JPH05265519A - Five axes controlled working machine - Google Patents

Abstract

PURPOSE:To work the slant face of a work without, calculating the turning angle of a head and the turning angle of a table by an operator in a five axes control working machine. CONSTITUTION:The five axes control working machine is provided with a coordinate conversion analysis control part 60 calculating the head turning amount TA2 of a head 19, the table turning basic amount TB and the table turning correction amount TA1 of a table 35 based on the gradient angle WA, etc., of the working surface to be worked of a work for a work mounting surface 35a of the table 35, and an axis control part 57 controlling the head 19 and the table 35 so that a spindle 22 may be perpendicular to the working surface to be worked of the work from the result calculated by the coordinate conversion analysis control part 60.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine tool having a universal head and a 5-axis control machine capable of machining an oblique machining surface of a work.

[0002]

2. Description of the Related Art In a machine tool having a universal head, when processing an obliquely machined surface of a workpiece, it is necessary to determine the rotation angle of the head and the rotation angle of the table according to the inclination of the machining surface. Conventionally, an operator calculates these angles, describes the calculated angles in a machining program or the like, and issues a machining command to the machine tool.

[0003]

However, it is difficult for the operator to calculate and program these angles,
It took time.

In view of the above circumstances, the present invention has an object to provide a 5-axis control processing machine which allows an operator to calculate a rotation angle of a head and a rotation angle of a table and machine a slope of a workpiece without programming. And

[0005]

That is, the present invention has a frame (2), the frame (2) is provided with a head support means (10), and the head support means (10) is provided with a head ( 19) the first with an angle of 45 degrees to the horizontal
A tool provided so as to be rotatable about a rotation axis (CT3) and a head rotation drive means (40) for driving the head (19), and the tool is detachably provided on the head (19). The main shaft (22) is rotatably provided around a tool rotating shaft (CT5) formed at an angle of 45 degrees with the first turning shaft (CT3), and the table (2) is attached to the frame (2). 35) is rotatably provided in the horizontal plane about a second swivel axis (CT1) perpendicular to the horizontal plane, and table swivel driving means (69) for swiveling the table (35) is provided. In the five-axis control processing machine, the inclination angle (MA, W
A) and a rotation angle about the axis perpendicular to the horizontal plane (M
Machining surface angle information (BCT, PD) that defines B, WB)
T) is stored in the memory means (55, 58), and the first turning axis (CT3) is calculated from the tilt angle (MA, WA).
The first turning angle (TA
Head rotation angle calculation means (60) for calculating 2) is provided, and the tilt angle (MA, WA) and the rotation angle (M) are provided.
B, WB) and the second turning angle (TB, TA1) of the table (35) about the second turning axis (CT1)
Table rotation angle calculation means (60) for calculating
The first obtained by the head turning angle calculation means (60)
From the turning angle (TA2) and the second turning angle (TB, TA1) obtained by the table turning angle calculation means (60), the tool rotation axis (CT5) is perpendicular to the machining surface of the workpiece to be machined. Thus, drive control means (55, 57) for controlling the head turning drive means (40) and the table turning drive means (69) is provided.

The numbers in parentheses are for convenience of showing the corresponding elements in the drawings, and the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0007]

According to the present invention, the head turning angle calculating means (60) obtains the first turning angle (TA2) from the tilt angle (MA, WA) according to the present invention, so that the drive control means (55, 57). Acts to control the head turning drive means (40) based on the first turning angle (TA2). Further, the table turning angle calculation means (60) obtains the second turning angle (TB, TA1) from the tilt angle (MA, WA) and the rotation angle (MB, WB), and the drive control means (55, 57). Is the second turning angle (TB, TA
It acts to control the table turning drive means (69) based on 1).

