JPH04360752A - Tool length correcting device in five-axis control machine tool - Google Patents

Abstract

PURPOSE:To allow the slant face of a workpiece to be machined without an operator calculating the turning angles of a head and a table in a five-axis control machine tool so as to simplify the correction of tool length. CONSTITUTION:There is provided a coordinate transformation analysis control part 60 for computing the head turning quantity TA2 of a head 19 and the table turning basic quantity TB and table turning correction quantity TA1 of a table 35 on the basis of the inclination WA and the like of the face-to-be- machined of a workpiece in relation to the workpiece mounted face 35 of the table 35. There is also provided a spindle control part 57 for controlling the head 19 and the table 35 so that a spindle 22 is vertical to the face-to-be- machined of the workpiece from the computed result of the coordinate transformation analysis control part 60. The tool length is distributed by orthogonal coordinates on the basis of the head turning quantity TA2 and the table turning correction quantity TA1, and the position of a cutting edge in bevel cutting is automatically computed in the same way as the existing tool length measurement.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a five-axis controlled machine tool having a universal head, which is capable of machining oblique surfaces of a workpiece.

0002

2. Description of the Related Art In a machine tool having a universal head, when machining an oblique machining surface of a workpiece, it is necessary to determine the rotation angle of the head and the rotation angle of the table in accordance with the inclination of the machining surface. Conventionally, an operator has calculated these angles, written the calculated angles in a machining program, etc., and given a machining command to the machine tool. In addition, in conventional fixed head machine tools, the tool length in the Z-axis direction is measured by a tool length measurement unit installed next to the table, and the tool length is corrected to maintain the cutting edge position even when the tool is changed. was. Furthermore, it is also possible to correct the tool length in a machine tool equipped with a so-called universal head (Japanese Unexamined Patent Publication No. 3-3751), in which the main shaft of the head rotates around the Z-axis and around the Y-axis to perform diagonal machining of a workpiece. is listed.

0003

[Problem to be solved by the invention] However, it is difficult for the operator to calculate and program these angles.
It took a lot of effort. Further, the method described in the above-mentioned publication controls the head itself in five axes, and only considers diagonal machining of one side of the workpiece. In order to use a table rotation type, another axis is required for table rotation, and no consideration is given to positioning the head main axis and tool length according to the rotation.

SUMMARY OF THE INVENTION In view of the above circumstances, it is an object of the present invention to provide a 5-axis control processing machine that allows an operator to calculate the rotation angle of the head and the rotation angle of the table and machine the slope of a workpiece without programming. Furthermore, the present invention makes it possible to perform tool length correction at the cutting edge position without increasing the number of control axes, even when machining the slope of a workpiece and replacing the tool attached to the head spindle, without increasing the number of control axes. The purpose is to

[0005]

[Means for Solving the Problems] That is, the present invention has a frame (2), a head support means (10) is provided on the frame (2), and a head (10) is provided on the head support means (10). 19) at the first angle of 45 degrees with respect to the horizontal plane.
A tool that is rotatable about a rotation axis (CT3) and is provided with a head rotation drive means (40) for rotationally driving a head (19), and the tool is detachably attached to the head (19). A main shaft (22) is provided to be rotatably driven around a tool rotation axis (CT5) formed at an angle of 45 degrees with the first rotation axis (CT3), and
A table (35) is provided on the frame (2) so as to be freely rotatable in a horizontal plane about a second pivot axis (CT1) perpendicular to the horizontal plane, and a table swivel is provided to drive the table (35) to rotate. In a 5-axis control processing machine configured with a drive means (69), the inclination angle (MA, WA) of the processing surface of the workpiece with respect to the horizontal plane
and the rotation angle (MB,
A memory means (55, 58) storing machining surface angle information (BCT, PDT) defining the angle (WB) is provided; (19) A head rotation angle calculation means (60) is provided for calculating the first rotation angle (TA2), the tilt angle (MA, WA) and the rotation angle (MB, WB).
), the head rotation angle calculation means (60) is provided for calculating a second rotation angle (TB, TA1) of the table (35) about the second rotation axis (CT1) from From the first rotation angle (TA2) obtained in step 60) and the second rotation angle (TB, TA1) obtained by the table rotation angle calculation means (60), the tool rotation axis (CT5) is set to the position in which the workpiece is machined. The head rotation drive means (40
) and a drive control means (55, 57) for controlling the table rotation drive means (69), and further includes a tool length measurement means, and calculates the first rotation angle and the first rotation angle from the measured tool length. A tool length distribution calculating means for calculating a distribution amount for each orthogonal coordinate based on two rotation angles is provided, and the tool length distribution calculation means is configured to correct the tool cutting edge position using the distribution amount.

[0006] The numbers in parentheses are for convenience to indicate corresponding elements in the drawings, and therefore, the present description is not limited to the descriptions in the drawings. The same applies to the "effect" column below.

[0007]

[Operation] With the above configuration, the present invention allows the head rotation angle calculation means (60) to determine the first rotation angle (TA2) from the inclination angle (MA, WA), thereby controlling the drive control means (55, 57). acts to control the head rotation driving means (40) based on the first rotation angle (TA2). Further, the table rotation angle calculation means (60) calculates a second
By determining the turning angle (TB, TA1), the drive control means (55, 57) determines the second turning angle (TB, TA1).
) to control the table rotation drive means (69). Furthermore, the tool length distribution means calculates the distribution amount for each orthogonal coordinate based on the first rotation angle and the second rotation angle from the tool length measured by the tool length measurement means, and uses the calculated distribution amount to determine the cutting edge position. It acts to correct.

