the principal axis position and orientation vector calculated by the unit 28a into coordinates for the L axis of the U axis and the struts 70 to 75 for instructing the driving devices 64c and 80 to 85 to drive; Have

  The coordinate conversion unit 28d performs conversion from the principal axis position to the coordinates of the U axis and the L axis of each of the struts 70 to 75 using an inverse kinematic relational expression. This inverse kinematic relational expression is the first embodiment. This is different from the inverse kinematic relational expression used by the coordinate conversion unit 28b of the numerical control device 16. In the third embodiment, the coordinates of the spindle position are set to U according to the machine structure of the machine tool of the third embodiment, that is, the structures of the horizontal movement device 64 and the parallel link mechanism 66, their relative positional relationship, and the like. A relational expression that can be appropriately converted into the coordinates of the axis and the L axis of each of the struts 70 to 75 is created and programmed to be used by the coordinate conversion unit 28d. Further, the drive control unit 32 controls the driving of the horizontal driving device 64c and the first to sixth strut driving devices 80 to 85 based on the correction coordinates.

  The other configuration of the numerical controller 90 according to the third embodiment is the same as that of the numerical controller 16 according to the first embodiment.

  Next, an error data acquisition process by the numerical controller 90 of the third embodiment will be described with reference to the flowchart of FIG.

  In the error data acquisition process, first, the jig plate 100 is set at the initial position in the work support device 62 shown in FIGS. 13 and 14 (step S1). At this time, the jig plate 100 used is the same as the jig plate 100 used in the first embodiment.

  Next, a reference tool 102 similar to that used in the first embodiment is attached to the spindle head 12 (step S3), and thereafter, the reference hole 100a at the center of the jig plate 100 is used as in the first embodiment. The reference coordinates (X0, Y0, Z0) corresponding to are measured (step S5).

  Then, the grid break coordinates of the error table are registered in the error data storage unit 22 of the numerical controller 90 based on the measured reference coordinates (step S7). Here, for the X-axis, Y-axis, and Z-axis, the same grid delimiter coordinates as in the first embodiment are registered, and in addition to these, (0, 1000, 2000) for the U-axis is used as the grid delimiter coordinates. be registered.

  Thereafter, in the counter 20d, the j value is reset to j = 0 (step S9). In the third embodiment, the j value represents the position at which the jig plate 100 is set in the X-axis (U-axis) direction and the X-axis direction to acquire error data. Specifically, as shown in FIGS. 13 and 14, j = 0 is a position near the left end in the X-axis (U-axis) direction and facing the support surface 62a, and the support surface 62a in the Z-axis direction. It corresponds to the position close to the position, that is, the same position as the initial position, and j = 1 corresponds to the same position as j = 0 in the X-axis direction and the position moved +200 mm from the position of j = 0 in the Z-axis direction. doing. J = 2 corresponds to the position moved +1000 mm in the X-axis direction from the position j = 0, and j = 3 corresponds to the position moved +200 mm in the Z-axis direction from the position j = 2. Yes. J = 4 corresponds to the position moved +2000 mm in the X-axis direction from the position j = 0, and j = 5 corresponds to the position moved +200 mm in the Z-axis direction from the position j = 4. Yes.

  Next, the operator operates the manual operation device to position the U-axis coordinate of the horizontal support 64b driven by the horizontal drive device 64c at a coordinate corresponding to the j value (step S13). Here, since j = 0 is set in step S9, the U-axis coordinate of the horizontal support 64b is set to 0 mm corresponding to the j value, and it is necessary to move the horizontal support 8a from the time of measuring the reference coordinates. Absent. When j = 1, as in the case of j = 0, the U-axis coordinate of the horizontal support 64b is 0 mm. When j = 2, 3, the U-axis coordinate of the horizontal support 64b is 1000 mm. Is done. Further, when j = 4, 5, the U-axis coordinate of the horizontal support 64b is 2000 mm.