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 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 a main part of a headstock of the 5-axis control processing machine shown in FIG. 1, and FIG. FIG. 4 is a diagram showing an example of a control block of a machining control device mounted on the 5-axis control machining machine shown in FIG. 1, FIG. 4 is a diagram showing an example of definition of coordinates, and FIG. 5 is a diagram showing the workpiece shown in FIG. The figure which shows an example of coordinate data, FIG. 6 is a figure which shows an example which defined the coordinate of each processing surface of a workpiece with respect to the 5-axis control processing machine shown in FIG. 1, (a) is,
FIG. 7B is a diagram showing the standard condition, FIG. 7B is a diagram showing the surface definition condition, and FIGS. 7 and 8 are the spindle and X mounted on the head.
It is a figure which shows the angle between the Y and Z axes.

As shown in FIG. 1, a 5-axis control processing machine 1 according to the present invention has a bed 2, and a linear motion guide bearing or the like which is a guide means is formed at the front part of the bed 2 in the figure. A plurality of guide rails 3A, which are in the left and right directions in the figure,
It is provided parallel to the B direction (that is, the X axis direction). A work supporting device 26 is provided on these guide rails 3A, and the work supporting device 26 has a base 5 and the like. The base 5 has a plurality of nuts 3b,
The table 35 is provided so as to be movable in the directions of arrows A and B (X-axis direction), and a substantially square table 35 is formed on the base 5 around the rotation center CT1 as arrows P and Q.
It is provided so that it can be swiveled in any direction. Table 3
In the upper part of FIG. 5, a work mounting surface 35 on which a work is mounted is mounted.
a is formed. Also, in the rear of the bed 2 in the figure,
A tool stocker 41 that stores various kinds of tools 31 is provided, and a magazine 42 is provided in the tool stocker 41 so that a plurality of tools 31 can be selectively attached to and detached from a groove of a groove. The magazine 42 is provided with a tool transport chain 42a composed of a conveyor or the like so as to be movable along the groove, and the tool transport chain 42a has a hole-shaped tool storage portion 42b in which the tool 31 can be detachably attached. It is provided in.
Further, in the center of the bed 2 in the figure, a guide rail 3C composed of a plurality of linear motion guide bearings or the like as guide means is in the directions C, D (that is, Z) which is a direction perpendicular to the directions A, B. The column 6 is provided parallel to the axial direction), and the column 6 is provided on the guide rail 3C so as to be movable in the directions of the arrows C and D (Z-axis direction). Side 6 of column 6
b (a plane parallel to the directions of arrows C and D) has a tool changing device 4
9 is provided with a shifter turning portion 49a which can be driven to rotate in the directions of arrows R2 and S2 around the turning center SA2, and the tool changing device 49 has a tool gripping device 45 including an arm 46 and the like. .. The arm 46 has a turning center S.
It is provided so that it can be swivel-driven in the directions of arrows R1 and S1 with A1 as the center.

Further, on the front surface 6a of the column 6, a guide rail 3B composed of a plurality of linear motion guide bearings or the like as a guide means is provided in the arrow E and F directions (that is, the Y-axis direction) which are vertical directions in the drawing. They are provided in parallel, and 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 10 and a head 19, and the like.
In the direction of arrows G and H about a rotation center CT3 provided with the head 19 tilted by a predetermined angle of 45 degrees with respect to a horizontal plane formed by the Z axis and the X axis via the turning drive mechanism 17. It is provided so that it can be swiveled. In addition, as shown in FIG.
1, a drive shaft 12, a turning drive mechanism 17, etc., and the main body 11 is provided on the front surface 6a of the column 6 shown in FIG.
It is provided so as to be movable and driveable in the arrow E and F directions (that is, the Y-axis direction) which are the up and down directions in the figure via a guide rail 3B which is a guide means. As shown in FIG. 2, the main body 11 has engaging holes 11a in the directions of arrows C and D (Z-axis direction).
With respect to a predetermined angle α (α = 45 ° in this embodiment)
It is formed by inclining only, and the engagement hole 11a has
The stepped rod-shaped drive shaft 12 has its shaft center (hereinafter, referred to as a turning center CT3) via a bearing 13 such as a cross roller bearing with respect to the directions C and D in FIG. 2 (Z-axis direction). Inclination by a predetermined angle α and the turning center CT3
It is provided so as to be freely rotatable in the directions of arrows G and H centering around. As shown in FIG. 2, the drive shaft 12 has a through hole 1
2a is formed so as to penetrate the drive shaft 12 along the turning center CT3, and a joint 12d is provided at the right end of the drive shaft 12 in the figure. Further, a swing drive mechanism 17 is connected to the drive shaft 12. The turning drive mechanism 17 has a motor support member 39, an α-axis drive motor 40, and the like. That is, the main body 1 of the head support portion 10
1 is provided with a motor support member 39 so as to cover the periphery of the drive shaft 12, and the motor support member 39 is provided with
A motor housing space 41 is formed. An α-axis drive motor 40 is provided in the motor housing space 41 so as to be freely rotatable, and the α-axis drive motor 40 includes a rotor 40a, a stator 40b, and the like. That is, the rotor 40a is provided on the outer peripheral portion of the drive shaft 12 so as to cover the drive shaft 12, and the stator 40b is provided so as to cover the rotor 40a in the motor housing space 41. ing.

