JP6623478B2 - Multi-axis NC woodworking lathe system, tool path generation method, tool path generation program, and recording medium - Google Patents

Description

  The present invention provides a tool for generating a tool path necessary for cutting a product when using a disk-type rotary tool and a spherical rotary tool having a spherical or hemispherical tip as a cutting tool of a lathe for woodworking. The present invention relates to a technique for providing a multi-axis NC wood lathe system having a path generation method, the above-described tool path generation method, a tool path generation program, and a recording medium.

  Conventionally, in order to process a product having a three-dimensional shape, a five-axis control machine tool can be used as shown in Patent Document 1. A so-called multi-axis processing machine such as a machining center can control the direction of a tool, so that a complicated three-dimensional shape such as a complicated shape can be processed.

  In addition, the inventor of the present application has developed a three-axis NC woodworking lathe system using a disk-type rotating tool for processing a three-dimensional product disclosed in Patent Document 2. The system assumes that a three-dimensional model in which the surface of the three-dimensional shape of a product is divided into triangles is chucked to a C-axis, which is a turning axis capable of controlling a turning angle on a 3-axis NC woodworking lathe. The feature is that a tool path to be cut by a disk-type rotary tool is calculated in advance. The system is capable of performing three-dimensional shape processing in a short time only by cutting during a single feed operation.

JP 2014-94425 A Japanese Patent No. 4784767

  When three-dimensionally processing a woodworking material, if a multi-axis processing machine such as a five-axis control machine tool as shown in Patent Document 1 is used, expensive hardware is required. In addition, the tool path cannot be calculated unless the orthogonal coordinate system and the rotating coordinate system are combined, resulting in complicated and expensive software. Further, since the tool to be used has a cylindrical shape such as an end mill or a drill or a spherical tip, a deep cut cannot be expected. In addition, to process a fine shape, it is necessary to go through a step from a tool having a large size to a tool having a smaller size gradually, so that the machining time becomes longer.

The three-axis NC woodworking lathe system disclosed in Patent Document 2 rotates a disk-shaped rotary tool in the X-axis direction based on a tool path calculated in advance while turning a woodwork material chucked on the C-axis of a chuck around the C-axis. By moving in the Z-axis direction, it is possible to perform cutting in a shorter time and more efficiently than a five-axis control machine tool as disclosed in Patent Document 1. Furthermore, since it is possible to perform three-dimensional processing using a lathe having a three-axis configuration, the apparatus is less expensive than a five-axis processing machine.
However, in cutting with a disk-type rotating tool, the shape that can be machined is limited by the thickness and radius of the rotating tool, and in order to perform finer cutting, the thickness and radius of the disk-type rotating tool are reduced. It is also true that there are certain structural limitations. Therefore, when performing finer cutting, it is necessary to use a 5-axis machine, or the above-mentioned complicated and expensive software is required. There was a problem of inviting.

  In addition, when the disk-type rotary tool disclosed in Patent Document 2 cuts out a three-dimensional shape, the disk-type rotary tool always faces in a direction perpendicular to the rotation axis of the woodworking material. Therefore, when the rotary disk tool is cut through the path of the spiral machining point with respect to the woodworking material, if the surface of the three-dimensional model is inclined with respect to the rotation axis, A spiral cutter mark appears due to the edge. When the inclination angle of the surface is small, the surface roughness due to the cutter mark becomes small. For example, a surface parallel to the rotation axis has good surface roughness. However, when the inclination angle of the surface is large, the surface roughness becomes large. That is, as the inclination angle increases, the surface roughness deteriorates. For this reason, there is a problem that the polishing time increases and the cost increases.

  Woodworking materials cut with a disk-type rotary tool disclosed in Patent Document 2 are usually square square pieces having a square cross section. When shaving a three-dimensional shape from a square beam, the shaving allowance between the square outer shape and the contour of the three-dimensional shape is turned into powdery chips by a disk-type rotary tool. When the woodworking material is small, for example, when one side of the square beam is several cm, the power required for the cutting allowance is small. However, a square beam having a side of 10.5 cm, such as a building material, requires large power and wastes energy.

  The present invention has been made in view of such circumstances, and when performing three-dimensional processing of woodworking materials, it is inexpensive without the need for complicated and expensive hardware and software, and even fine unevenness processing is possible. It is an object of the present invention to provide a multi-axis NC woodworking lathe system, a tool path generation method, a tool path generation program, and a recording medium that enable efficient and efficient overall lathing.

The invention according to the multi-axis NC woodworking lathe system according to claim 1, in order to cut a woodworking material that turns around the C-axis by chucking on the C-axis, which is a turning shaft capable of controlling a turning angle,
A disk-shaped rotary tool movable in the Z-axis direction and an X-axis direction orthogonal to the Z-axis, and a B-axis mounted on the same stage as the disk-shaped rotary tool, moving in the XZ plane and perpendicular to the XZ plane A multi-axis NC woodworking lathe system, comprising: a spherical or hemispherical spherical rotating tool capable of turning around;
Assuming that a three-dimensional shape model of a product whose surface is divided into triangles and input to a computer is chucked on the C axis,
Assuming that the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool moves in the Z-axis direction while maintaining a state in contact with the rotating three-dimensional shape model, While obtaining the X coordinate of the rotation center of the virtual thin disk with respect to an arbitrary turning angle θ and an arbitrary Z coordinate of the outer periphery of the virtual thin disk,
The surface of a virtual sphere having the tip shape of a sphere having the same diameter as the spherical rotating tool is kept in contact with the three-dimensional shape model rotating around the C axis, Assuming that the rotation axis is always turned around the B-axis so as to keep facing the arbitrary point Zh on the Z-axis,
When obtaining the X coordinate and the Z coordinate of the center of the sphere for an arbitrary turning angle θ between the arbitrary turning angle θ of the C axis and the Z axis of the rotating axis in the spherical rotary tool,
A first processing point when the surface of the sphere contacts a vertex of a triangle constituting the three-dimensional shape model, and a second processing point when the surface of the sphere contacts a side of the triangle constituting the three-dimensional shape model A machining point, and a third machining point when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other. Is extracted to obtain the X coordinate and the Z coordinate of the center of the sphere.

  According to a second aspect of the present invention, there is provided the multi-axis NC woodworking lathe system according to the first aspect, wherein the three-dimensional shape model corresponds to a polygon whose surface is divided into three-dimensional curved polygons. Are characterized by having vertices on the curved surface and dividing the vertices into triangles connected by straight lines.

According to a third aspect of the present invention, there is provided the multi-axis NC woodworking lathe system according to the first or second aspect, wherein the disk-shaped rotary tool is movable in a Z-axis direction and an X-axis direction orthogonal to the Z-axis. , Passing through the center of rotation of the disk-type rotary tool, and being rotatable around a D-axis perpendicular to the XZ plane,
The outer periphery of a virtual thin disk having the same shape as the disk-shaped rotary tool moves in the Z-axis direction while maintaining a state in contact with the rotating three-dimensional model, and the virtual thin disk Assuming that the orientation is perpendicular to the surface of the three-dimensional shape model,
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. An X coordinate and a Z coordinate of the center of the virtual thin disk are obtained for an angle β and an arbitrary turning angle θ of the C axis.

In the invention according to the multi-axis NC woodworking lathe system according to claim 4, in the above-mentioned item 3, the virtual thin disk is defined by a tool coordinate system including a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
The direction of the virtual thin disk is swung by an angle β-90 °, and the tip of the virtual thin disk is positioned so as to come into contact with a processing point of the three-dimensional model.

  The invention according to the multi-axis NC woodworking lathe system according to claim 5, wherein in any one of the above-mentioned items 1 to 4, the arbitrary point Zh on the Z-axis approximates a hemisphere at a tip end of a product shape. Is the Z-coordinate of the center of the bottom surface.

  The invention relating to a multi-axis NC woodworking lathe system according to claim 6, wherein the spherical rotary tool according to any one of the above items 1 to 5, has a spherical or hemispherical ball tip for woodworking or a router bit for woodworking. It is characterized by being.

The invention according to a multi-axis NC woodworking lathe system according to claim 7, wherein in the above-mentioned item 1, 2, or 3, the band saw blade runs parallel to a direction perpendicular to the C axis, and the band saw blade is a whole. A band sawing machine that is movable in a Z-axis direction parallel to the Z-axis and an F direction perpendicular to the Z-axis, and that can be turned so that the direction of the band saw blade is inclined with respect to the Z-axis direction;
When a virtual band saw tool having the same shape as the band saw blade of the band sawing machine slices in the Z-axis direction parallel to the Z-axis with respect to the three-dimensional shape model when the rotation angle θ of the C-axis is zero degree, Assuming that it moves in the F direction perpendicular to the direction and the Z axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. Then, at least one of the maximum part offset line and the minimum part offset line is obtained as a tool path of the virtual band saw tool.

  In the invention according to a multi-axis NC wood lathe system according to claim 8, in the above-mentioned item 7, the maximum contour line and the minimum contour line are obtained by rotating the three-dimensional model at a rotation angle θ of a C-axis at an appropriate pitch. It is characterized in that it is stopped and calculated each time it is rotated, and the maximum and minimum offset lines corresponding to the maximum and minimum outlines are calculated and obtained.

The invention relating to a multi-axis NC woodworking lathe system according to claim 9, wherein the polishing belt according to claim 1, 2, 3, or 7, further comprising a polishing belt running parallel to a direction perpendicular to the C axis. Is a belt sander that is movable as a whole in a Z-axis direction parallel to the Z-axis and in an F direction perpendicular to the Z-axis, and is capable of changing the direction of the polishing belt so as to be inclined with respect to the Z-axis direction. With
When a virtual polishing tool having the same shape as the polishing belt of the belt sander grinds the three-dimensional shape model when the rotation angle θ of the C axis is zero degree, the Z direction is orthogonal to the Z axis. Assuming that you go to
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. It is characterized by being obtained as a route.

  The multi-axis NC woodworking lathe system according to claim 10 is the invention according to claim 9, wherein the maximum contour line and the minimum contour line are obtained by rotating the three-dimensional model at a rotation angle θ of an appropriate pitch of the C axis. It is characterized in that it is calculated by stopping each time it is rotated.