  Next, in the counter 20d, the i value is reset to i = 0 (step S15), and then the operator operates the manual operation device to place the reference tool 102 in the reference hole 100a corresponding to the i value. The positioning is performed including the posture (step S17). Here, the reference tool 102 is positioned so that the axis of the reference tool 102 extends in the Z-axis direction.

  Next, when the operator presses the data acquisition switch, the actual measurement coordinate acquisition unit 20b acquires the actual measurement machine axis coordinates for the L axis of each strut 70 to 75, and the error calculation unit 20c performs the actual measurement machine at this time. Error data is calculated based on the axis coordinates, the theoretical machine axis coordinates of the tool, and the posture of the tool (step S19).

  Specifically, the error calculation unit 20c converts the data including the theoretical mechanical axis coordinates and the tool posture into the L-axis coordinates of the struts 70 to 75 using the inverse kinematic relational expression. Then, the error calculator 20c calculates error data for the L axis of each strut 70 to 75 by subtracting the actually measured L axis coordinate from the L axis coordinate of each strut 70 to 75 obtained by the conversion. The error calculator 20c includes the U-axis error as 0 in the error data.

  Thereafter, the same error data is stored as in step S21 of the first embodiment (step S21). At this time, the error data is associated with an index for the X axis, Y axis, Z axis, and U axis representing the acquired position, and the error data corresponding to the error array of the error table corresponding to the index in the error data storage unit 22. Registered at the location. Thereafter, the processes of steps S23 and S25 similar to those in the first embodiment are performed. Thus, error data is acquired for each of the nine reference holes 100a of the jig plate 100.

  Next, the j value is counted up by +1 in the counter 20d (step S27), and then it is determined in the error data acquisition unit 20 whether the j value is 6 or more (step S29). Here, when it is determined that the j value is not 6 or more, that is, the j value is 5 or less, the processing from step S11 is repeated. In this process, the jig plate 100 is set at each position corresponding to the j value, and error data corresponding to the nine reference holes 100a is acquired for each position.

  The remaining configuration of the error data acquisition process by the numerical controller 90 of the third embodiment is the same as that of the first embodiment.

  Next, a numerical control process of the machine tool by the numerical control device 90 of the third embodiment will be described.

  The numerical control process of the machine tool in the third embodiment is basically the same as the numerical control process of the machine tool in the first embodiment. However, in the second embodiment, the spindle position calculation unit 28a calculates the X-axis, Y-axis, and Z-axis coordinates of the spindle position and the tool attitude vector from the command position of the tool, and the coordinate conversion unit 28d calculates the coordinates. The L-axis coordinates and U-axis coordinates of the struts 70 to 75 are calculated from the main axis position and posture vector. At this time, when the X-axis coordinate of the spindle position is larger than 500, the coordinate conversion unit 28d sets the value obtained by subtracting 500 from the X-axis coordinate as the U-axis coordinate u, and the X-axis coordinate of the spindle position is 500 or less. In this case, the U-axis coordinate u is set to 0. Then, the coordinate conversion unit 28d uses the value obtained by subtracting the U-axis coordinate u from the X-axis coordinate of the main axis position as the X-axis coordinate before conversion, and the other Y-axis coordinate, Z-axis coordinate, and posture vector are the command position. The L-axis coordinates of each of the struts 70 to 75 are calculated by performing inverse kinematic transformation on each of the coordinates (x-u, y, z) and the posture vector using the calculated values obtained from the above.

  Then, the correction calculation unit 30 compares the grid-separated coordinates of the error table with the coordinates (x−u, y, z) and the U-axis coordinates u before the conversion, and compares the coordinates (x−u, y, z, u) is determined in which section in the error table, and if necessary, interpolation calculation is performed according to the position, whereby the L-axis and U-axis error estimators of the struts 70 to 75 are calculated. Ask. The method for obtaining this error estimation amount is the same as the method used in the first embodiment. And the correction | amendment calculating part 30 correct | amends each L-axis and U-axis by correct | amending the L-axis coordinate and U-axis coordinate of each strut 70-75 based on the calculated error estimated amount of each L-axis and U-axis. Calculate the coordinates. The drive control unit 32 controls the driving of the first to sixth strut driving devices 80 to 85 and the horizontal driving device 64c so as to move the struts 70 to 75 and the horizontal support 64b corresponding to the calculated correction coordinates. .