By the way, as shown in FIG. 2, on the head support portion 10, a head 19 is rotatable in a direction of arrows G and H around a swing center CT3 via a mounting portion 21 and the like described later. It is mounted, and the head 19 has a casing 20. A mounting portion 21 is formed on the casing 20, and the joining portion 2 is provided at the left end of the mounting portion 21 in the figure.
1a is provided. The joint 21a is connected to the joint 12d of the drive shaft 12 via the heat insulating member 15. As shown in FIG. 2, a motor housing space 20A is formed in a cylindrical shape in the casing 20 of the head 19, and a spindle 22 is provided 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 the rotation center CT5. A rotor 25a constituting a spindle drive motor 25 is mounted on the spindle 22 so as to surround the spindle 22, and a stator 25b constituting the spindle drive motor 25 is mounted on the casing 20 by a rotor 25a. It is provided in the form of coating. Further, as shown in FIG. 2, the spindle 22 has a through hole 22b formed therethrough in the directions of arrows E and F (Y-axis direction).
2, a tool holding surface 22a for holding a tool such as an end mill is formed in a tapered shape so as to be connected to the through hole 22b. The through hole 22b is provided with a known draw bar (not shown) for holding a tool.

By the way, as shown in FIG. 1, a machining control device 50 is mounted on the five-axis control machining machine 1, and the machining control device 50 has a main control section 51 as shown in FIG. is doing. An input unit 53 such as a keyboard, a system program memory 54,
Machining program memory 55, machining control unit 56, axis control unit 57, buffer memory 58, and coordinate conversion analysis control unit 60.
Etc. are connected. The coordinate conversion analysis control unit 60 calculates the amount of turning of the head 19 and the table 35 in accordance with the inclination of the slope when processing the processing surface of the workpiece, and the processing result is calculated by the processing control unit 56. It is provided in a form that can output to. Further, an X-axis drive motor 65 is connected to the axis control unit 57 so as to move and drive the base 5 in the X-axis direction (directions A and B in FIG. 1). An encoder 65a is provided so as to feed back the rotation angle amount of the X-axis drive motor 65 to the axis controller 57. Further, the axis control unit 57 has a Y
A shaft drive motor 66 is connected to drive the headstock 9 in the Y-axis direction (directions E and F in FIG. 1).
The shaft drive motor 66 is provided with an encoder 66a in a form of feeding back the rotation angle amount of the Y-axis drive motor 66 to the shaft control unit 57. Further, the axis control unit 57 includes
A Z-axis drive motor 67 is connected to the column 6 so as to move the column 6 in the Z-axis direction (directions C and D in FIG. 1).
The Z-axis drive motor 67 is provided with an encoder 67a in a form of feeding back the rotation angle amount of the Z-axis drive motor 67 to the axis control unit 57. Further, the α-axis drive motor 40 is connected to the axis control unit 57 so as to drive the head 19 to move in the α-axis direction (directions G and H in FIG. 1). An encoder 68a is provided so as to feed back the rotation angle amount of the α-axis drive motor 40 to the axis control unit 57. Further, in the axis control unit 57, the B-axis drive motor 69 moves the table 35 to the B-axis.
The encoder 6 is connected to the B-axis drive motor 69 so as to be moved in the axial direction (arrow P and Q directions in FIG. 1).
9a indicates the rotation angle amount of the B-axis drive motor 69 by the axis control unit 5
It is provided in the form of feedback to 7.