[0008]

Embodiments Hereinafter, embodiments of the present invention will be explained based on the drawings. FIG. 1 is a perspective view showing an embodiment of a 5-axis control processing machine according to the present invention, FIG. 2 is a sectional view showing an example of the main part of the headstock of the 5-axis control processing machine shown in FIG. 1, and FIG. , a diagram showing an example of a control block of a processing control device installed in the 5-axis control processing machine shown in FIG. 1, FIG. 4 a diagram showing an example of the definition of coordinates, and FIG. A diagram showing an example of coordinate data, FIG. 6 is a diagram showing an example of defining the coordinates of each machining surface of a workpiece for the 5-axis control processing machine shown in FIG. 1, (a) is a diagram showing reference conditions, (b) is a diagram showing surface definition conditions, Figure 7
8 shows the spindle attached to the head and the X, Y,
It is a figure which shows the angle between Z-axis.

The five-axis control processing machine 1 according to the present invention has a bed 2, as shown in FIG. There are a plurality of guide rails 3A, indicated by arrow A in the left and right direction in the figure.
It is provided parallel to the B direction (ie, the X-axis direction). A workpiece support device 26 is provided on these guide rails 3A, and the workpiece support device 26 has a base 5 and the like. The base 5 is connected to the base 5 via a plurality of nuts 3b.
It is provided in a form that can be freely moved and driven in the directions of arrows A and B (X-axis direction), and a table 35 formed in a substantially square shape is mounted on the base 5 in the directions of arrows P and Q around the rotation center CT1.
It is provided in such a way that it can be freely rotated in any direction. table 3
At the upper part of the figure 5 is a workpiece mounting surface 35 on which a workpiece is mounted.
a is formed. Also, at the rear of bed 2 in the diagram,
A tool stocker 41 storing many types of tools 31 is provided, and a magazine 42 is provided in the tool stocker 41 in a groove-like groove in which a plurality of tools 31 can be selectively attached and detached. A tool conveyance chain 42a consisting of a conveyor or the like is provided in the magazine 42 so as to be movable and driven along the groove, and the tool conveyance chain 42a has a hole-shaped tool storage section 42b in which the tools 31 can be freely attached and detached. It is set in. Further, in the center of the bed 2 in the figure, a guide rail 3C consisting of a plurality of linear guide bearings, etc., serving as a guide means is indicated by an arrow A.
, arrow C and D directions that are perpendicular to the B direction (i.e.,
Z-axis direction) is provided parallel to the guide rail 3C.
A column 6 is provided above so as to be movable in the directions of arrows C and D (Z-axis direction). Side surface 6b of column 6 (
A tool changer 49 is provided in a plane parallel to the directions of arrows C and D, in such a manner that it can freely rotate a shifter rotating portion 49a in directions of arrows R2 and S2 about a rotation center SA2. has a tool gripping device 45 consisting of an arm 46 and the like. The arm 46 has a turning center SA1
It is provided in such a manner that it can be freely rotated in the directions of arrows R1 and S1 about the center.

Further, on the front surface 6a of the column 6, a guide rail 3B consisting of a plurality of linear motion guide bearings, etc., serving as a guide means extends in the directions of arrows E and F (ie, in the Y-axis direction), which are the vertical directions in the figure. A headstock 9 is provided on the guide rail 3B so as to be movable in the directions of arrows E and F (Y-axis direction). The headstock 9 has a head support part 10, a head 19, etc., and the head support part 10
, the head 19 rotates around the rotation center CT3, which is tilted at a predetermined angle of 45 degrees with respect to the horizontal plane formed by the Z-axis and the
, H-direction. Also,
As shown in FIG. 2, the head support section 10 is composed of a main body 11, a drive shaft 12, a rotation drive mechanism 17, etc.
The main body 11 is mounted on the front surface 6a of the column 6 shown in FIG. 1 in a form that can be freely moved and driven in the directions of arrows E and F (i.e., the Y-axis direction), which are the vertical directions in the figure, via a guide rail 3B that is a guide means. It is provided. As shown in FIG. 2, the main body 11 is provided with an engagement hole 11a that is inclined at a predetermined angle α (α=45° in this embodiment) with respect to the directions of arrows C and D (Z-axis direction). A stepped rod-shaped drive shaft 12 is inserted into the engagement hole 11a through a bearing 13 such as a cross roller bearing, and the shaft center (hereinafter referred to as rotation center CT) is inserted into the engagement hole 11a.
It is called 3. ) is tilted by a predetermined angle α with respect to the directions of arrows C and D (Z-axis direction) in FIG. As shown in FIG. 2, the drive shaft 12 has a through hole 12a.
It is bored through the drive shaft 12 along the rotation center CT3, and a joint portion 12d is provided at the right end of the drive shaft 12 in the drawing. Furthermore, a swing drive mechanism 17 is connected to the drive shaft 12 . Swing drive mechanism 1
7 includes a motor support member 39, an α-axis drive motor 40, and the like. That is, in the main body 11 of the head support section 10,
A motor support member 39 is provided to cover the drive shaft 12 , and a motor housing space 41 is formed in the motor support member 39 . An α-axis drive motor 40 is provided in the motor housing space 41 so as to be able to rotate freely, and the α-axis drive motor 40 rotates between the rotor 40a and the stator 4.
0b etc. That is, a rotor 40a is provided on the outer periphery of the drive shaft 12 to cover the drive shaft 12, and a stator 40b is provided in the motor housing space 41 to cover the rotor 40a. ing.