An invention according to a tool path generating method according to claim 11, wherein a first tool path generating method required for three-dimensional machining using a disk-shaped rotary tool, and a spherical rotary tool having a spherical or hemispherical tip. And a second tool path generation method required for three-dimensional machining using
Assuming that a three-dimensional model of a product whose surface is divided into triangles and input to a computer is chucked to a C-axis, which is a turning axis capable of controlling a turning angle on a multi-axis NC woodworking lathe,
The first tool path generation method includes a step of maintaining a state in which the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool is in contact with the three-dimensional shape model that is rotating around the C axis. Assuming that the virtual thin disk is moved in the axial direction, the X-axis of the rotation center of the virtual thin disk is determined with respect to an arbitrary turning angle θ of the C axis and an arbitrary Z coordinate of the outer periphery of the virtual thin disk. Produces
The second tool path generation method maintains a state in which a surface of a virtual sphere having a tip shape of a sphere having the same diameter as the spherical rotary tool is in contact with the three-dimensional shape model rotating around the C axis. Meanwhile, on the premise that the rotation axis of the spherical rotary tool moves in the XZ plane while constantly facing the arbitrary point Zh on the Z axis and turns around the B axis orthogonal to the XZ plane, In order to obtain the X coordinate and the Z coordinate, if an arbitrary turning angle θ between the arbitrary turning angle θ of the C axis and the Z axis of the rotating axis of the spherical rotary tool is used,
Simultaneously turning the three-dimensional shape model and the spherical rotating tool in the opposite direction about the straight line passing through the Zh at right angles to the XZ plane and in the opposite direction by the same turning angle as the turning angle α to convert the spherical coordinates Make the rotation axis of the rotary tool coincide with the Z axis,
The Z coordinate group of the center of the sphere when the surface of the sphere contacts the vertex of the triangle forming the three-dimensional shape model, and the side of the triangle forming the three-dimensional shape model touches the surface of the sphere. The Z coordinate group of the center of the sphere at the time, and the Z coordinate group of the center of the sphere when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other, Among them, a Z coordinate farthest from the point Z = Zh in the + Z direction located outside the three-dimensional shape model is adopted, and the adopted Z coordinate is turned around a straight line passing through the Zh at right angles to the XZ plane. The X-axis and the Z-coordinate obtained by turning in the positive direction by the angle α and converting the rotation coordinates are used as the tool path.

  The invention according to a tool path generating method according to claim 12, wherein in the item (11), the three-dimensional shape model has a curved surface of the polygon polygon for a product whose surface is divided into a polygon having a three-dimensional curved surface. It is characterized by having vertices on top and assuming that the vertices are divided into triangles connected by straight lines.

The invention according to a tool path generating method according to claim 13 is the method according to claim 11 or 12, wherein, as the first tool path generating method, an outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool is used. While moving in the Z-axis direction while maintaining a state of contact with the three-dimensional model rotating around the C-axis, the direction of the virtual thin disk is perpendicular to the surface of the three-dimensional model. On the assumption that
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. An X coordinate and a Z coordinate of the center of the virtual thin disk are obtained for an angle β and an arbitrary turning angle θ of the C axis.

The invention according to a tool path generating method according to claim 14, wherein in the above item 13, the virtual thin disk is defined by a tool coordinate system composed of a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
The direction of the virtual thin disk is swung by an angle β-90 °, and the tip of the virtual thin disk is positioned so as to come into contact with a processing point of the three-dimensional model.

The invention according to a tool path generating method according to claim 15 is the method according to any one of the above items 11 to 14, further comprising a band saw blade running parallel to a direction orthogonal to the C axis, and the band saw blade as a whole having a Z axis. 3D using a band sawing machine that is movable in a Z-axis direction parallel to the axis and in an F direction orthogonal to the Z-axis, and that can change the direction of the band saw blade so as to be inclined with respect to the Z-axis direction. Added a third tool path generation method required for machining,
As the third tool path generation method, a virtual band sawing tool having the same shape as the band saw blade of the band sawing machine is parallel to the Z axis with respect to the three-dimensional shape model when the rotation angle θ of the C axis is zero degree. When slicing in the Z-axis direction, assuming that the slice moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. Then, at least one of the maximum offset line and the minimum offset line is used to generate a tool path of the virtual band saw tool.

An invention according to a tool path generating method according to claim 16 is the method according to any one of items 11 to 15, further comprising: a polishing belt that turns and runs parallel to a direction orthogonal to the C axis. A tertiary using a belt sander that is movable in a Z-axis direction parallel to the axis and in an F direction perpendicular to the Z-axis, and is capable of changing the direction of the polishing belt so as to be inclined with respect to the Z-axis direction. Add the fourth tool path generation method required for original machining,
As the fourth tool path generation method, when a virtual polishing tool having the same shape as the polishing belt of the belt sander, when polishing the three-dimensional shape model at a turning angle θ of C axis of zero degree, Assuming that it moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. It is characterized in that a route is generated.

A tool path generation program according to claim 17, wherein a three-dimensional shape model of a product whose surface is divided into triangles and input to a computer is converted into a turning axis capable of controlling a turning angle on a multi-axis NC woodworking lathe. Assuming that chucking is performed on the C axis, a first tool path generation program necessary for three-dimensional machining using a disk-type rotary tool and a spherical rotary tool having a spherical or hemispherical tip are used. And a second tool path generating program required for three-dimensional machining. The first and second tool path generating programs are configured as follows.
The first tool path generation program is configured to maintain a state in which the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool is in contact with the three-dimensional shape model that is rotating around the C-axis while maintaining the Z-shape. Assuming that the virtual thin disk is moved in the axial direction, the X coordinate of the rotation center of the virtual thin disk is obtained for an arbitrary turning angle θ of the C axis and an arbitrary Z coordinate of the outer periphery of the virtual thin disk. This is the tool path of the disk-type rotary tool.
The second tool path generation program maintains a state in which the surface of a virtual sphere having the tip shape of a sphere having the same diameter as the spherical rotary tool is in contact with the three-dimensional shape model rotating around the C axis. Meanwhile, the X coordinate of the center of the sphere and the Z coordinate are assumed on the assumption that the rotary tool of the spherical rotary tool moves in the XZ plane while constantly facing the arbitrary point Zh on the Z axis and turns perpendicular to the XZ plane. In order to obtain the coordinates, when an arbitrary turning angle α between the arbitrary turning angle θ of the C axis and the Z axis of the rotating axis of the spherical rotary tool is set, both the three-dimensional shape model and the spherical rotary tool are used. At the same time, the rotation axis of the spherical rotary tool is made to coincide with the Z axis by turning in the opposite direction about the straight line passing through the Zh at a right angle to the XZ plane and in the opposite direction by the same turning angle as the turning angle α and converting the rotation coordinates. ,
The Z coordinate group of the center of the sphere when the surface of the sphere contacts the vertex of the triangle forming the three-dimensional shape model, and the side of the triangle forming the three-dimensional shape model touches the surface of the sphere. The Z coordinate group of the center of the sphere at the time, and the Z coordinate group of the center of the sphere when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other, Among them, a point Z = Zh, a Z coordinate farthest in the + Z direction located outside the three-dimensional shape model is adopted,
The X coordinate and the Z coordinate obtained by turning the adopted Z coordinate in a positive direction around the straight line passing through the Zh at a right angle to the XZ plane by the turning angle α and converting the coordinate into the Z coordinate are converted to the spherical rotating tool. It is characterized by a tool path.

  The invention according to claim 18, wherein in the item (17), the three-dimensional shape model is provided on a curved surface of the polygon with respect to a product whose surface is divided into polygons having a three-dimensional curved surface. , And it is assumed that the vertices are divided into triangles connected by straight lines.

The invention according to claim 19, wherein the first tool path generation program according to claim 17 or 18, wherein the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool is: While moving in the Z-axis direction while maintaining a state of contact with the three-dimensional shape model rotating around the C axis, the direction of the virtual thin disk is perpendicular to the surface of the three-dimensional shape model. Assuming that you aim,
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. An X coordinate and a Z coordinate of the center of the virtual thin disk are obtained for an angle β and an arbitrary turning angle θ of the C axis.

The invention according to a tool path generating program according to claim 20, wherein in the above item 19, the virtual thin disk is defined by a tool coordinate system composed of a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
The direction of the virtual thin disk is swung by an angle β-90 °, and the tip of the virtual thin disk is positioned so as to come into contact with a processing point of the three-dimensional model.

An invention according to a tool path generating program according to claim 21, wherein the band saw blade according to any one of the above items 17 to 20, further comprising a band saw blade that runs parallel to a direction orthogonal to the C axis, and the band saw blade as a whole is a Z axis. 3D using a band sawing machine that is movable in a Z-axis direction parallel to the axis and in an F direction orthogonal to the Z-axis, and that can change the direction of the band saw blade so as to be inclined with respect to the Z-axis direction. Add a third tool path generation program required for machining,
The third tool path generation program is configured such that a virtual band saw tool having the same shape as the band saw blade of the band sawing machine is parallel to the Z axis with respect to the three-dimensional shape model when the turning angle θ of the C axis is zero degree. When slicing in the Z-axis direction, assuming that it moves in the Z-axis direction and the F direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. Further, at least one of the maximum part offset line and the minimum part offset line is a tool path of the virtual band saw tool.

The invention according to a tool path generating program according to claim 22, further comprising a polishing belt running parallel to a direction perpendicular to the C-axis, wherein the polishing belt as a whole is a Z-axis. 3D using a belt sander that is movable in a Z-axis direction parallel to the axis and in an F-direction perpendicular to the Z-axis, and that can change the direction of the polishing belt so as to be inclined with respect to the Z-axis direction. Add a fourth tool path generation program required for machining,
As the fourth tool path generation program, when a virtual polishing tool having the same shape as the polishing belt of the belt sander grinds the three-dimensional shape model at a turning angle θ of C axis of zero degree, Assuming that it moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. It is characterized in that a route is generated.

  A recording medium according to a twenty-second aspect of the present invention is characterized by recording the tool path generating program according to any one of the seventeenth to twenty-first aspects.

According to the present invention, a tool path of a virtual thin disk in contact with a three-dimensional shape model of a product is generated, and then, a tool path of a virtual sphere in contact with a side surface from the tip of the three-dimensional shape model is also generated. By doing so, the following effects can be obtained.
First, rough machining is performed by only one feed operation with a disk-type cutting tool based on the tool path by the virtual thin disk, and then, without removing material, a spherical rotary tool is immediately used based on the tool path by the virtual sphere. With this, fine unevenness can be processed. As a result, a series of processes from the rough processing to the fine processing can be continuously performed on one processing machine, and as a result, fine three-dimensional lathe processing can be performed in a short time. It can be performed with high accuracy. As a result, it is possible to perform efficient three-dimensional processing in a short time as a whole, including fine unevenness processing, without requiring complicated and expensive hardware and software.