  Other configurations of the numerical control process according to the third embodiment are the same as those of the first embodiment.

  In the third embodiment, a head support 68 is connected to the ends of the struts 70 to 75 provided so as to project from the horizontal support 64 b, and the spindle head 12 is moved by the head support 68. Since the tool is supported, the struts 70 to 75 are bent due to the weight of the tool, the spindle head 12, the head support portion 68, and the like, which may cause an error in the actual position of the tool with respect to the command position of the tool. is there. However, even in this case, the numerical controller 90 can correct the error of the tool position due to the bending of each strut 70 to 75.

  In the third embodiment, the U axis that moves the horizontal support 64b that supports the entire parallel link mechanism 66 and the X axis that constitutes the command position of the tool are parallel to each other. Since the error correction of each L axis and U axis is performed based on the error data for each of the L axis and U axis of each strut 70 to 75, even if the U axis and the X axis are parallel, the U The correction amount for each machine axis including the axis can be obtained individually, and the error in the tool position can be corrected appropriately.

  The other effects of the third embodiment are the same as those of the first embodiment.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes meanings equivalent to the scope of claims for patent and all modifications within the scope.

  For example, in the above embodiment, the numerical control device includes an error data acquisition unit having an error calculation unit, but the error data acquisition is performed by an error acquisition device that is different from the numerical control device incorporated in the machine tool. The obtained error data may be given to a numerical controller provided in the machine tool.

  Further, the numerical control device according to the present invention may be applied to a machine tool other than the machine tool as shown in the above embodiments. Even in this case, a machine axis coordinate calculation unit may be configured according to the machine structure of the machine tool to be applied, and portions other than the machine axis coordinate calculation unit in the numerical control device can be used.

2 Work moving device 2a Base 2b Work supporting body 2c Work driving device 4 Column 6 Vertical moving device 6a Vertical support 6b Vertical driving device 8 First horizontal moving device 8a First horizontal supporting device 8b First horizontal driving device 10 Second horizontal Moving device 10a Second horizontal support 10b Second horizontal drive device 12 Spindle head 16 Numerical control device 20c Error calculation unit 22 Error data storage unit 24 Memory (program storage unit)
26 Command position reading unit 28 Machine axis coordinate calculation unit 30 Correction calculation unit 32 Drive control unit 42 Work movement device 42a Base 42b Table 42c Table drive device 44 Column 46 First vertical movement device 46a Cross rail 46b First vertical drive device 48 Horizontal Moving device 48a Saddle 48b Horizontal driving device 50 Second vertical moving device 50a Vertical support 50b Second vertical driving device 52 Rotating moving device 52a Rotating support 52b Rotating driving device 54 Swing device 54a Swing support 54b Swing driving device 64 Horizontal moving device 64a Base 64b Horizontal support 64c Horizontal drive device 66 Parallel link mechanism 68 Head support portion 70 to 75 Strut 78 Strut support mechanism 80 to 85 Strut drive device

Claims (5)