By the way, as shown in FIG. 2, the head support part 10 has a head 19 which is rotatable in the directions of arrows G and H about a pivot center CT3 via a mounting part 21, which will be described later. The head 19 has a casing 20. A mounting part 21 is formed in the casing 20, and a joint part 2 is located at the left end of the mounting part 21 in the figure.
1a is provided. Note that the joint portion 21a is connected to the joint portion 12d of the drive shaft 12 via the heat insulating member 15. Further, as shown in FIG. 2, the casing 20 of the head 19 has a cylindrical motor housing space 20A, and a spindle 22 is mounted in the motor housing space 20A via a plurality of bearings 23. It is provided so as to be rotatable in the directions of arrows J and K about a rotation center CT5. A rotor 25a that constitutes a main shaft drive motor 25 is attached to the spindle 22 so as to surround the main shaft 22, and a stator 25b that constitutes the main shaft drive motor 25 is attached to the casing 20. It is provided in a covering form. Furthermore, the spindle 22 has
As shown in FIG.
At the lower end of the spindle 22 in the figure, a tool holding surface 22a for holding a tool such as an end mill is formed in a tapered shape to connect to the through hole 22b. ing. Note that the through hole 22b is provided with a known drawbar (not shown) or the like for holding a tool.

By the way, the 5-axis control processing machine 1 is equipped with a processing control device 50 as shown in FIG. 1, and the processing control device 50 has a main control section 51 as shown in FIG. are doing. The main control unit 51 is connected via a bus line 52 to an input unit 53 such as a keyboard, a system program memory 54,
Machining program memory 55, machining control section 56, axis control section 57, buffer memory 58, and coordinate transformation analysis control section 60
etc. are connected. The coordinate transformation analysis control unit 60 calculates the amount by which the head 19 and the table 35 are rotated according to the inclination of the slope when processing the surface of the workpiece to be processed, and transmits the calculation results to the processing control unit 56. It is provided in a form that can be output to. The axis control unit 57 also has an X-axis drive motor 65 that moves the base 5 in the X-axis direction (arrow A in FIG. 1).
, B directions), and the X-axis drive motor 65 is provided with an encoder 65a that feeds back the amount of rotation angle of the X-axis drive motor 65 to the axis control unit 57. . Further, a Y-axis drive motor 66 is connected to the axis control unit 57 in a manner that drives the headstock 9 to move in the Y-axis direction (arrows E and F directions in FIG. 1). An encoder 66a is provided to feed back the amount of rotation angle of the Y-axis drive motor 66 to the axis control section 57. Furthermore, the axis control section 57 has Z
A shaft drive motor 67 is connected to move and drive the column 6 in the Z-axis direction (directions of arrows C and D in FIG. 1).
The shaft drive motor 67 is provided with an encoder 67 a that feeds back the amount of rotation angle of the Z-axis drive motor 67 to the shaft control section 57 . Furthermore, the axis control section 57 includes:
The α-axis drive motor 40 moves the head 19 in the α-axis direction (Fig.
The encoder 68a is connected to the α-axis drive motor 40 to feed back the amount of rotation angle of the α-axis drive motor 40 to the axis control unit 57. It is being Further, a B-axis drive motor 69 is connected to the axis control unit 57 in such a manner that it drives the table 35 to move in the B-axis direction (in the directions of arrows P and Q in FIG. 1). , an encoder 69a is provided to feed back the amount of rotation angle of the B-axis drive motor 69 to the axis control section 57.