  The three-dimensional shape model may be a three-dimensional shape model of a product having a three-dimensional surface divided into triangles or a three-dimensional shape model of a product having a three-dimensional curved polygon. Can be applied.

  In addition, by controlling the disk-type rotary tool so as to face in the normal direction to the surface of the three-dimensional shape model, the roughness of the processing surface is reduced, and a processing surface corresponding to a polished surface is obtained. Further, since the disk-type rotary tool can swing so as to face in a tangential direction so as not to interfere with the three-dimensional shape model, the roughness of the processing surface is reduced, and a processing surface corresponding to a polished surface is obtained. As a result, the time for the polishing step can be reduced.

  In addition, a band saw having a band saw blade running parallel to the direction orthogonal to the C axis is further provided, so that the cutting allowance between the outer shape of the woodwork material and the three-dimensional shape can be reduced with a small amount of energy, and , Can be cut off in a short time.

  Further, by further comprising a belt sander having a polishing belt running parallel to the direction orthogonal to the C axis, after shaving a three-dimensional shape from woodworking material by a disk-shaped rotary tool or a spherical rotary tool, the three-dimensional shape Is automatically polished with a polishing belt for the contour of. As a result, it is possible to shorten the time for the polishing step and save labor.

It is a perspective view showing the outline of the multi-axis NC woodworking lathe system of an embodiment concerning the present invention. (A) is a perspective view showing a virtual three-dimensional shape model chucked on the C-axis of a multi-axis NC woodworking lathe, a virtual thin disk, and a virtual sphere. (B) is a side view seen from the Z-axis direction of (a). FIG. 4 is a schematic explanatory diagram showing a geometric positional relationship between a surface of a virtual three-dimensional shape model and a triangle located in a space region of a virtual thin disk. FIG. 4 is a schematic diagram showing a method for obtaining a center X coordinate of a circle passing through a point A. (A) is a top view showing the state where a spherical rotary tool turns around B-axis, always pointing to point Z = Zh. (B) is a plan view showing a state in which the virtual three-dimensional shape model and the spherical rotary tool of (a) are rotationally transformed in the opposite direction with the point Z = Zh as the origin. It is a schematic perspective view which shows the geometrical positional relationship with the triangle of the surface of the virtual three-dimensional shape model located in the space area | region of a virtual sphere. FIG. 7 is a schematic diagram illustrating a Z coordinate of a center of a virtual sphere at a first processing point. It is the schematic which shows the Z coordinate of the center of the virtual sphere in a 2nd processing point. It is the schematic which shows the Z coordinate of the center of the virtual sphere in a 3rd processing point. (A)-(c) is a schematic perspective view in a three-dimensional shape model of a product in which the surface of a polygon defined by a three-dimensional curved surface is divided into triangles. It is the top view which the virtual thin disk contacted the normal direction with respect to the surface of the virtual three-dimensional model. FIG. 11 is a perspective view for explaining obtaining the rotation center coordinates of a virtual thin disk that is in contact with the surface of the virtual three-dimensional shape model in the normal direction. FIG. 13 is an XZ plan view of the state of FIG. 12 viewed from the Y-axis direction. It is the side view which looked at the state of FIG. 12 from the Z-axis direction. It is a perspective view showing an example of a product which has a dent. FIG. 16 is an XZ plan view showing a state where the three-dimensional shape model of the product in FIG. 15 is virtually cut by a virtual thin disk. It is a perspective view showing the state where woodwork material is cut off with the band saw blade of the band saw machine. It is a perspective view showing a slice section of a three-dimensional shape model. It is a perspective view which shows the maximum part outline and the minimum part outline of a three-dimensional shape model. It is the schematic which shows the maximum part offset line with respect to the maximum part outline. It is sectional drawing for measuring the limit of the curvature radius of a cutting curve from the cross section of the band saw blade at the time of cutting a woodworking material. (A)-(d) is a schematic perspective view which shows a series of operation | movement which grinds a three-dimensional shape from woodworking material using a disk-type rotary tool and a band saw blade. It is a perspective view which shows the state which grinds a woodworking material with the grinding belt of a belt sander. FIG. 24 is a side view showing a state in which the woodwork material is polished by the polishing belt in FIG. 23.

  Hereinafter, a multi-axis NC woodworking lathe system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a schematic configuration of a four-axis NC woodworking lathe used in the multi-axis NC woodworking lathe system.

  As shown in FIG. 1, a multi-axis NC woodworking lathe system 1 according to the present embodiment includes a chuck 11 for chucking and turning a woodworking material W on a base plate of a four-axis NC woodworking lathe 10, and a woodworking material W And a disk-shaped rotary tool 20 and a spherical rotary tool 31 for cutting a workpiece. That is, the disk-shaped rotary tool 20 and the spherical rotary tool 31 are provided on the same stage.

  The chuck 11 has a C-axis which is a turning axis capable of controlling a turning angle by chucking the woodworking material W.

  The disk-type rotary tool 20 is a disk-type rotary tool provided with a saw blade 23 on the outer periphery, and in this embodiment, a tip saw is used. Further, in order to cut the woodworking material W rotating around the C-axis, the disc-shaped rotary tool 20 is configured to be movable in the Z-axis direction on the extension of the C-axis and in the X-axis direction orthogonal to the Z-axis. Have been. In the present embodiment, the X axis is substantially parallel to the surface of the base plate.

  The spherical rotary tool 31 is a spherical rotary tool provided with a spherical or hemispherical cutter. Further, in order to cut the woodworking material W rotating around the C-axis, the woodworking material W is configured to be movable in the Z-axis direction and the X-axis direction and rotatable around the B-axis orthogonal to the XZ plane. In the present embodiment, the spherical rotary tool 31 uses a ball bit for woodwork having a spherical tip, but may be a router bit for woodwork with a distal end or another form.

  In the present embodiment, the B axis is a Y axis direction orthogonal to the XZ plane as shown in FIG. 1, and is a rotation axis supported by a mechanical rotation mechanism.

  In the present embodiment, a three-dimensional product is cut from the woodworking material W that is chucking on the C-axis and turning, using the above-described disc-shaped rotary tool 20 and spherical rotary tool 31. For this purpose, a tool path of the disk-shaped rotary tool 20 and a tool path of the spherical rotary tool 31 are generated in advance and programmed in a computer.

  The tool path generating method according to the present embodiment includes a first tool path generating method required for three-dimensional machining using the disk-shaped rotary tool 20 and a second tool required for three-dimensional machining using the spherical rotary tool 31 And a route generation method.

  First, a three-dimensional shape model 2 in which the three-dimensional surface of a product is divided by a triangle is input to a computer. In the present embodiment, a 3D model in the STL file format is used as the three-dimensional shape model 2. Next, it is assumed that the three-dimensional model 2 of the product input to the computer is chucked on the C-axis of the 4-axis NC woodworking lathe 10. Note that the three-dimensional shape model 2 at this time has projections such as a doll's nose and ears, as shown in FIG.

A first tool path generation method, that is, a tool path generation method of the disk-shaped rotary tool 20 will be described with reference to the drawings.
FIG. 2A shows a state in which the three-dimensional shape model 2 is virtually chucked on the C-axis, and a virtual thin disk 21 having the same shape as the disk-shaped rotary tool 20. The virtual thin disk 21 in FIG. 2A is a thin disk having the same diameter and the same diameter as the disk-type rotary tool 20.

  In the first tool path generation method, in order to obtain the tool path of the disk-shaped rotary tool 20, first, the side of the virtual thin disk 21 on the chuck 11 side is the left end of the three-dimensional model 2 in FIG. On the Z coordinate of Further, the outer peripheral surface of the virtual thin disk 21 is located at a position in contact with the Z axis which is an extension of the C axis. With this state as a starting point, the robot moves in the −Z-axis direction obliquely upward to the right in FIG. 2A while maintaining a state in contact with the rotating three-dimensional model 2.

  The trajectory of the contact point between the virtual thin disk 21 and the three-dimensional model 2 is drawn in a spiral shape on the surface of the virtual three-dimensional model 2. At that time, the virtual thin disk 21 moves in the X-axis direction due to the unevenness of the three-dimensional model 2. In this moving operation, the X-axis of the rotation center of the virtual thin disk 21 is obtained in accordance with an arbitrary turning angle θ of the C axis and an arbitrary Z coordinate of the outer circumference of the virtual thin disk 21, thereby obtaining the disk-shaped rotary tool 20. Tool path.

  More specifically, FIG. 3 shows the geometry of the virtual thin disk 21 and the triangle of the surface of the three-dimensional model 2 located in the space region 22 of the virtual thin disk 21 between the planes including both side surfaces thereof. The positional relationship is shown. Originally, as candidates that come into contact with the virtual thin disk 21, it is necessary to show all the triangles existing in the space area 22 of the virtual thin disk 21, but in order to make the explanation easy to understand, any two adjacent triangles Is assumed.

  Generally, as shown in FIG. 4, in the XY plane formed by the X axis and the Y axis orthogonal to the XZ plane, the center of a circle passing through an arbitrary point A among circles having a radius Rc centered on the X axis is The X coordinate is obtained as an intersection between the circle having the radius Rc around the point A and the X axis. With this concept, as shown in FIG. 2B when the chuck 11 side is viewed from the lower left side in FIG. 2A, the contact point A between the surface of the three-dimensional shape model 2 and the virtual thin disk 21 is determined. The X coordinate of the center of the virtual thin disk 21 can be obtained.

  The tool path of the disk-type rotary tool 20 is obtained by obtaining the X coordinate of the center of the virtual thin disk 21 when it is in contact with the three-dimensional model 2 that turns around the C axis by the above-described method.

  In FIG. 3, a circle having the same radius as the radius of the virtual thin disk 21 centered on the intersections C1, C2, and C5 between the first plane 22a, which is a plane including the left side surface 21a, and the sides of the triangle is defined as the first plane 22a. Draw on top. Among the intersections where these circles intersect the X axis, the X coordinate of the intersection farthest from the C axis of the turning axis is defined as the X coordinate of the first tool center.

  Next, a circle having the same radius as the radius of the virtual thin disk 21 centered on the intersections C3, C4, and C6 between the second plane 22b, which is the plane including the right side surface 21b in FIG. On the plane 22b. Of the intersections where these circles intersect the X-axis, the X-coordinate of the intersection farthest from the C-axis of the turning axis is defined as the X-coordinate of the second tool center.