Since the 5-axis control processing machine 1 according to the present invention has the above-mentioned structure, first, the processing machine 1 shown in FIG.
In order to process the work by using, the work is mounted on the work mounting surface 35a of the table 35. Next, a tool such as an end mill used for processing is mounted on the spindle 22 via the tool holding surface 22a and the like. Then, in order to define the positional relationship between the machining surface (work coordinate) of the workpiece and the machining machine 1 (machine coordinate), the input unit 53 shown in FIG.
The standard condition BCT of the work to be processed is input via the, and stored in the buffer memory 58, and the surface definition condition PD
T is input and stored in the machining program memory 55. The reference condition BCT is composed of reference coordinates BCO for associating the positional relationship between the coordinate system of the entire work to be machined and the machine coordinate system of the processing machine 1, and the surface definition condition PDT is defined by the reference coordinates BCO. In the coordinate system, the surface definition coordinate P that defines the work coordinates of each machining surface to be machined
Composed of CO. First, as shown in FIG. 4, in the X, Y, and Z coordinates (arrow A, B direction, arrow E, F direction, and arrow C, D direction in FIG. 1) that is a machine coordinate system, the processing machine 1 The machine origin MO is an absolute point. As the reference origin BP of the reference coordinates BCO, the reference origin BP is set at one point of the work 30 as shown in FIG. 4, and the reference origin BP and the reference origin BP are defined by the X, Y, and Z components of the X, Y, Z coordinate system. Define a coordinate system based on. That is, in the example of FIG.
The reference origin BP is X0 for the X component, Y0 for the Y component, and Z0 for the Z component. The coordinate axes WX, WY, WZ of the coordinate system having the reference coordinate BCO as the origin are the axes having the angle MB around the Y axis with respect to the X axis in the plane parallel to the XZ plane.
An axis perpendicular to the XZ plane and orthogonal to the WX axis and passing through the reference origin BP is a WY axis, and an axis orthogonal to the WX axis in a plane parallel to the XZ plane and passing through the reference origin BP is a WZ axis. Also, the angle MB
Indicates a rotation angle around the Y axis of the WX-WY plane, where the clockwise direction is a positive angle with respect to the XY plane. Also,
The angle MA is an angle that does not consider the code around the X axis with respect to the Y axis, and indicates the rotation angle of the WX-WY plane with respect to the XY plane. That is, in the example of FIG. 4, WX-W of the coordinate system
On the Y plane, the angle component of the angle MB is B0, so XY
It rotates in the positive direction by an angle B0 with respect to the plane, and WX
The -WY plane is perpendicular to the XZ plane and the angle MA is 0 with respect to the XY plane. In this way, in order to specify the reference coordinates BCO, these components of the reference origin BP are input as the reference coordinates BCO from the input unit 53 shown in FIG. That is, in the reference condition BCT shown in FIG. 6A, "X0" is set as the X component data BD1 at the "X" digit in the reference coordinate BCO, and Y component data BD2 is set at the "Y" digit.
As "Y0", and the digit of "Z" is the data BD of the Z component
3 is "Z0", "MB" is "B0" as the angular component data BD4 around the Y-axis, and "MA" is "0" as the angular component data BD5 around the X-axis. ,
It is input through the input unit 53 shown in FIG. 3 and stored in the buffer memory 58.