Since the five-axis control processing machine 1 according to the present invention has the above-mentioned configuration, first, the processing machine 1 shown in FIG.
To process a workpiece using the table 35, the workpiece is mounted on the workpiece mounting surface 35a of the table 35. Next, a tool such as an end mill used for machining is attached to the spindle 22 via the tool holding surface 22a and the like. In order to define the positional relationship of the processing surface of the workpiece (workpiece coordinates) with respect to the processing machine 1 (machine coordinates), an input section 53 shown in FIG.
The reference conditions BCT of the workpiece to be machined are inputted and stored in the buffer memory 58 via the surface definition conditions PD.
T is input and stored in the machining program memory 55. The reference condition BCT consists of a reference coordinate BCO that establishes a positional relationship between the coordinate system of the entire workpiece to be machined and the machine coordinate system of the processing machine 1, and the surface definition condition PDT is defined by the reference coordinate BCO. Surface definition coordinates P that define the workpiece coordinates of each machining surface of the workpiece in the coordinate system
Consists of CO. First, as shown in Fig. 4, the X, Y, and Z coordinates (in Fig.
, F direction and arrow C, D direction), the processing machine 1
Let an absolute point of , be the mechanical origin MO. The reference origin BP of the reference coordinate BCO is determined by setting the reference origin BP at one point on the workpiece 30 as shown in FIG.
A reference origin BP and a coordinate system based on the reference origin BP are defined by the Y and Z components. That is, in the example of FIG. 4, the reference origin BP has an X component of X0, a Y component of Y0, and a Z component of Z.
It is 0. The coordinate axes WX, WY, and WZ of the coordinate system with the reference coordinate BCO as the origin are the WX axis, an axis that has an angle MB around the Y axis with respect to the X axis in a plane parallel to the
The axis that is perpendicular to the XZ plane, perpendicular to the WX axis, and passes through the reference origin BP is the WY axis, and the axis that is perpendicular to the WX axis and passes through the reference origin BP, in a plane parallel to the XZ plane, is the WZ axis. Also, the angle MB is
With the X-Y plane as the reference, the clockwise direction is the positive angle, and W
It shows the rotation angle around the Y axis of the X-WY plane. Also, the angle M
A is a sign-independent angle around the X-axis with the Y-axis as a reference, and indicates the rotation angle of the WX-WY plane with respect to the X-Y plane. That is, in the example of FIG. 4, the WX-WY plane of the coordinate system is rotated in the positive direction by an angle B0 with respect to the X-Y plane because the angular component of the angle MB is B0, and the WX-WY plane is rotated in the positive direction by an angle B0 with respect to the
The plane is perpendicular to the X-Z plane and has an angle MA of 0 with respect to the X-Y plane. In this way, in order to specify the reference coordinate BCO, the components of these reference origin BP are converted into the reference coordinate BCO.
It is inputted from the input section 53 shown in FIG. That is, FIG.
In the reference condition BCT shown in (a), the reference coordinate BC
The "X" digit in O contains "X" as X component data BD1.
0”, and the “Y” digit is the Y component data BD2, “
"Y0" in the "Z" digit, "Z0" as the Z component data BD3 in the "MB" digit, "B0" as the angular component data BD4 around the Y axis in the "MB" digit, and "B0" in the "MA" digit. inputs “0” as data BD5 of the angle component around the X-axis via the input unit 53 shown in FIG. 3, and stores it in the buffer memory 58.

Next, after specifying the reference coordinates BCO, the workpiece coordinates of each machined surface of the workpiece relative to the specified reference coordinates BCO are defined. That is, the surface definition coordinates PCO define each machining surface of the workpiece 30 as the surface ■, ■, as shown in FIG. 5(a).
, ■, ■, ■, ■, the lower left point of each of these faces (
It is indicated by a black square in the figure. ) are temporarily assumed to be the work origins W1, W2, W3, W4, W5, and W6 of the respective machining surfaces. The work origin of each of these machining surfaces is defined by the WX, WY, and WZ components of the reference coordinate BCO shown in FIG. 4. In addition, the angle WB is an angle whose positive direction is clockwise around the WY axis with respect to the WX axis, and the table 3 of each machined surface ■ to ■
W perpendicular to the XZ plane forming the workpiece mounting surface 35a of No. 5
The angle around the Y axis with respect to the WX axis is shown. Also, the angle WA
is an angle around the WX axis with respect to the WY axis, without considering the sign, and indicates the angle that surfaces (1) to (2) of each processing surface form with the XZ plane formed by the workpiece mounting surface 35a of the table 35. for example,
In an example of the workpiece 30 shown in FIG. 4, when the workpiece 30 has dimensions as shown in FIG.
WY component is 0, WZ component is 0, WY based on WX axis
The angular component WB around the axis is 0, and the angular component WA around the WX axis with respect to the WY axis is 0. Similarly, the workpiece origin W2 of the surface ■ of the machined surface has a WX component of 0 and a WY component of 0.
, WZ component is -200, angle component WB around WY axis is 1
80, the angular component WA around the WX axis is 0. Furthermore, the workpiece origin W3 on the surface (■) of the machined surface has a WX component of 0, a WY component of 0, a WZ component of 0, and an angular component WB around the WY axis of -
90, the angular component WA around the WX axis is 0. Furthermore, the workpiece origin W4 of the surface ■ of the machined surface has a WX component of -150,
The WY component is 0, the WZ component is -200, the angular component WB around the WY axis is 90, and the angular component WA around the WX axis is 0. Furthermore, the workpiece origin W5 of surface ■ of the machined surface has a WX component of 0, a WY component of 100, a WZ component of 0, and an angle component WB around the WY axis of -90 (for convenience, enter -90 for the top surface ■). , the angular component WA around the WX axis is 90. Furthermore, the workpiece origin W6 of the surface ■ of the machined surface has a WX component of 0.
, the WY component is 30, the WZ component is -200, the angular component WB around the WY axis is 180, and the angular component WA around the WX axis is 4.
It is 5. In this way, the workpiece origin W1 of these machined surfaces
, W2, W3, W4, W5, and W6, the components of the work origin of these machining surfaces are added to the surface definition unit PDU.
is input from the input unit 53 as the surface definition coordinate PCO. That is, in the surface definition condition PDT shown in FIG. 6(b),
As an example, in the case of surface ■, the "surface" digit in the surface definition coordinate PCO is "1" as the data PNO of the specified machining surface.
In the "WX" digit, "WX component data PD1" is written.
150” and the WY component data PD2 in the “WY” digit.
"0" as "WZ", and WZ component data P in the "WZ" digit.
Set "0" as D3, "0" as data PD4 of the angular component around the WY axis in the "WB" digit, and "0" as PD5 of the angular component data around the WX axis in the "WA" digit. , is inputted as a data string PS1 for surface ■ via the input unit 53 shown in FIG. 3, and stored in the machining program memory 55. Thereafter, the surfaces ■ to ■ of the machined surface of the workpiece 30 are input in the same manner, and finally the surface definition conditions PD shown in FIG. 6(b) are
T is completed and stored in the machining program memory 55.