  Further, regarding the vertices of the triangle in FIG. 3, the vertices that may be in contact with the virtual thin disk 21 are located in the space region 22 of the virtual thin disk 21 between the first plane 22a and the second plane 22b. Vertices P2 and P4. Therefore, a circle having the same radius as the virtual thin disk 21 centered on the vertices P2 and P4 is drawn in parallel with the first plane 22a and the second plane 22b. Of the intersections where these circles intersect the X axis, the X coordinate of the intersection farthest from the C axis of the turning axis is defined as the X coordinate of the third tool center.

  Of the X coordinates of the first tool center, the second tool center, and the third tool center obtained as described above, the X coordinate of the intersection farthest from the C axis of the turning axis is the virtual thin disk to be obtained. The X-coordinate of the center of 21 is a tool path of the disk-shaped rotary tool 20.

  The above-described calculation of the tool path of the virtual thin disk 21 is performed for each rotation angle θ and for each feed in the Z-axis direction from the front end to the processing end of the three-dimensional shape model 2. The X coordinate of the center of the virtual thin disk 21 when circumscribing the three-dimensional shape model 2 is obtained. By storing the result in a computer together with the G code, the tool path of the disk-shaped rotary tool 20 is obtained.

Next, a second tool path generation method, that is, a tool path generation method of the spherical rotary tool 31 will be described with reference to the drawings.
FIG. 2A shows a virtual sphere 32 having the same diameter as the sphere at the tip of the spherical rotary tool 31. The virtual sphere 32 has the same axis as the rotation axis of the spherical rotary tool 31.

  In the second tool path generation method, in order to obtain the tool path of the spherical rotary tool 31, first, the surface of the virtual sphere 32 is placed on the Z coordinate of the left end in the three-dimensional model 2 in FIG. is there. Further, the axis of the spherical rotary tool 31 coincides with the Z axis. With this state as a starting point, the robot moves in the XZ plane while maintaining a state in which it is always in contact with an arbitrary point Zh on the Z axis while maintaining a state in contact with the rotating three-dimensional model 2; It turns around the B axis orthogonal to the XZ plane. Further, it moves in the -Z axis direction in FIG.

  The trajectory of the contact point between the virtual sphere 32 and the three-dimensional shape model 2 is drawn in a spiral shape on the surface of the three-dimensional shape model 2. At that time, the spherical rotary tool 31 moves in accordance with the irregularities of the three-dimensional model 2 while turning (swinging) around the B axis as described above. In this moving operation, the X coordinate and the Z coordinate of the center of the virtual sphere 32 are obtained for an arbitrary turning angle θ of the C axis and an arbitrary turning angle α of the rotation axis of the spherical rotary tool 31 with respect to the Z axis. , The tool path of the spherical rotary tool 31.

Image behavior during processing, as shown in FIG. 5 (a), during turning woodworking material W is in the C-axis, the spherical rotary tool 31 having a spherical 32 tip radius r _b is any on the Z-axis It turns (swings) around the B axis while facing the point Zh. For example, the turning angle α is in a range of 0 to 90 °. At this time, the spherical rotary tool 31 repeats a reciprocating motion in the r direction by combining the X-axis direction and the Z-axis direction according to the unevenness of the surface of the virtual three-dimensional model 2. In FIG. 5A, an operation is performed in which unevenness on the surface of the three-dimensional shape model 2 is processed while moving in the leftward direction in the −Z-axis direction.
Note that an arbitrary point Zh on the Z axis is the Z coordinate of the center of the bottom surface when the tip of the product shape is approximated to a hemisphere as shown in FIG. The rear end of the product shape is a cylinder connected to the hemisphere at the front end.

  The calculation method of the CAM software on the premise of the above-described machining operation is as follows. For the virtual three-dimensional shape model 2 that has turned around the C axis by the turning angle θ, the spherical rotating tool 31 has the turning angle α around the B axis. The distance Zc in the r direction in the state where the vehicle is turned is obtained. This calculation is repeated. At this time, coordinate conversion is used to easily obtain the center coordinates of the virtual sphere 32 of the spherical rotary tool 31.

That is, the three-dimensional shape model 2 is rotationally converted about the C axis by the same turning angle as the turning angle θ. Further, the three-dimensional shape model 2 and the spherical rotary tool 31 are simultaneously translated on the Z-axis by −Zh, and are turned around the Y-axis by the same turning angle as the turning angle α in the opposite direction to convert the rotation.
As a result, as shown in FIG. 5 (b), schematically in a state for obtaining the just center position of the virtual sphere 32 of radius r _b having a center on the Z-axis position in contact with the triangle of the three-dimensional shape model 2 of the surface Can be

Figure 6 is a three-dimensional shape model 2, the rotation axis of the spherical rotary tool 31 shows a state where the rotary shaft is rotated converted to match on the Z axis, and the virtual sphere 32, the outer circumference of the radius r _b The geometrical positional relationship between a space region 33 in a cylinder obtained by extending a circle in the Z-axis direction and a triangle on the surface of the three-dimensional shape model 2 located in the space region 33 is shown. A candidate that comes into contact with the virtual sphere 32 is a triangle existing in the space area 33. With respect to these triangles, all candidates considered to be in contact with the surface of the virtual sphere 32 are extracted, and only one machining point that should actually contribute to machining is selected from the candidates.

  As all possible candidates, a first processing point when the surface of the virtual sphere 32 and the vertices of the triangle constituting the three-dimensional model 2 are in contact with each corresponding triangle is extracted. Next, a second processing point when the surface of the virtual sphere 32 is in contact with the side of the triangle forming the three-dimensional model 2 is extracted. Furthermore, a third processing point when the surface of the virtual sphere 32 and the triangular plane forming the three-dimensional shape model 2 are in contact with each other is extracted.

  Only one machining point that should contribute to actual machining is extracted from among the three first machining point, second machining point, and third machining point candidates of all triangles obtained as described above. By doing so, the X and Z coordinates of the center of the virtual sphere 32 are obtained.

  Next, a calculation method based on basic equations for obtaining the X coordinate and the Z coordinate of the center of the virtual sphere 32 at the first processing point, the second processing point, and the third processing point will be described.

First, the definition of the coordinate system in the present embodiment will be described with reference to FIG.
The rotation axis of the three-dimensional model 2 that rotates around the C axis by the chuck 11 is set to the Z axis, and the direction away from the chuck 11 is set to + Z. In the XZ plane formed by the Z axis and the X axis orthogonal to the Z axis, the direction in which the virtual thin disk 21 is far away is + X. The axis perpendicular to the XZ plane is the Y axis, and the direction in which the screw advances when the right screw is turned from the + Z axis to the + X axis is + Y. That is, in the Y axis orthogonal to the intersection of the X axis and the Z axis on the paper surface in FIG. 5A, the near side of the paper surface is + Y. The turning angle between the Z axis and the rotation axis r of the spherical rotary tool 31 is α. The turning angle of the three-dimensional model 2 around the C axis is θ, and the direction of turning the three-dimensional model 2 clockwise toward the chuck 11 is + θ.

A calculation method for obtaining the center coordinates of the virtual sphere 32 at the first processing point will be described. That is, the coordinates of the center of the sphere 32 when the surface of the virtual sphere 32 having the center on the Z axis is in contact with the apex of the triangle forming the three-dimensional model 2.
Apex of the triangle, as shown in FIG. 7, an arbitrary point P in space _{(x p, y p, z} p) and. The radius of the sphere 32 is set to _{r b.} The Z coordinate Z _C of the center of the sphere 32 is obtained by Expression (1).

A calculation method for obtaining the center coordinates of the virtual sphere 32 at the second processing point will be described. That is, the coordinates of the center of the sphere 32 when the surface of the virtual sphere 32 having the center on the Z axis is in contact with the sides of the triangle constituting the three-dimensional model 2.
Sides of the triangle, as shown in FIG. 8, through the point _{A (x 1, y 1,} z 1), the direction cosine is a straight line g of (l, m, n). The radius of the sphere 32 is set to _{r b.} The Z coordinate Z _C of the center of the sphere 32 is obtained by Expression (2).

A calculation method for obtaining the center coordinates of the virtual sphere 32 at the third processing point will be described. That is, the coordinates of the center of the sphere 32 when the surface of the virtual sphere 32 having the center on the Z axis is in contact with the triangular plane forming the three-dimensional model 2.
Triangular planes, as shown in FIG. 9, the point _{P 1 (x 1, y 1} , z 1), the point _{P 2 (x 2, y 2} , z 2), the point _{P 3 (x 3, y 3} , z ₃ ) Let π be a plane passing through. The radius of the sphere 32 is set to _{r b.} The Z coordinate Z _C of the center of the sphere 32 is obtained by Expression (3).

In Equations (1), (2), and (3) as described above, two solutions (Z _C1 , Z _C2 ) of ± are obtained. For example, in FIG. 7, the solution of two spheres 32, 32 that are in contact with the vertex P is obtained. In Figure 8, the solution of the two spheres 32, 32 in contact with _{P 0} and the point _{Q 0} point on the line g. In Figure 9, the solution of the two spheres 32, 32 in contact with the point of the triangular planes [pi _{Q 1} and point _{Q 2} is obtained. However, in practice, only one of them is adopted.

Therefore, as the first processing point, a Z coordinate group of the center of the sphere 32 when the surface of the virtual sphere 32 contacts the apex of the triangle forming the three-dimensional model 2 is obtained. Further, as the second processing point, a Z coordinate group of the center of the sphere 32 when the surface of the virtual sphere 32 is in contact with the sides of the triangle forming the three-dimensional model 2 is obtained. Further, as a third processing point, a group of Z coordinates of the center of the sphere 32 when the surface of the virtual sphere 32 is in contact with the triangular plane constituting the three-dimensional model 2 is obtained.
Among these Z coordinate groups, the Z coordinate farthest from Z = Zh is adopted as the tool path on the Z axis of the spherical rotary tool 31.
The adopted Z coordinate on the Z axis is obtained by turning in the positive direction around the point Z = Zh by the turning angle α and converting the rotation coordinate to obtain the X coordinate and the Z coordinate. It becomes.

  The above-described calculation of the tool path of the spherical rotary tool 31 is performed from the front end to the processing end of the three-dimensional shape model 2 for each rotation angle θ and for each feed in the Z-axis direction, and the surface of the virtual sphere 32 is tertiary. The X and Z coordinates of the center of the virtual sphere 32 when circumscribing the original shape model 2 are obtained. The tool path of the spherical rotary tool 31 is obtained by storing the result in a computer together with the G code.