Next, when the reference coordinate BCO is designated, the work coordinate of each machining surface of the work with respect to the designated reference coordinate BCO is defined. That is, as shown in FIG. 5A, the surface definition coordinates PCO are the surface of each machining surface of the work 30,
,,,, the lower left point of each surface (indicated by a black square portion in the drawing) is temporarily set as the work origin W1, W2, W3, W4, W5, W6 of each processing surface. Then, 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. Further, the angle WB is an angle whose positive direction is clockwise with respect to the WX axis with respect to the WY axis, and the WX around the WY axis perpendicular to the XZ plane forming the work mounting surface 35a of the table 35 between the surfaces of the respective machining surfaces. Indicates the angle with respect to the axis. Also, the angle W
A is an angle that does not consider the sign around the WX axis with respect to the WY axis, and indicates the angle that each of the machining surfaces forms with the XZ plane formed by the work mounting surface 35a of the table 35. For example, in the example of the work 30 shown in FIG.
When 0 is the dimension as shown in FIG. 5B, first, the workpiece origin W1 of the machined surface has a WX component of -1.
50, the WY component is 0, the WZ component is 0, the angle component WB around the WY axis with respect to the WX axis is 0, and the angle component WA around the WX axis with respect to the WY axis is 0. Similarly, the workpiece origin W2 of the machined surface is 0 for the WX component, 0 for the WY component, -200 for the WZ component, and an angular component W around the WY axis.
B is 180, and the angular component WA around the WX axis is 0. Further, the workpiece origin W3 of the machined surface has a WX component of 0,
WY component is 0, WZ component is 0, angle component W around the WY axis
B is -90, and the angular component WA around the WX axis is 0. Further, the workpiece origin W4 of the machined surface has a WX component of -1.
50, the WY component is 0, the WZ component is -200, the angle component WB around the WY axis is 90, and the angle component WA around the WX axis is 0.
Is. Furthermore, the workpiece origin W5 of the machined surface is WX
The component is 0, the WY component is 100, the WZ component is 0, the angle component WB around the WY axis is −90 (the upper surface is input as −90 for convenience), and the angle component WA around the WX axis is 90.
Further, the workpiece origin W6 of the machined surface has a WX component of 0, a WY component of 30, a WZ component of -200, an angle component WB around the WY axis of 180, and an angle component WA around the WX axis of 45. In this way, the workpiece origin W of these machining surfaces
To specify 1, W2, W3, W4, W5, W6,
The component of the work origin of these machining surfaces is defined by the surface definition unit PD
It is input from the input unit 53 as the surface definition coordinate PCO of U.
That is, in the surface definition condition PDT shown in FIG.
As an example, in the case of a surface, the digit “face” in the surface defining coordinate PCO is “1” as the data PNO of the designated machining surface, and the digit “WX” is the data PD1 of the WX component “150”. "0" as the WY component data PD2 for the "WY" digit, "0" for the WZ component data PD3 for the "WZ" digit, and the angle around the WY axis for the "WB" digit. "WA" is set as "0" as the component data PD4.
“0” is input as the data PD5 of the angle component around the WX axis to the digit of “”, and is input as the surface data string PS1 via the input unit 53 shown in FIG. 3 and stored in the machining program memory 55. After that, the same is input with respect to the machining planes of the work 30, and finally, the plane definition condition PDT shown in FIG. 6B is completed and stored in the machining program memory 55.

Next, the main control unit 51 is instructed to start machining through the input unit 53 shown in FIG. Then, the main control unit 51 commands the machining control unit 56 to perform machining, and the machining control unit 56 that has received the command reads the machining program from the machining program memory 55 and processes the work 30. .. The machining program is loaded with the surface definition condition PDT input from the input unit 53 by the coordinate conversion analysis control unit 60 of the machining control device 50 shown in FIG. 3, and each machining surface of the workpiece 30 to be machined. Surface to the surface definition coordinates PC in the surface definition condition PDT
In accordance with the number of surfaces input to O, machining blocks corresponding to the machining instruction planes of the machining planes of the work 30 are sequentially formed.
The processing data of 0 to each processing surface is described based on the work origin of each processing surface. Here, a case of processing the slope of the work 30, which is a characteristic of the present invention, will be described. At this time, for example, as shown in FIG.
Since the inclined surface of the work 30 is inclined at a predetermined angle with respect to the three axes of the X, Y, and Z axes, the tool 31
It is necessary to process by inclining by a predetermined angle with respect to the X, Y, and Z axes according to the inclination of the surface. Therefore, first of all, the head 19 shown in FIG.
And the angle θx, θy, θz of the spindle 22 (and therefore the tool 31) with respect to the X, Y, and Z axes when rotated by the arbitrary angle θ in the directions of the arrows G and H about the turning center CT3. The relationship will be described.