Next, the main control section 51 is instructed to start machining via the input section 53 shown in FIG. Then, the main control unit 51 instructs the machining control unit 56 to perform machining, and upon receiving the command, the machining control unit 56 reads the machining program from the machining program memory 55 and machining the workpiece 30. . In this machining program, the coordinate transformation analysis control unit 60 of the machining control device 50 shown in FIG. Surface definition coordinates PC in surface definition conditions PDT for surfaces ■～■
According to the number of surfaces inputted in O, machining blocks corresponding to the surfaces ■ to ■ for which machining is instructed on each machining surface of the workpiece 30 are sequentially formed, and furthermore, each machining block has the workpiece 3
The machining data for surfaces ■ to ■ of each machining surface of 0 are described based on the workpiece origin of each machining surface. Here, the case of machining the slope of the workpiece 30, which is particularly characteristic of the present invention, will be described. At this time, for example, as shown in FIG.
The surface (2), which is the slope of the workpiece 30, is inclined at a predetermined angle with respect to the three axes, X, Y, and Z, so the tool 31
It is necessary to process the surface by tilting it at a predetermined angle with respect to the X, Y, and Z axes according to the inclination of the surface (2). Therefore, first of all, the head 19 shown in FIG.
2, the angle θ and the angles θx, θy, θz of the spindle 22 (therefore, the tool 31) with respect to the Explain the relationship between

That is, as shown in FIG. 7, the point of symmetry P1 is
, the origin of the Y, Z coordinate axes is 0, and the turning center CT3 (α axis)
Consider a circle with a radius of 1 (hereinafter referred to as the unit circle UC) that is perpendicular to , and tangent to the Y and Z axes. And the unit circle U
Let A and B be the points where C touches the Y axis and the Z axis, respectively. Here, the spindle 22 (that is, the head 19) is moved from the state where the rotation center CT5 is positioned on the Z-axis to the direction indicated by the arrow G.
It is rotated in the direction by an angle θ and positioned at the position shown by the chain line in the figure. Then, the rotation center C of the spindle 22
T5 also rotates by an angle θ in the direction of arrow G and returns to the unit circle UC.
move from point B to point D along the circumference of At this time, as shown in FIG. 8, if the legs of the perpendicular line drawn from point D to the XZ plane and YZ plane are G1 and E, respectively, and the leg of the perpendicular line drawn from leg G1 to the Z axis is F, then θ= ∠BCD, θx
=∠DFG1 Since FG1=DE and DG1=EF=FB, tanθx=DG1/FG1=EF/DE

[Math 1] ta
nθx=EF/DE. Here, if we draw a perpendicular line from the point D shown in Figure 7 to the straight line AB and its foot is E, then CD=1, so

[
Equation 2: DE=CDsinθ=sinθ. Furthermore, in the triangle BEF shown in FIG. 7, FB=EF=EBsi
n45° = (BC-CDcosθ) sin45°

[Math 3] EF=
(1-cosθ)/√2. Therefore, by substituting Equation 2 and Equation 3 into Equation 1, tanθx=EF/DE=(1−cosθ)/(√2·sinθ). Therefore,

[Formula 4] θx=arctan[(1-cosθ)/(√
2・sin θ)] is obtained. Also, the angle θy is determined by s from the triangle ODG1 shown in FIG.
inθy=DG1/OD θy=arcsin(DG1/OD) Here, DG1=EF, EF=(1-cosθ)/√2
Therefore, DG1=(1-cosθ)/√2. Also, since ∠CDO=∠CBO, ∠CB
Since O=45°, ∠CDO=45°. Also, in triangular ODC, CD=1, ∠C
Since DO=45°, OD=CDtan∠CDO=tan45°=√2. Therefore, θy=arcsin(DG1/OD)=arcsin(((1-cosθ)/√2)/√2)

[Equation 5] Obtain θy=arcsin((1−cosθ)/2). Furthermore, the angle θz is calculated from the triangle FOG1 shown in FIG. 8 as follows: tanθz=FG1/OF=DE/OF Here, from the triangle EOF shown in FIG. 8, OF=(1+cosθ)/√2 From the above equation, tanθz=sinθ/ [(1+cosθ)/√2]=
√2sinθ/(1+cosθ) Therefore,

[Formula 6] θz=arctan[√2・sinθ/(1+
cos θ)].

Therefore, the above-mentioned angle θ and angles θx, θy
, θz, the position of the cutting edge 31a of the tool 31, which protrudes from the origin O shown in FIG. 8 by a predetermined distance to the left in the drawing, with respect to the workpiece 30 can be accurately determined. Here, the angle θy is the workpiece mounting surface 35a of the table 35 of the tool 31 when the head 19 is rotated by an arbitrary angle θ in the directions of arrows G and H about the rotation center CT3 together with the spindle 22 on which the tool 31 is attached. It is the inclination around the X axis with respect to the XZ plane to be formed, as well as the inclination of the tool 3 of the work 30.
1 is also the inclination angle WA of the slope to be machined perpendicularly to the tool 31 to be machined. Therefore, if the slope of the workpiece 30 is regarded as the slope of the tool 31, then the equation 5
Accordingly, the angle θ corresponding to the head turning amount TA2 by which the head 19 should be turned can be determined with respect to the angle θy corresponding to the inclination angle WA of the slope of the workpiece 30. That is, from equation 5, sinθy=(1-cosθ)/2 cosθ=1-2sinθy