  As described above, the multi-axis NC woodworking lathe system 1 according to the embodiment of the present invention includes a three-dimensional shape model 2 of a product whose surface is divided into triangles and which is input to a computer while being turned and chucked on the C-axis. The tool path of the disk-type rotary tool 20 can be generated in advance by the virtual thin disk 21 that is in contact. With this tool path, the three-dimensional product can be roughly cut from the woodworking material W efficiently and temporally within one feed operation by the actual disk-shaped rotary tool 20.

Next, a tool path of the spherical rotary tool 31 can be generated in advance by the virtual sphere 32 in contact with the three-dimensional shape model 2. With this tool path, the minute part in the three-dimensional product is efficiently cut in a short time by using the actual spherical rotary tool 31 on the same stage as the disk-type rotary tool 20 without removing the material. can do.
In addition, even if the spherical rotary tool 31 is provided on the same stage as the disk-type rotary tool 20, it is not possible to perform fine unevenness processing as long as it simply moves in the X-axis direction and the Z-axis direction. In the present embodiment, since the spherical rotary tool 31 is turned (swinged) around the B axis, it is possible to effectively perform fine unevenness processing continuously from the end surface to the side surface of the material. It has become.

  As described above, according to the present embodiment, it is possible to perform three-dimensional processing with a lathe efficiently in a short time, including fine irregularities, without requiring complicated and expensive hardware and software. It is possible.

  In the multi-axis NC woodworking lathe system 1 according to the above-described embodiment, the three-dimensional shape model 2 has been described using a three-dimensional product whose surface is divided into triangles. As an example, a 3D model in the STL file format was used. However, the three-dimensional shape model 2 is not limited to this, and may be applied to, for example, a three-dimensional shape model 2 of a product whose surface is divided into a polygon having a three-dimensional curved surface. That is, the three-dimensional model 2 of the product whose surface is entirely or partially represented by a curved surface function. For example, a function expression form of a free-form surface such as NURBS used in general CAM software, such as an automobile or a mold, can be included.

In this case, it can be assumed that the surface of the three-dimensional shape model 2 is obtained by dividing vertices on the curved surface of the polygon into triangles connected by straight lines. For example, as shown in FIG. 10A, assuming that the slice is performed on an extension of both sides of the tip saw 20 (disc-shaped rotary tool) at an arbitrary Z coordinate of the three-dimensional shape model 2, FIG. A slice 2a as shown is taken out. The surface of the three-dimensional curved surface of the slice piece 2a is divided into three-dimensional curved polygons. Since each polygon has vertices on a curved surface, connecting the vertices of adjacent polygons with a straight line may assume that the surface is divided into triangles as shown in FIG. it can. That is, as in the above-described embodiment, the shape is the same as the three-dimensional shape model 2 of the product whose surface is divided by triangles.
Therefore, for the three-dimensional shape model 2 of the product whose surface is divided into three-dimensional curved polygons, it is possible to obtain processing points for the above-mentioned divided triangles in the same manner as in the above-described embodiment. it can.

In this case, it can be assumed that the surface of the three-dimensional shape model 2 is obtained by dividing vertices on the curved surface of the polygon into triangles connected by straight lines. For example, as shown in FIG. 10A, assuming that the slice is performed on an extension of both sides of the tip saw 20 (disc-shaped rotary tool) at an arbitrary Z coordinate of the three-dimensional shape model 2, FIG. A slice 2a as shown is taken out. The surface of the three-dimensional curved surface of the sliced piece 2a may be a curved surface entirely represented by one function, or may be a polygonal polygon partially represented by a function. If the curved surface has vertices and the vertices are connected to each other by a straight line, it can be assumed that the surface of the curved surface is divided into triangles as shown in FIG. That is, as in the above-described embodiment, the shape is the same as the three-dimensional shape model 2 of the product whose surface is divided by triangles. However, it is assumed that the deviation between the triangular plane and the function of the curved surface representing the three-dimensional model 2 exists to such an extent that there is no practical problem.
Therefore, for the three-dimensional shape model 2 of the product whose surface is divided into three-dimensional curved polygons, it is possible to obtain processing points for the above-mentioned divided triangles in the same manner as in the above-described embodiment. it can.

Next, a processing system that can be further added to the multi-axis NC woodworking lathe system 1 of the above-described embodiment will be described.
The disk-shaped rotary tool 20 moves in the Z-axis direction while maintaining a state in which the outer saw blade 23 is always in contact with the rotating three-dimensional shape model 2, and has a new function. That is, control is performed so that the disk-shaped rotary tool 20 is directed in a direction perpendicular to the surface of the three-dimensional shape model 2, that is, in a normal direction.
The disk-shaped rotary tool 20 is movable in the Z-axis direction and the X-axis direction orthogonal to the Z-axis in FIGS. 10 (a), 11 and 12. Furthermore, it can rotate around the D-axis which passes through the center of rotation of the disk-shaped rotary tool 20 and is perpendicular to the XZ plane.

In order to obtain the tool path of the disk-shaped rotary tool 20, the outer periphery of the virtual thin disk 21 moves in the Z-axis direction while maintaining a state in contact with the rotating three-dimensional model 2, It is assumed that the direction of the virtual thin disk 21 is oriented perpendicular (normal direction) to the surface of the three-dimensional model 2.
As shown in FIG. 12, FIG. 13 and FIG. 14, at an arbitrary Z coordinate Zi, at a turning angle θi of the C axis, a straight line perpendicular to the Z axis in the XZ plane and parallel to the X axis, the three-dimensional shape model 2 Is defined as P (Xi, θi, Zi). The intersection P is a point at which the outer periphery of the virtual thin disk 21 is to come into perpendicular contact with the surface of the three-dimensional model 2.
A normal vector POc of a radius Rc of the thin disk 21 having a virtual length is calculated from the intersection P toward the normal direction. Let H be the foot of the perpendicular drawn from the tip position Oc of the normal vector POc to the Z axis (that is, the intersection with the Z axis), and let Xc be the length of HOc. At this time, the rotation angle obtained by rotating the three-dimensional shape model 2 around the Z axis until HOc coincides with the XZ plane is defined as γ. At this time, the angle formed by the projection component POc ′ of the normal vector POc onto the XZ plane and the X axis is β, and the X coordinate of the center of the virtual thin disk 21 is Xc.

Therefore, with respect to the intersection P (Xi, θi, Zi), the X-coordinate between the X coordinate Xc of the center position of the virtual thin disk 21 and the X axis, which is necessary for processing by the virtual thin disk 21 from the normal direction. The angle β to be formed and the rotation angle γ of the three-dimensional shape model 2 can be obtained.
Note that the Z coordinate Zc of the center 21c of the virtual thin disk 21 can be calculated from the vector HOc and the angle γ by rotational coordinate conversion.

  When the shape of the three-dimensional shape model 2 is represented by a function of a free-form surface such as NURBS, the normal vector at the intersection P is, for example, a reference 1 [Hino, Shamoto, Moriwaki: Tool path by direct offset method] Generation (1st report), Japan Society of Precision Engineering, Vol. 69, No. 6, 2003].

  In the disk-type rotary tool 20 according to this embodiment, the three-dimensional model 2 may be a three-dimensional product whose surface is divided into triangles, or may be divided into three-dimensional curved polygons. Also, in the case of the above product, similarly to the above-described embodiment, a processing point can be obtained for a triangle whose surface is divided.

  From the above, for example, assuming that the rotation angle of the three-dimensional shape model 2 is Δθ and the amount of movement of the intersection point P in one rotation in the −Z direction is ΔZ, the surface of the three-dimensional shape model 2 is The intersection P between the axis and the X axis is determined spirally as shown in FIG. The disk-type rotary tool 20 can perform cutting while always facing in the normal direction while swinging with respect to the spiral processing point. As a result, the surface roughness of the spiral cutter mark due to the edge of the disk-shaped rotary tool 20 is reduced. That is, the roughness of the processed surface is reduced, and a processed surface corresponding to the polished surface is obtained, so that the time for the polishing process can be reduced.

Next, a processing system that can be further added to the above embodiment will be described.
In the above embodiment, the control is performed so that the disk-shaped rotary tool 20 faces in the normal direction to the surface of the three-dimensional shape model 2. However, in the case where the three-dimensional shape model 2 has a large recess 2b as shown in FIG. 15, for example, the disk-shaped rotary tool 20 and the three-dimensional shape model 2 interfere with each other as shown by oblique lines in FIG. Problems arise.

  Therefore, in order to solve the above problem, the virtual thin disk 21 is defined by a tool coordinate system including a number of points around the surface. Next, it is assumed that the virtual thin disk 21 is swung by an angle β in order to direct the virtual thin disk 21 in a direction perpendicular to the surface of the three-dimensional model 2, that is, in a normal direction. At this time, if at least one of the many points defined in the tool coordinate system is inside the three-dimensional model 2, it is determined that the virtual thin disk 21 has interfered with the three-dimensional model 2. be able to.

  The method for determining whether or not the tool and the material interfere with each other is described in Reference 2 [Takeuchi: 5-axis control machining based on solid model, Journal of the Japan Society of Precision Engineering, 56, 11, (1990), 2063]. Can be implemented. This method is a method of converting the surface of a tool into a set of points and determining whether or not all the points are inside the machining shape in the process of calculating the tool path.

When it is determined that the virtual thin disk 21 has interfered with the three-dimensional shape model 2, the direction of the virtual thin disk 21 is swung by an angle β-90 °, as shown in FIG. As a result, the virtual thin disk 21 faces tangentially to the surface of the three-dimensional model 2.
Next, the tip of the virtual thin disk 21 is positioned so as to contact the processing point of the three-dimensional shape model 2. As the disc-shaped rotary tool 20, for example, a tip saw 20 having a bee-shaped tip 20a (cutting blade) is used. The position of the tip saw 20 is determined such that the tip saw 20 comes into contact with the processing point at a position within the length of the side surface of the tip 20a, for example, an intermediate point of the tip length.

  From the above, since the disk-type rotary tool 20 cuts in the tangential direction so as not to interfere with the three-dimensional shape model 2, the surface roughness due to the spiral cutter mark due to the edge of the disk-type rotary tool 20 is reduced. . That is, the roughness of the processed surface is reduced, and a processed surface corresponding to the polished surface is obtained, so that the time for the polishing process can be reduced.