That is, as shown in FIG. 7, the symmetry point P1 is the origin O of the X, Y, and Z coordinate axes, and the turning center CT3 (α
Consider a circle with a radius of 1 (hereinafter referred to as a unit circle UC) that is perpendicular to the (axis) and is in contact with the Y axis and the Z axis. The points at which the unit circle UC contacts the Y axis and the Z axis are A and B, respectively. Here, the spindle 22 (that is, the head 19)
Is rotated by an angle θ in the direction of arrow G from the state in which the rotation center CT5 is positioned on the Z axis, and is positioned at the position indicated by the alternate long and short dash line in the figure. Then, the rotation center CT5 of the spindle 22 also turns in the direction of the arrow G by the angle θ and moves from the point B to the point D along the circumference of the unit circle UC. At this time, as shown in FIG. 8, if the feet of the perpendicular line drawn from the point D to the XZ plane and the YZ plane are G ₁ and E, respectively, and the foot of the perpendicular line drawn from the foot G ₁ to the Z axis is F, Since θ = ∠BCD, θx = ∠DFG ₁ FG ₁ = DE, DG ₁ = EF = FB, tan θx = DG ₁ / FG ₁ = EF / DE

## EQU1 ## tan θx = EF / DE. Here, if a perpendicular is drawn from the point D shown in FIG. 7 to the straight line AB and its foot is E, then CD = 1, so

## EQU2 ## DE = CD sin θ = sin θ. In the triangle BEF shown in FIG. 7, FB = EF = EBsin45 ° = (BC-CDcosθ) sin45 °

EF = (1−cos θ) / √2 Therefore, by substituting the equations 2 and 3 into the equation 1, tan θx = EF / DE = (1−cos θ) / (√2 · sin θ). Therefore,

## EQU4 ## θx = arctan [(1-cosθ) / (√2 · sinθ)] is obtained. The angle θy is the triangle ODG ₁ shown in FIG.
Therefore, sin θy = DG ₁ / OD θy = arcsin (DG ₁ / OD) Here, since DG ₁ = EF and EF = (1-cos θ) / √2, DG ₁ = (1-cos θ) / √2 Becomes Also, since ∠CDO = ∠CBO, ∠CB
From O = 45 °, ∠CDO = 45 °. In the triangle ODC, CD = 1, ∠C
From DO = 45 °, OD = CDtan∠CDO = tan45 ° = √2. Therefore, θy = arcsin (DG ₁ / OD) = arcsin (((1-cos θ) / √2) / √2)

## EQU5 ## Obtain θy = arcsin ((1-cos θ) / 2). Further, the angle θz is the triangle FOG ₁ shown in FIG.
Tan θz = FG ₁ / OF = DE / OF Here, from the triangle EOF shown in FIG. 8, OF = (1 + cos θ) / √2 From the above equation, tan θz = sin θ / [(1 + cos θ) / √2] = √2 sin / (1 + cos θ) Therefore,

[Equation 6] θz = arctan [√2 · sin θ / (1 + cos θ)].

Therefore, the above-mentioned angle θ and angles θx, θ
Based on the relationship between y and θz, the cutting edge 31a of the tool 31 protruding leftward in the drawing from the origin O shown in FIG. 8 by a predetermined distance,
The position with respect to the work 30 can be accurately obtained. here,
The angle θy is XZ formed by the work mounting surface 35a of the table 35 of the tool 31 when the head 19 is rotated by the arbitrary angle θ in the directions G and H around the rotation center CT3 together with the spindle 22 on which the tool 31 is mounted. It is not only the inclination about the X-axis with respect to the plane, but also the inclination angle WA of the slope to be machined of the work 30 that is perpendicular to the tool 31 to be machined by the tool 31. Therefore, if the inclination of the slope of the work 30 is regarded as the inclination of the tool 31, from Equation 5, it corresponds to the head rotation amount TA2 at which the head 19 should be rotated about the angle θy corresponding to the inclination angle WA of the slope of the work 30. The angle θ can be obtained. That is, from equation 5, sin θy = (1−cos θ) / 2 cos θ = 1−2 sin θy