[Equation 7] Obtain θ=arccos(1-2sinθy). On the other hand, the angle θz is the tool 31 when the head 19 is rotated by an arbitrary angle θ in the directions of arrows G and H about the rotation center CT3 together with the spindle 22 on which the tool 31 is attached.
is the inclination around the Y-axis perpendicular to the XZ plane formed by the workpiece mounting surface 35a of the table 35 with respect to the Z-axis, and
It is also the amount of rotation of the table 35 from the reference origin BP to compensate for the rotation of the tool by θz in order to maintain the perpendicular state of the tool and the machining surface during machining. Therefore, from the previously obtained angle θ, an angle θz corresponding to the table rotation correction amount TA1 for rotating the table 35 from the reference origin BP in accordance with the slope of the slope of the workpiece 30 is determined.
can be determined for the angle θy. That is, by substituting the previously calculated θ into equation 6,

[Formula 8] θz=arctan[√2・sin(arcc
os(1-2sinθy))/(1+cos(arcc
os(1-2sinθy)))] is obtained. Therefore, when machining the slope of the workpiece 30, as long as the inclination angle WA of the slope of the workpiece 30 corresponding to the angle θy is known, the angle θy
The angle θ corresponding to the head rotation amount TA2 to which the head 19 should be rotated and the angle θz corresponding to the table rotation correction amount TA1 to be rotated from the reference origin BP of the table 35 are calculated. Positioning can be performed. That is, in the present invention, the processing control device 50 shown in FIG.
The coordinate conversion analysis control unit 60 calculates the head 19 based on the data of the inclination angle WA of the slope of the workpiece 30 in the machining program into which the surface definition coordinate PCO inputted from the input unit 53 is loaded. An angle θ corresponding to the head rotation amount TA2 and an angle θz corresponding to the table rotation correction amount TA1 of the table 35 are calculated. Then, the processing control section 56 shown in FIG. 3 instructs the axis control section 57 to take a predetermined angle based on the calculated value.

As described above, the angle θy corresponding to the inclination angle WA of the slope of the workpiece 30, the angle θ corresponding to the head rotation amount TA2 of the head 19, and the angle θz corresponding to the table rotation correction amount TA1 of the table 35 are related to each other. Therefore, when the machining control unit 56 receives the command from the main control unit 51 and recognizes the coordinate conversion command, the processing control unit 56 converts the coordinates shown in FIG.
The coordinate transformation analysis control unit 60 shown in FIG.
command to convert the WY, WZ coordinates) to the machine coordinate system (X, Y, Z coordinates). Upon receiving the command, the coordinate transformation analysis control unit 60 shown in FIG. Surface definition coordinates PCO data PD4, PD5 and buffer memory 58
Based on the data BD4 of the reference coordinate BCO stored in
Table 3 corresponding to each machining surface of the workpiece 30
5 and the amount of rotation of the head 19 is calculated. In addition, the WX, WY, and WZ coordinates of surfaces ■ to ■ of each machining surface of the workpiece 30 are converted to data PD1 of surface definition coordinates PCO corresponding to surfaces ■ to ■ of each machining surface of the workpiece 30 loaded in the machining program. , PD2, PD3 and the data BD1, BD2, BD of the reference coordinates BCO stored in the buffer memory 58
Convert from 3 to XYZ coordinates.

That is, the amount of rotation of the table 35 is determined by setting the basic table rotation amount TB due to the deviation between the workpiece coordinates and the machine coordinates to TB=PD4+BD4 from the data PD4 of the surface definition coordinate PCO and the data BD4 of the reference coordinate BCO.
Work mounting surface 35 of table 35 on processing surface of work 30
TA1 (=θz) is calculated from Equation 8, where the table rotation correction amount TA1 due to the inclination with respect to a is set as PD5=θy from the data PD5 of the surface definition coordinate PCO. Furthermore, the amount of rotation of the head 19 is determined by the amount of rotation of the head 19 based on the table 35 on the processing surface of the workpiece 30.
The head rotation amount TA2 due to the inclination with respect to the workpiece mounting surface 35a is calculated from the data PD5 of the surface definition coordinate PCO, PD5
=θy, TA2 (=θ) is calculated from Equation 7. In this way, the coordinate transformation analysis control unit 60 shown in FIG.
After performing analysis such as calculation, the coordinate transformation analysis control unit 60
outputs the analysis result to the machining control section 56, and upon receiving the analysis result, the machining control section 56 instructs the axis control section 57 to drive each drive motor 69, 40 by a predetermined amount. Then, the axis control unit 57, which has received the instruction from the processing control unit 56, drives the B-axis drive motor 69 to move the table 35 shown in FIG.
4) The table is rotated in the P direction by the table rotation correction amount TA1 (=θz) so that the tool and the machining surface face each other, and the α-axis drive motor 40 is driven to move the head 19 shown in FIG. 1 by the head rotation amount TA2 (= θ) in the G direction to position the rotation center CT5 of the spindle 22, and thus the tool perpendicular to the machining surface.