  If the disk-shaped rotary tool 20 switches between the normal direction and the tangential direction each time the wooden material W is rotated in the C-axis direction during the cutting of the wooden material W, the swing or machining of the disk-type rotary tool 20 is performed. Since positioning to a point is performed frequently, processing time is wasted. In order to solve this problem, a region where processing in the normal direction can be performed and a region where processing in the tangential direction can be performed can be separately performed.

Next, a processing system that can be further added to the multi-axis NC woodworking lathe system 1 of the above-described embodiment will be described.
Basically, when a three-dimensional shape is cut out from, for example, a square wood material W, the machining system determines a cutting allowance between the square outer shape and the three-dimensional shape of the wood material W in advance by using a band saw blade. The purpose of the present invention is to remove with a small amount of energy in a short time by cutting off as a lump using 23.

  As shown in FIG. 17, the four-axis NC woodworking lathe 10 of the present embodiment further includes a band saw machine 40 having a band saw blade 41 running parallel to a direction orthogonal to the C axis. The band saw blade 41 is wound endlessly between two drive wheels 42 and a driven wheel 43, and is turned by the drive wheel 42. The two wheels 42 and 43 are arranged above the woodworking material W in order to avoid interference with the bed and the chuck 11 of the four-axis NC woodworking lathe 10. Further, the band saw 40 is configured to be rotatable around an A-axis connecting the rotation centers of the two wheels 42 and 43.

In the present embodiment, the band saw blade 41 is movable in the Z-axis direction parallel to the Z-axis as a whole and in the F direction perpendicular to the Z-axis, and the direction of the band saw blade 41 is set with respect to the Z-axis direction. Can be turned to be inclined. This deflection is performed by rotating the two wheels 42 and 43 around the A axis.
In the present embodiment, the Y direction corresponds to the F direction as shown in FIG. 17, but is not limited to this Y direction. That is, the band saw blade 41 may be movable as a whole in the Z-axis direction and the X-direction orthogonal to the Z-axis, or may be in any other direction as long as it is a direction orthogonal to the Z-axis. That is, the installation state of the band saw machine 40 is not limited to one direction in which the band saw blade 41 moves toward and away from the Z axis while the band saw blade 41 moves in the Z axis direction as a whole, and can be set arbitrarily.

  In order to obtain the tool path of the band saw blade 41 of the band sawing machine 40, the turning angle θ of the C axis of the three-dimensional model 2 chucked on the C axis is set to zero degree (0 °). That is, when the virtual band saw tool 44 having the same shape as the band saw blade 41 slices the three-dimensional model 2 in the Z-axis direction parallel to the Z-axis in a state where the rotation around the C-axis is stopped, It is assumed that the robot moves in the F direction orthogonal to the Z axis.

  Further, as shown in FIG. 18, a number of virtual slice sections 2 c parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model 2 in the Z-axis direction, and the maximum point in the + F direction is obtained in each virtual slice section 2 c. Calculate Fmax and minimum point Fmin. In the present embodiment, the maximum point Ymax and the minimum point Ymin in the + Y direction are calculated in each virtual slice section 2c.

  Next, a maximum contour line 3 connecting the Ymax (Fmax) and a minimum contour line 4 connecting the Ymin (Fmin) are calculated. For example, as shown in FIG. 19, in virtual slice sections 2c, 2c,... Sliced at intervals of 0.1 mm, the maximum contour line 3 connects each Ymax (Fmax) with a free curve such as NURBS. Consists of a curved line. On the other hand, the minimum part outline 4 is a curve connecting each Ymin (Fmin) with a free curve such as NURBS.

Next, a maximum offset line 5 for the maximum outline 3 and a minimum offset line 6 for the minimum outline 4 are calculated.
As a calculation method of the maximum part offset line 5, as shown in FIG. 20, first, all points of each Fmax in each virtual slice section 2c are interpolated with respect to the maximum part contour line 3 by a spline function such as NURBS. The maximum offset line 5 at a fixed distance from the interpolated maximum contour line 3 is calculated. The fixed distance may be, for example, a distance equal to or less than the length (for example, 2 to 3 mm) of the tip 20a of the tip saw 20.
Next, the intersection of the maximum offset line 5 and the sliced virtual slice section 2c is determined, and discrete data of a point on the maximum offset line 5 is determined.
The method of calculating the minimum offset line 6 is basically the same as the method of calculating the maximum offset line 5, and a detailed description thereof will be omitted.

  At least one of the maximum offset line 5 and the minimum offset line 6 obtained as described above can be obtained as a tool path of the virtual band saw tool 44. That is, if equipment is possible, without turning the woodworking material W in the C-axis direction, for example, the maximum part offset line 5 is used as the virtual tool path of the band saw tool 44, and thereafter the minimum part offset line 6 is used as the virtual path. The tool path of the band saw tool 44 of FIG. In this case, cutting efficiency is improved.

  The above operation stops the three-dimensional shape model 2 at every pitch of the rotation angle θ of the C axis, finds the maximum contour line 3 and the minimum contour line 4, and sets the maximum offset line 5 corresponding to each of them. The minimum part offset line 6 can be obtained. For example, the process is performed at a pitch of the rotation angle of the C axis of 30 °, and the maximum contour line 3 and the minimum contour line 4 for each turning angle θ are obtained. Next, the maximum offset line 5 and the minimum offset line 6 corresponding to each are obtained.

In the present embodiment, the band sawing machine 40 is arranged so that the band saw blade 41 travels in parallel with the direction orthogonal to the C axis, as shown in FIG.
The band saw blade 41 cuts the three-dimensional shape model 2 along the maximum part offset line 5 among the two maximum part offset lines 5 and the minimum part offset lines 6 obtained by rotating the three-dimensional model 2 at every rotation angle θ of the C axis. . The tip of the band saw blade 41 moves between points on the maximum offset line 5, and the band saw blade 41 cuts the woodworking material W while facing in the tangential direction of the offset line.

  The band saw blade 41 has a narrow width, for example, 5 mm as shown in FIG. 21 in order to cut the woodwork material W in a curved shape. At this time, the thickness A of the blade tip 41c is 1 mm, and the thickness B of the base metal 41b is 0.5 mm. However, when cutting the woodworking material W with a curve having a small radius of curvature R, the cutting groove 45 of the woodworking material W may interfere with the band saw blade 41. For example, as shown in FIG. 21, as a result of drawing and measuring with the above dimensions, when cutting along the curve of the maximum portion offset line 5 using the above band saw blade 41, the radius of curvature R that becomes the limit is It is about 49 mm. Therefore, in this example, the maximum offset line 5 and the minimum offset line 6 having a curvature radius R of 49 mm or more are targeted.

Next, regarding the operation of the multi-axis NC woodworking lathe system 1 to which the above-described band saw machine 40 is added, a series of operations for cutting a three-dimensional shape from the woodworking material W will be described.
First, in FIG. 22 (a), the woodworking material W of regular square wood is chucked on the C-axis, and while rotating the C-axis, the cut 24 is previously set at the position of the cut end by the band saw blade 41 by the disc-shaped rotary tool 20. Put in.

  Next, in FIG. 22B, the tool path of the band saw blade 41 of the band saw machine 40 is obtained in advance by a virtual band saw tool 44 having the same shape as the band saw blade 41. In a state where the rotation angle θ of the C axis is zero degree (0 °), the band saw blade 41 moves based on the tool path, and a cutting margin between the square outer shape of the woodworking material W and the three-dimensional shape contour is formed. Cut off.

  Next, in FIG. 22C, the woodworking material W stops turning at every pitch of the turning angle θ of the C axis, the band saw blade 41 moves based on the tool path, and the outer shape and three-dimensional shape of the woodworking material W are obtained. Cut off the shaving allowance between the contours. As a result, most of the cutting allowance between the outer shape of the woodworking material W and the contour of the three-dimensional shape is cut off with less energy and in a shorter time.

Next, in FIG. 22D, the tool path of the disk-shaped rotary tool 20 is obtained in advance by the virtual thin disk 21. The disk-shaped rotary tool 20 moves based on the tool path, and cuts the remaining portion of the three-dimensional contour. At this time, the disk-shaped rotary tool 20 is controlled so as to face in the normal direction with respect to the surface of the three-dimensional shape model 2, so that the cutting is performed while swinging. In addition, control is performed so that the disk-shaped rotary tool 20 is directed tangentially to the contour of the three-dimensional shape so as not to interfere with the woodworking material W. As a result, the contour of the three-dimensional shape becomes a processed surface corresponding to the polished surface, so that the time for the polishing process is reduced.
Although not shown, the tool path of the spherical rotary tool 31 is obtained in advance by a virtual sphere 32 having the tip shape of a sphere having the same diameter as the spherical rotary tool 31. The spherical rotary tool 31 moves based on the tool path, and cuts off the remaining part of the three-dimensional contour.

Next, a processing system that can be further added to the multi-axis NC woodworking lathe system 1 of the above-described embodiment will be described.
This processing system uses a disk-type rotary tool 20 and a spherical rotary tool 31 to cut out a three-dimensional shape from a woodworking material W, and then automatically polishes the contour of the three-dimensional shape with a polishing belt 51. Therefore, an object of the present invention is to reduce the time and labor for the polishing process.

  As shown in FIG. 23, the four-axis NC woodworking lathe 10 of the present embodiment further includes a belt sander 50 having a polishing belt 51 running parallel to a direction orthogonal to the C-axis. The polishing belt 51 is wound endlessly between two drive wheels 52 and a driven wheel 53, and is turned by the drive wheels 52. The belt sander 50 is configured to be rotatable around a B axis connecting the rotation centers of the two wheels 52 and 53.

Further, in the present embodiment, the polishing belt 51 is movable as a whole in a Z-axis direction parallel to the Z-axis and in an F direction perpendicular to the Z-axis, and the direction of the polishing belt 51 is set with respect to the Z-axis direction. Can be turned to be inclined. This deflection is performed by rotating the two wheels 52 and 53 around the B axis.
As described in the band saw blade 41, the F direction corresponds to the X direction in the present embodiment as shown in FIG. 23, but is not limited to the X direction. That is, the polishing belt 51 may be movable as a whole in the Z-axis direction and the Y-direction orthogonal to the Z-axis, or may be in any other direction as long as the direction is orthogonal to the Z-axis. That is, the installation state of the belt sander 50 is not limited to one direction in which the polishing belt 51 moves toward and away from the Z axis while the polishing belt 51 moves as a whole in the Z axis direction, and can be set arbitrarily.