A machine tool including a plurality of moving devices that move a workpiece or a tool that processes the workpiece as a target, wherein each of the moving devices includes a support that supports the target, and the support. A first moving device as a moving device in which moving axes for moving the object are parallel to each other. And a second moving device, wherein the first moving device includes a first support as the support, and a first drive as the drive for moving the first support in the first machine axis direction. The second moving device has a second support as the support, and a second drive as the drive device that moves the second support in a second machine axis direction parallel to the first machine axis direction . Machine tool having two drive units Provided, wherein a numerical controller for performing numerical control of each mobile device,
When the object is arranged at a specific position, the theoretical machine axis coordinate which is the theoretical coordinate of the machine axis indicated by the drive device of each moving device and the object are actually arranged at the specific position. An error calculation unit that calculates error data consisting of a difference from the measured machine axis coordinate that is the coordinate of the machine axis indicated by the drive device of each moving device,
An error data storage unit for storing error data calculated by the error calculation unit;
A program storage unit for storing a numerical control program for instructing the driving device of each of the moving devices to move the support;
A command position reading unit that reads a command position that is a movement position of the object instructed by the numerical control program from the numerical control program stored in the program storage unit;
A machine axis coordinate calculation unit that calculates coordinates for each of the machine axes for instructing driving to each moving device from the command position read by the command position reading unit;
The correction coordinates for each machine axis are corrected by correcting the coordinates for each machine axis calculated by the machine axis coordinate calculation unit based on the error data for each corresponding machine axis stored in the error data storage unit. A correction calculation unit to calculate,
A drive control unit that causes the drive device of each of the moving devices to drive the support according to the correction coordinates calculated by the correction calculation unit for each of the mechanical axes,
In the case where the first arithmetic unit moves the first support member by a specific distance from a reference position in a predetermined direction in the first mechanical axis direction, the error calculation unit arranges the object at the specific position. And the second drive unit moves the second support member from the same position as the reference position in the second machine axis direction to the same direction as the predetermined direction by the same distance as the specific distance. A numerical controller that calculates the error data when the object is arranged at the specific position by moving. The error calculating section, you calculate the error data by subtracting said theoretical mechanical axis coordinate at that particular position from the actual mechanical axis coordinate when the object is positioned at the specific position, wherein Item 2. The numerical control device according to Item 1. The numerical control device according to claim 1 or 2,
A workpiece moving device that moves the workpiece in a specific direction in a horizontal plane;
A column that is erected at a position spaced apart from the workpiece moving device in the horizontal direction and in a direction perpendicular to the moving direction of the workpiece, and extends in the vertical direction;
Tools for machining workpieces;
A spindle head for rotating the tool about its axis;
A vertical movement device provided on the column for moving the spindle head, a first horizontal movement device and a second horizontal movement device;
The workpiece moving device is provided on the base so as to be movable in the axial direction of the workpiece machine extending in a specific direction within a horizontal plane, and supports the workpiece from below, and the workpiece support is attached to the workpiece machine. A workpiece drive device that moves in the axial direction,
The vertical movement device is provided so as to be movable in a vertical machine axis direction extending in a vertical direction along the column, and a vertical support for supporting the first horizontal movement device, and the vertical support in the vertical machine axis direction. And a vertical drive that moves to
The first horizontal movement device is provided on the vertical support so as to be movable in a first horizontal machine axis direction perpendicular to both the workpiece machine axis and the vertical machine axis, and supports the second horizontal movement device. 1 horizontal support, and a first horizontal drive for moving the first horizontal support in the first horizontal machine axis direction,
The second horizontal movement device is provided on the first horizontal support so as to be movable in a second horizontal mechanical axis direction parallel to the first horizontal mechanical axis, and a rotation axis of a tool by the main spindle head is set to the main spindle head. A second horizontal support that supports the second horizontal mechanical axis in a posture that is parallel to the second horizontal mechanical axis; and a second horizontal drive that moves the second horizontal support in the second horizontal mechanical axis direction;