Furthermore, data PD1 of surface definition coordinates PCO,
The work coordinate system (WX, WY, WZ coordinates) is converted from the machine coordinate system (X,
The coordinate conversion analysis control section 60 shown in FIG. The unit 57 is instructed to drive each of the drive motors 65, 66, and 67 by a predetermined amount. Then, the axis control section 57 that received the command from the processing control section 56 controls the processing control section 5.
Each drive motor 65, 66, 67 is driven by a predetermined amount based on the command No.6. That is, the base 5 shown in FIG. 1 is moved in the X-axis direction by D1 by driving the X-axis drive motor 65.
The Y-axis drive motor 66 is driven to move the headstock 9 shown in FIG. 1 in the Y-axis direction by D2, and the Z-axis drive motor 67 is driven to move the column 6 shown in FIG. 1 in the Z-axis direction by D3. Align the cutting edge of the tool with the workpiece origin of the surface to be machined.

As described above, the tool 31 can be positioned at the machining start position (workpiece origin) with the cutting edge 31a of the tool 31 perpendicularly opposed to the machining surface of the workpiece 30, so that from now on,
The machining control unit 56 instructs the axis control unit 57 and the like based on machining commands and the like to drive the spindle 22 and rotate it together with the tool in the direction of arrow J or K. and,
By appropriately moving the headstock 9 in the directions of arrows E and F, and by moving and driving the base 5 and column 6, the tool 31
The workpiece 30 is machined. Therefore, when machining a sloped surface of a workpiece, the operator does not need to determine the rotation angle of the head and the rotation angle of the table according to the slope of the sloped surface of the workpiece. Just by inputting information, the head and table are rotated and positioned according to the inclination of the processing surface. Furthermore, how to correct the tool edge position when diagonally machining a workpiece will be explained. When performing tool length correction, a tool length memory 61 and a tool length distribution calculating section 62 are added to the bus 52 of the machining control device 50 (FIG. 3). These are processed by the main control section 51. First, the tool length is measured by the tool measuring unit 81 and stored in the tool length memory 61. The tool measuring unit 81 is of a conventional type, and the table 5
and column 6. During measurement, the door opens and the measurement stand 81a protrudes. Keeping the tool attached to the end face of the head facing the Z-axis direction, move the headstock in the Y-axis direction, further move the column 6 in the Z-axis direction, and place the tool on the measurement surface of the measuring table 81a. By bringing the cutting edges into contact, the length of the Z axis, that is, the tool length l, is measured (FIG. 9). The measured tool length l is stored in the tool length memory 61 by the main control section 51. Each time the head 19 rotates, the main control unit 51 uses the tool length distribution calculation unit 62 to calculate the distribution amount of X, Y, Z orthogonal coordinates from the tool length l according to G43 of the ISO/EIA code instructed in the machining program. The distribution amount calculation procedure at this time is shown below. The tool length distribution calculation section 62 calculates the first turning angle θy obtained by the coordinate transformation analysis control section according to the procedure shown in FIG.
, and the second turning angle θz, lx, ly, and lz are calculated as shown in the following equations.

[Formula 9] lx=l・cosθy・sinθzly=l・
sinθy lz=l·cosθy·cosθz Thereby, even if the position of the cutting edge changes due to rotation of the head 19, the amount of change can be automatically calculated. next,
An example of actual diagonal machining (FIG. 11) and its machining program are shown in FIG. Holes and perfect circles are machined on the slope. In this machining program, the main control unit 51 interlocks the control of the head 19 and table 35 (N007).
. When code G68 is executed twice, Y
The program coordinate system is set by rotating -74.457 degrees around the axis and 60 degrees around the X axis, and θy and θz are determined from the head rotation angle θ at this time. Next code G
43 is executed to calculate the aforementioned tool length distribution amounts lx, ly, and lz from θy and θz. Tool length distribution amount lx,
ly and lz are corrected in the cutting edge position in the workpiece coordinate system, and the machining programs 1 to 2 are processed in the program coordinate system without being conscious of slope machining. In this way, even for slope machining, the machining program part of normal flat machining can be used as is, and even if the tool is changed, code G43 can be executed in the same way as normal tool length measurement. Changes in the position of the cutting edge can be automatically corrected.

[0022]

[Effects of the Invention] As explained above, according to the present invention,
It has a frame such as a bed 2, the frame is provided with head support means such as a head support part 10, and the head support means is provided with a rotation center CT3 such as a turning center CT3 having an angle of 45 degrees with respect to the horizontal plane for the head 19. A tool such as a spindle 22, which is provided to be freely rotatable about a rotation axis, and is provided with head rotation driving means such as an α-axis drive motor 40 for rotationally driving the head, and a tool such as a spindle 22 that is detachably provided on the head. A main shaft is provided to be rotatably driven around a tool rotation axis such as a rotation center CT5 formed at an angle of 45 degrees with the first rotation axis, and a table 35 is mounted on the frame within a horizontal plane. 5-axis control processing, which is configured to be rotatable around a second rotation axis such as the rotation center CT1 perpendicular to the table, and a table rotation drive means such as a B-axis drive motor 69 for rotationally driving the table. In the machine, standard conditions BCT and surface definition define inclination angles such as angles MA and WA of the surface to be machined of the workpiece with respect to the horizontal plane and rotation angles such as angles MB and WB about an axis perpendicular to the horizontal plane. A memory means such as a buffer memory 58 and a memory 55 that store processing surface angle information such as condition PDT is provided, and a first rotation angle such as a head rotation amount TA2 of the head about the first rotation axis is calculated from the inclination angle. A head rotation angle calculation means such as a coordinate conversion analysis control unit 60 is provided to calculate a table rotation basic amount TB and a table rotation correction amount TA1 of the table about the second rotation axis from the inclination angle and the rotation angle. A table rotation angle calculation means such as a coordinate transformation analysis control unit 60 for calculating a second rotation angle such as A processing control unit 56 and an axis control unit 57 that control the head rotation drive means and the table rotation drive means so that the tool rotation axis becomes perpendicular to the processing surface of the workpiece from the second rotation angle. It is constructed by providing drive control means such as the following.