  In order to obtain the tool path of the polishing belt 51 of the belt sander 50, the turning angle θ of the C axis of the three-dimensional model 2 chucked on the C axis is set to zero degree (0 °). That is, the virtual polishing tool 54 having the same shape as the polishing belt 51 moves in the Z-axis direction and the F-direction perpendicular to the Z-axis when polishing the three-dimensional shape model 2 in a state where the rotation around the C-axis is stopped. It is assumed that

Further, in the above-mentioned band saw machine 40, similarly to the case shown in FIG. 18, the virtual three-dimensional model 2 is formed in a number of virtual slice sections 2c parallel to the XY plane at appropriate intervals toward the Z-axis direction. The maximum point Fmax and the minimum point Fmin in the + F direction in the virtual slice section 2c are calculated. In the present embodiment, the maximum point Xmax and the minimum point Xmin in the + X direction are calculated in each virtual slice section 2c.
Next, a maximum contour line connecting the Xmax (Fmax) and a minimum contour line connecting the Xmin (Fmin) are calculated.

At least one of the maximum contour line and the minimum contour line determined as described above can be obtained as the tool path of the virtual polishing tool 54. That is, if equipment is possible, for example, the maximum contour is used as the tool path of the virtual polishing tool 54 without rotating in the C-axis direction, and the minimum contour is then used as the tool of the virtual polishing tool 54. Can be a route. In this case, the polishing efficiency is improved.
The position of the virtual polishing tool 54 to be polished can utilize the tool path obtained at the time of cutting the cutting allowance by the band saw blade 41 described above.

  In the above operation, the three-dimensional shape model 2 can be stopped at every pitch of the C-axis turning angle θ, and the maximum contour line and the minimum contour line can be obtained. For example, the process is performed at a fine pitch such as a rotation angle of the C-axis of 5 °, and a maximum contour line and a minimum contour line for each turning angle θ are obtained.

In this embodiment, as shown in FIGS. 23 and 24, the belt sander 50 is arranged so that the polishing belt 51 runs parallel to a direction orthogonal to the C axis.
The polishing belt 51 grinds the three-dimensional shape model 2 along the largest contour line among the two largest contour lines and the smallest contour line obtained by turning the three-dimensional shape model 2 at each turning angle θ of the C axis. The polishing belt 51 moves between points on the maximum contour line, and the polishing surface of the polishing belt 51 is polished so as to be in the same direction as the tangential direction of the maximum contour line.

  Therefore, the woodworking material W makes the turning angle θ of the C-axis small, so that the polishing belt 51 advances in a spiral tool path with respect to the three-dimensional shape of the woodworking material W that turns. The polishing belt 51 grinds while repeatedly reciprocating in the X direction according to the processing point of the woodworking material W, and swinging around the B axis according to the inclination of the surface of the woodworking material W.

The belt sander 50 can generate a pressing force of the polishing belt 51 against the surface of the woodworking material W, as shown in FIG. For example, a pressing device 55 such as an air silinder spreads the space between the rotation support shaft 52a of the drive wheel 52 and the rotation support shaft 52a of the driven wheel 53. As a result, the processing point is pressed by ΔX from the position of the polishing belt 51 when there is no load so as to move to the inside of the woodworking material W. That is, a pressing force using the tension of the polishing belt 51 is generated.
From the above, the multi-axis NC woodworking lathe system 1 of the present embodiment automatically grinds the contour of the processed product with the polishing belt 51 as a finish of the processed product in the three-dimensional shape. It is possible to achieve a reduction in time and labor saving.

  INDUSTRIAL APPLICABILITY The present invention has applicability in manufacturing and sales related to furniture and craft products, interior related business, and the like.

1; multi-axis NC woodworking lathe system 2; three-dimensional shape model 2a; slice piece 2b; dent 2c; virtual slice section 3: maximum contour line 4; minimum contour line 5; maximum offset line 6; minimum offset line 10; 4-axis NC woodworking lathe 11; chuck 20; disk-type rotary tool 20a; tip 21; virtual thin disk 21a; side surface 21b; side surface 21c; center (virtual thin disk)
22; space area (of virtual thin disk 21)
22a; first plane 22b; second plane 23; saw blade 24; cut 31; spherical rotating tool 32; virtual sphere 33; spatial area (of spherical rotating tool 31)
40; band saw machine 41; band saw blade 41b; base metal 42; drive wheel
43; driven wheel 44; virtual band saw tool 45; cutting groove 50; belt sander 51; polishing belt 52; drive wheel 53; driven wheel 54; virtual polishing tool W;

Claims (23)