The numerical control device corrects each machine axis by correcting the coordinates of each machine axis obtained from the command position of the tool or workpiece specified by the numerical control program based on error data for each machine axis. A machine tool that calculates coordinates and controls driving of each of the driving devices according to the calculated corrected coordinates for each machine axis. The numerical control device according to claim 1 or 2,
A workpiece moving device that moves the workpiece in a specific direction in a horizontal plane;
A column extending in a vertical direction, respectively, standing in positions facing each other across the workpiece moving device in a direction that is horizontal and orthogonal to the moving direction of the workpiece;
Tools for machining workpieces;
A spindle head for rotating the tool about its axis;
A first vertical movement device, a horizontal movement device, a second vertical movement device, a rotation movement device, and a swing device provided on the column for moving the spindle head;
The work moving device is provided on the base so as to be movable in the direction of the work machine axis extending in a specific direction within a horizontal plane, and supports the work from below, and moves the table in the direction of the work machine axis. A table driving device,
The first vertical movement device is provided between the columns on both sides of the workpiece movement device above the table and is movable in a first vertical mechanical axis direction extending in the vertical direction along the columns. A cross rail that supports the horizontal movement device, and a first vertical drive device that moves the cross rail in the first vertical mechanical axis direction,
The horizontal movement device is mounted on the cross rail so as to be movable in a horizontal machine axis direction perpendicular to both the workpiece machine axis and the first vertical machine axis, and a saddle for supporting the second vertical movement device; A horizontal drive for moving the saddle in the horizontal machine axis direction;
The second vertical movement device is provided in the saddle so as to be movable in a second vertical mechanical axis direction parallel to the first vertical mechanical axis, and a vertical support that supports the rotational movement device, and the vertical support. A second vertical drive device that moves in the second vertical machine axis direction;
The rotary moving device is provided on the vertical support so as to be rotatable in a rotating machine axis direction around a vertical axis, and rotates in the rotating machine axis direction. A rotational drive device
The oscillating device is provided on the rotating support so as to be oscillating in a oscillating machine axis direction centering on a horizontal axis, and the spindle head is configured so that a rotation axis of a tool by the spindle head is perpendicular to the horizontal axis. A swing support that supports the swing support, and a swing drive device that swings the swing support in the swing machine axial direction,
The numerical control device corrects each machine axis by correcting the coordinates of each machine axis obtained from the command position of the tool or workpiece specified by the numerical control program based on error data for each machine axis. A machine tool that calculates coordinates and controls driving of each of the driving devices according to the calculated corrected coordinates for each machine axis. The numerical control device according to claim 1 or 2,
Tools for machining workpieces;
A spindle head for rotating the tool about its axis;
A parallel link mechanism that supports the spindle head in a posture such that a rotation axis of a tool by the spindle head extends in a horizontal direction, and moves the spindle head in parallel;
A horizontal movement device that moves the entire parallel link mechanism in a specific direction within a horizontal plane,
The horizontal movement device is provided on the base, movably in a horizontal machine axis direction extending in a specific direction within a horizontal plane, and a horizontal support for supporting the parallel link mechanism from below, and the horizontal support A horizontal drive for moving the body in the horizontal machine axis direction,
The parallel link mechanism is formed in a bar shape extending in one direction with a head support portion that supports the spindle head, and one end portion of the parallel link mechanism is connected to the head support portion so as to be capable of joint driving, thereby supporting the head support portion. Struts, and strut machines installed on the horizontal support, each strut supporting the struts in such a posture that one end thereof projects from the horizontal support, and extending the struts in the longitudinal direction. A strut support mechanism that supports each of the struts so as to be movable in the axial direction, and each strut is provided in each strut, and the main shaft head supported by the head support portion moves in parallel in each strut machine axial direction. A strut drive device that moves to
The numerical control device includes a first horizontal movement axis parallel to the horizontal mechanical axis, a vertical movement axis extending in a vertical direction, and a second horizontal movement axis perpendicular to both the first horizontal movement axis and the vertical movement axis. The corrected coordinates for each machine axis are calculated by correcting the coordinates for each machine axis obtained from the command position of the tool consisting of the coordinates of the moving axis based on the error data for each machine axis, and the calculated A machine tool that controls driving of the horizontal driving device and each of the strut driving devices in accordance with correction coordinates for each of the machine axes.

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