[0023] With the above structure, the present invention allows the head rotation angle calculation means to calculate the first rotation angle from the inclination angle, and the drive control means to adjust the first rotation angle to the first rotation angle. The table rotation angle calculation means determines a second rotation angle from the inclination angle and the rotation angle, and the drive control means controls the table rotation drive means based on the second rotation angle. Since the tool is positioned perpendicular to the machining surface of the workpiece to be machined, when machining a sloped surface of the workpiece, the operator must adjust the inclination angle and rotation according to the inclination of the machining surface. By simply inputting an angle, the head and table are rotated and positioned according to the inclination of the machining surface so that the tool is perpendicular to the machining surface. In this way, even when machining slopes, the machining program for regular flat machining can be used as is, and even when tools are changed, changes in the cutting edge position can be measured in the same way as with regular tool length measurement. Can be corrected automatically.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of a five-axis control processing machine according to the present invention.

FIG. 2 is a sectional view showing an example of a main part of the headstock of the five-axis control processing machine shown in FIG. 1;

FIG. 3 is a diagram showing an example of a control block of a processing control device installed in the five-axis control processing machine shown in FIG. 1;

FIG. 4 is a diagram illustrating an example of the definition of coordinates.

FIG. 5 is a diagram showing an example of coordinate data of the workpiece shown in FIG. 4;

FIG. 6 is a diagram showing an example of defining coordinates of each processing surface of a workpiece for the five-axis control processing machine shown in FIG. 1; (a) is a diagram showing reference conditions. (b) is a diagram showing surface definition conditions.

[Fig. 7] Fig. 7 shows the spindle attached to the head,
It is a figure which shows the angle between Y and Z axes.

[Fig. 8] Fig. 8 shows the spindle attached to the head,
It is a figure which shows the angle between Y and Z axes.

FIG. 9 is an explanatory diagram showing measurement of tool length.

FIG. 10 is an explanatory diagram showing calculation of the tool length distribution amount.

FIG. 11 is an explanatory diagram schematically showing processing.

FIG. 12 is an explanatory diagram showing a machining program.

[Explanation of symbols]

2...Frame (bed) 10...Head support means (head support part) 19...Head 22...Tool main shaft (spindle) 35...Table 40...Head rotation drive means (α-axis drive motor) 55...
... Memory means (machining program memory) 56 ... Drive control means (processing control section) 57 ... Drive control means (axis control section) 60 ... Head rotation angle calculation means (coordinate transformation analysis control section) 60 ... Table rotation Angle calculation means (coordinate transformation analysis control section) 69...Table rotation drive means (B-axis drive motor) MA
...Inclination angle (angle) MB...Rotation angle (angle) WA...Inclination angle (angle) WB...Rotation angle (angle) BCT...Machine surface angle information (standard conditions) PDT...Machine surface angle information ( Surface definition conditions) TA1...Second rotation angle (table rotation correction amount) TA2...First rotation angle (head rotation amount) TB...Second rotation angle (table rotation basic amount) C
T1...Second rotation axis (rotation center) CT3...First rotation axis (rotation center) CT5...Tool rotation axis (rotation center)

Claims (1)

[Claims] 1. The apparatus has a frame, a head support means is provided on the frame, a head is provided on the head support means so as to be rotatable about a first pivot axis having an angle of 45 degrees with respect to a horizontal plane; , a head rotation driving means for rotationally driving the head is provided, and a tool main shaft, on which a tool is detachably provided, is connected to the first rotation axis 45.
A table is provided on the frame so as to be rotatable around a tool rotation axis formed at an angle of 1.5 degrees, and a table is provided on the frame so as to be rotatable within a horizontal plane around a second rotation axis perpendicular to the horizontal plane. At the same time, a table rotation driving means for rotating the table is provided, and processing surface angle information defining an inclination angle of the processing surface of the workpiece with respect to the horizontal plane and a rotation angle about an axis perpendicular to the horizontal plane is provided. head rotation angle calculation means for calculating a first rotation angle of the head about the first rotation axis from the inclination angle; Table rotation angle calculation means for calculating a second rotation angle of the table about the axis is provided, and the first rotation angle calculated by the head rotation angle calculation means and the second rotation angle calculated by the table rotation angle calculation means are provided. 5-axis control comprising drive control means for controlling the head rotation drive means and the table rotation drive means so that the tool rotation axis is perpendicular to the processing surface of the workpiece from the rotation angle. In the processing machine,
A tool length measuring means is provided, and a tool length distribution calculation means is provided for calculating a distribution amount for each orthogonal coordinate based on the measured tool length based on the first turning angle and the second turning angle, and using the distribution amount. A tool length correction device for a 5-axis control processing machine, characterized in that the tool length correction device corrects the tool cutting edge position.