In order to cut the woodworking material that is turned around the C-axis by chucking to the C-axis, which is a turning axis capable of controlling the turning angle,
A disk-shaped rotary tool movable in a Z-axis direction and an X-axis direction orthogonal to the Z-axis;
A multi-axis NC equipped with a spherical or hemispherical spherical rotating tool which is mounted on the same stage as the disk-shaped rotating tool and which can move in the XZ plane and can rotate around a B-axis perpendicular to the XZ plane; A wood lathe system,
Assuming that a three-dimensional shape model of a product whose surface is divided into triangles and input to a computer is chucked on the C axis,
Assuming that the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool moves in the Z-axis direction while maintaining a state in contact with the rotating three-dimensional shape model, While obtaining the X coordinate of the rotation center of the virtual thin disk with respect to an arbitrary turning angle θ and an arbitrary Z coordinate of the outer periphery of the virtual thin disk,
The surface of a virtual sphere having the tip shape of a sphere having the same diameter as the spherical rotating tool is kept in contact with the three-dimensional shape model rotating around the C axis, Assuming that the rotation axis is always turned around the B-axis so as to keep facing the arbitrary point Zh on the Z-axis,
When obtaining the X coordinate and the Z coordinate of the center of the sphere for an arbitrary turning angle θ between the arbitrary turning angle θ of the C axis and the Z axis of the rotating axis in the spherical rotary tool,
A first processing point when the surface of the sphere contacts a vertex of a triangle constituting the three-dimensional shape model, and a second processing point when the surface of the sphere contacts a side of the triangle constituting the three-dimensional shape model A machining point, and a third machining point when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other. A multi-axis NC woodworking lathe system, wherein the X-axis and the Z-coordinate of the center of the sphere are obtained by extracting only one.   The three-dimensional shape model has a vertex on the curved surface of the polygonal polygon for a product whose surface is divided into a polygonal polygon having a three-dimensional curved surface, and divides the vertex into triangles connected by straight lines. The multi-axis NC wood lathe system according to claim 1, wherein the assumption is made. The disk-type rotary tool can move in the Z-axis direction and the X-axis direction orthogonal to the Z-axis, and can rotate around the D-axis passing through the rotation center of the disk-type rotary tool and perpendicular to the XZ plane. And
The outer periphery of a virtual thin disk having the same shape as the disk-shaped rotary tool moves in the Z-axis direction while maintaining a state in contact with the rotating three-dimensional model, and the virtual thin disk Assuming that the orientation is perpendicular to the surface of the three-dimensional shape model,
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. 3. The multi-axis NC according to claim 1, wherein an X coordinate and a Z coordinate of a center of the virtual thin disk are obtained with respect to an angle β and an arbitrary turning angle θ of the C axis. 4. Woodworking lathe system. The virtual thin disk is defined by a tool coordinate system composed of a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
4. The multi-function device according to claim 3, wherein a direction of the virtual thin disk is swung by an angle β−90 °, and a tip of the virtual thin disk is positioned so as to contact a processing point of the three-dimensional model. 5. Axis NC woodworking lathe system.   The multi-axis according to any one of claims 1 to 4, wherein the arbitrary point Zh on the Z axis is a Z coordinate of a center of a bottom surface when the tip of the product shape is approximated to a hemisphere. NC wood lathe system.   The multi-axis NC woodworking lathe system according to any one of claims 1 to 5, wherein the spherical rotating tool has a spherical or hemispherical ball bit for woodworking or a router bit for woodworking. The multi-axis NC woodworking lathe system according to claim 1, 2 or 3,
A band saw blade running parallel to a direction perpendicular to the C axis, wherein the band saw blade is movable as a whole in a Z axis direction parallel to the Z axis and in an F direction perpendicular to the Z axis; Equipped with a band sawing machine that can be turned to incline the direction of Z with respect to the Z-axis direction,
When a virtual band saw tool having the same shape as the band saw blade of the band sawing machine slices in the Z-axis direction parallel to the Z-axis with respect to the three-dimensional shape model when the rotation angle θ of the C-axis is zero degree, Assuming that it moves in the F direction perpendicular to the direction and the Z axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. A multi-axis NC woodworking lathe system, wherein at least one of the maximum offset line and the minimum offset line is obtained as a tool path of the virtual band saw tool.   The maximum contour and the minimum contour are calculated by stopping each time the three-dimensional shape model is rotated at an appropriate pitch turning angle θ of the C axis, and the maximum contour and the minimum contour are respectively calculated. The multi-axis NC woodworking lathe system according to claim 7, wherein a maximum part offset line and a minimum part offset line corresponding to are calculated and obtained. The multi-axis NC wood lathe system according to claim 1, 2, 3, or 7,
A polishing belt running parallel to a direction perpendicular to the C-axis, wherein the polishing belt is movable as a whole in a Z-axis direction parallel to the Z-axis and in an F direction perpendicular to the Z-axis; Equipped with a belt sander that can be turned to incline the direction of Z with respect to the Z-axis direction,
When a virtual polishing tool having the same shape as the polishing belt of the belt sander grinds the three-dimensional shape model when the rotation angle θ of the C axis is zero degree, the Z direction is orthogonal to the Z axis. Assuming that you go to
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. A multi-axis NC woodworking lathe system obtained as a path.   The said maximum part outline and the minimum part outline are obtained by stopping and calculating each time the three-dimensional shape model is rotated by the rotation angle (theta) of a suitable pitch of C axis | shaft, The Claim 9 characterized by the above-mentioned. Multi-axis NC woodworking lathe system. A first tool path generation method required for three-dimensional machining using a disk-type rotary tool, and a second tool path required for three-dimensional machining using a spherical rotary tool whose tip is a spherical or hemispherical rotary tool A tool path generation method combining the generation method and
Assuming that a three-dimensional shape model of a product whose surface is divided into triangles and input to a computer is chucked to a C-axis which is a turning axis capable of controlling a turning angle on a 4-axis NC woodworking lathe,
As a first tool path generation method, while maintaining a state in which the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool is in contact with the three-dimensional shape model turning around the C axis. Assuming that the tool moves in the Z-axis direction, the X coordinate of the rotation center of the virtual thin disk is determined with respect to an arbitrary turning angle θ of the C axis and an arbitrary Z coordinate of the outer circumference of the virtual thin disk. Generate a route,
As a second tool path generation method, a state is such that the surface of a virtual sphere having the tip shape of a sphere having the same diameter as the spherical rotary tool is in contact with the three-dimensional shape model turning around the C axis. While maintaining, the center of the spherical body is assumed on the assumption that the rotating axis of the spherical rotating tool moves in the XZ plane while always facing the arbitrary point Zh on the Z axis and turns around the B axis orthogonal to the XZ plane. In order to obtain the X coordinate and the Z coordinate of, when an arbitrary turning angle θ of the C axis and an arbitrary turning angle α between the Z axis of the rotating axis of the spherical rotary tool,
Simultaneously turning the three-dimensional shape model and the spherical rotating tool in the opposite direction about the straight line passing through the Zh at right angles to the XZ plane and in the opposite direction by the same turning angle as the turning angle α to convert the spherical coordinates Make the rotation axis of the rotary tool coincide with the Z axis,
The Z coordinate group of the center of the sphere when the surface of the sphere contacts the vertex of the triangle forming the three-dimensional shape model, and the side of the triangle forming the three-dimensional shape model touches the surface of the sphere. The Z coordinate group of the center of the sphere at the time, and the Z coordinate group of the center of the sphere when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other, Among them, a Z coordinate farthest from the point Z = Zh in the + Z direction located outside the three-dimensional shape model is adopted, and the adopted Z coordinate is turned around a straight line passing through the Zh at right angles to the XZ plane. A tool path generation method, wherein an X coordinate and a Z coordinate obtained by turning in the positive direction by an angle α and converting the rotation coordinates are used as a tool path.   The three-dimensional shape model has a vertex on the curved surface of the polygonal polygon for a product whose surface is divided into a polygonal polygon having a three-dimensional curved surface, and divides the vertex into triangles connected by straight lines. The method according to claim 11, wherein an assumption is made. As the first tool path generation method, the outer circumference of a virtual thin disk having the same shape as the disk-type rotary tool is kept in contact with the three-dimensional shape model rotating around the C axis. While moving in the Z-axis direction, assuming that the direction of the virtual thin disk is oriented perpendicular to the surface of the three-dimensional shape model,
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. 13. The tool path generation according to claim 11, wherein an X coordinate and a Z coordinate of a center of the virtual thin disk are obtained for an angle β and an arbitrary turning angle θ of the C axis. Method. The virtual thin disk is defined by a tool coordinate system composed of a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
The tool according to claim 13, wherein the direction of the virtual thin disk is swung by an angle β-90 °, and the tip of the virtual thin disk is positioned so as to contact a processing point of the three-dimensional model. Route generation method. The tool path generation method according to any one of claims 11 to 14,
A band saw blade running parallel to a direction perpendicular to the C axis, wherein the band saw blade is movable as a whole in a Z axis direction parallel to the Z axis and in an F direction perpendicular to the Z axis; A third tool path generation method required for three-dimensional machining using a band saw machine capable of changing the direction of the tilt to the Z-axis direction,
As the third tool path generation method, a virtual band sawing tool having the same shape as the band saw blade of the band sawing machine is parallel to the Z axis with respect to the three-dimensional shape model when the rotation angle θ of the C axis is zero degree. When slicing in the Z-axis direction, assuming that the slice moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. And generating a tool path for the virtual band saw tool using at least one of the maximum offset line and the minimum offset line. The tool path generation method according to any one of claims 11 to 15,
A polishing belt running parallel to a direction perpendicular to the C-axis, wherein the polishing belt is movable as a whole in a Z-axis direction parallel to the Z-axis and in an F direction perpendicular to the Z-axis; A fourth tool path generation method required for three-dimensional machining using a belt sander that can be turned to incline the direction of the Z-axis direction,
As the fourth tool path generation method, when a virtual polishing tool having the same shape as the polishing belt of the belt sander, when polishing the three-dimensional shape model at a turning angle θ of C axis of zero degree, Assuming that it moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. A method for generating a tool path, comprising generating a path. Assuming that a three-dimensional shape model of a product whose surface is divided into triangles and input to a computer is chucked to a C-axis which is a turning axis capable of controlling a turning angle on a 4-axis NC woodworking lathe, a disk type A first tool path generating program required for three-dimensional machining using a rotary tool and a second tool path generating program required for three-dimensional machining using a spherical rotating tool having a spherical or hemispherical rotating tool at the tip And a tool path generation program that combines
The first tool path generation program,
The assumption is that the outer periphery of a virtual thin disk having the same shape as the disk-type rotary tool moves in the Z-axis direction while maintaining a state in contact with the three-dimensional shape model rotating around the C-axis. The X axis of the rotation center of the virtual thin disk is obtained for an arbitrary turning angle θ of the C axis and an arbitrary Z coordinate of the outer circumference of the virtual thin disk to obtain a tool path of the disk-type rotary tool. ,
The second tool path generation program,
While maintaining a state in which the surface of a virtual sphere having the tip shape of a sphere having the same diameter as the spherical rotary tool is in contact with the three-dimensional model rotating around the C axis, the rotation axis of the spherical rotary tool is Moves in the XZ plane while always facing an arbitrary point Zh on the Z axis, and turns around the B axis orthogonal to the XZ plane to obtain the X and Z coordinates of the center of the sphere. ,
Assuming that the arbitrary turning angle θ between the arbitrary turning angle θ of the C axis and the Z axis of the rotating axis of the spherical rotating tool is set, both the three-dimensional shape model and the spherical rotating tool are simultaneously perpendicular to the XZ plane. By turning around the straight line passing through the Zh by the same turning angle as the turning angle α in the opposite direction and performing rotation coordinate conversion, the rotation axis of the spherical rotary tool is made to coincide with the Z axis,
The Z coordinate group of the center of the sphere when the surface of the sphere contacts the vertex of the triangle forming the three-dimensional shape model, and the side of the triangle forming the three-dimensional shape model touches the surface of the sphere. The Z coordinate group of the center of the sphere at the time, and the Z coordinate group of the center of the sphere when the surface of the sphere and the triangular plane constituting the three-dimensional shape model are in contact with each other, Among them, a point Z = Zh, a Z coordinate farthest in the + Z direction located outside the three-dimensional shape model is adopted,
Turning the adopted Z coordinate at right angles to the XZ plane and around the straight line passing through the Zh by the turning angle α in the positive direction, and converting the X coordinate and the Z coordinate obtained by rotational coordinate conversion into a tool path. Characteristic tool path generation program.   It is assumed that the three-dimensional shape model has a vertex on the curved surface of the polygon, and divides the vertex into a triangle connected by a straight line for a product whose surface is divided into a polygon having a three-dimensional curved surface. The program for generating a tool path according to claim 17, wherein the program is executed. The first tool path generation program,
The outer periphery of a virtual thin disk having the same shape as the disk-shaped rotary tool moves in the Z-axis direction while maintaining a state in contact with the three-dimensional shape model rotating around the C-axis, and Assuming that the direction of the thin disk is oriented perpendicular to the surface of the three-dimensional shape model,
From the contact point between the outer periphery of the virtual thin disk and the surface of the three-dimensional shape model, calculate the normal vector whose radius in the normal direction is the radius of the virtual thin disk, and the tip of the normal vector A rotation angle γ obtained by rotating the three-dimensional model around the Z axis until a straight line perpendicular to the Z axis from the position coincides with the XZ plane, and a projection component of the normal vector onto the XZ plane is formed by the X axis. 19. The tool path generation according to claim 17, wherein an X coordinate and a Z coordinate of a center of the virtual thin disk are obtained with respect to an angle β and an arbitrary turning angle θ of the C axis. program. The virtual thin disk is defined by a tool coordinate system composed of a number of points around the surface thereof,
When assuming that the virtual thin disk is swung by the angle β in order to orient the direction of the virtual thin disk perpendicular to the surface of the three-dimensional model, at least one of a number of points defined in the tool coordinate system is assumed. If the point is inside the three-dimensional shape model, it is determined that the virtual thin disk has interfered with the three-dimensional shape model,
20. The tool according to claim 19, wherein the direction of the virtual thin disk is swung by an angle β-90 °, and the tip of the virtual thin disk is positioned so as to come into contact with a processing point of the three-dimensional model. Route generation program. The tool path generation program according to any one of claims 17 to 20,
A band saw blade running parallel to a direction perpendicular to the C axis, wherein the band saw blade is movable as a whole in a Z axis direction parallel to the Z axis and in an F direction perpendicular to the Z axis; A third tool path generation program required for three-dimensional machining using a band saw machine capable of changing the direction of the
The third tool path generation program is configured such that a virtual band saw tool having the same shape as the band saw blade of the band sawing machine is parallel to the Z axis with respect to the three-dimensional shape model when the turning angle θ of the C axis is zero degree. When slicing in the Z-axis direction, assuming that it moves in the Z-axis direction and the F direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculate the maximum contour line connecting Fmax and the minimum contour line connecting each Fmin, and calculate the maximum offset line for the maximum contour line and the minimum offset line for the minimum contour line. A tool path generating program, wherein at least one of the maximum part offset line and the minimum part offset line is used as a tool path of the virtual band saw tool. The tool path generation program according to any one of claims 17 to 21,
A polishing belt running parallel to a direction perpendicular to the C-axis, wherein the polishing belt is movable as a whole in a Z-axis direction parallel to the Z-axis and in an F direction perpendicular to the Z-axis; Add a fourth tool path generation program necessary for three-dimensional machining using a belt sander that can be turned so that the direction of the
As the fourth tool path generation program, when a virtual polishing tool having the same shape as the polishing belt of the belt sander grinds the three-dimensional shape model at a turning angle θ of C axis of zero degree, Assuming that it moves in the Z-axis direction and the F-direction orthogonal to the Z-axis,
A plurality of virtual slice sections parallel to the XY plane are formed at appropriate intervals in the three-dimensional shape model in the Z-axis direction, and a maximum point Fmax and a minimum point Fmin in the + F direction in each virtual slice section are calculated. Calculating a maximum contour line connecting Fmax and a minimum contour line connecting each of the Fmins, and at least one of the maximum contour line and the minimum contour line is a tool of the virtual polishing tool. A tool path generating program for generating a path. A recording medium recording the tool path generation program according to any one of claims 17 to 22.

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