## EQU00007 ## .theta. = Arccos (1-2sin.theta.y) is obtained. On the other hand, the angle θz is the work mounting surface of the table 35 with respect to the Z axis of the tool 31 when the head 19 is rotated by the arbitrary angle θ in the directions G and H around the rotation center CT3 together with the spindle 22 on which the tool 31 is mounted. 35
The reference of the table 35 for compensating that the tool has rotated by θz in order to maintain the vertical state of the tool and the machining surface during machining, as well as the inclination about the Y axis perpendicular to the XZ plane formed by a. It is also the amount of rotation from the origin BP.
Therefore, based on the previously obtained angle θ, an angle θz corresponding to the table turning correction amount TA1 for turning the table 35 from the reference origin BP in accordance with the inclination of the slope of the work 30.
Can be obtained for the angle θy. That is, by substituting the previously obtained θ into Equation 6,

[Equation 8] θz = arctan [√2 · sin (arccos (1-2sinθ
y)) / (1 + cos (arccos (1-2−sin θy)))] is obtained. Therefore, when machining the slope of the work 30, if the inclination angle WA of the slope of the work 30 corresponding to the angle θy is known, the angle θy corresponding to the head rotation amount TA2 for rotating the head 19 from the angle θy. And table 35
The angle θz corresponding to the table turning correction amount TA1 to be turned from the reference origin BP is calculated, and the tool 31 can be positioned with respect to the slope of the work 30.
That is, in the present invention, the processing control device 50 shown in FIG.
The coordinate conversion analysis control unit 60 of the head 19 calculates from the equations 7 and 8 based on the data of the inclination angle WA of the slope of the work 30 in the machining program loaded with the surface definition coordinates PCO input from the input unit 53. Head turn amount TA2
And the angle θz corresponding to the table turning correction amount TA1 of the table 35 are calculated. Then, Fig. 3
Based on the calculated value, the machining control unit 56 shown in FIG.
Command to take a predetermined angle.

As described above, the angle θy corresponding to the inclination angle WA of the slope of the work 30, the angle θ corresponding to the head turning amount TA2 of the head 19 and the angle θz corresponding to the table turning correction amount TA1 of the table 35 are related. 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 receives the command from FIG.
In the coordinate conversion analysis control unit 60 shown in FIG. 1, the turning amount of the table 35 and the head 19 is calculated so that the tool 31 can be adapted to the converted coordinates, and the work coordinate system (WX,
WY, WZ coordinates) are converted to a machine coordinate system (X, Y, Z coordinates). The coordinate conversion analysis control unit 60 shown in FIG. 3, which has received the command, defines the surface definition corresponding to each of the machining surfaces of the work 30 loaded in the machining program from the above-mentioned relationship between the work coordinates and the machine coordinates. Coordinate PCO data PD4, PD5 and buffer memory 58
Based on the reference coordinate BCO data BD4 stored in
Table 3 corresponding to each machining surface of the work 30
5 and the turning amount of the head 19 are calculated. Further, the data PD1, PD2, PD3 of the surface definition coordinates PCO corresponding to the WX, WY, WZ coordinates of the surface of each processed surface of the work 30 corresponding to the surface of each processed surface of the work 30 loaded in the processing program. 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, regarding the turning amount of the table 35, the table turning basic amount TB due to the deviation between the work coordinates and the machine coordinates is set to TB = PD4 + BD4 from the data PD4 of the surface defining coordinates PCO and the data BD4 of the reference coordinates BCO, and
The work mounting surface 35 of the table 35 on the processing surface of the work 30
From the data PD5 of the surface defining coordinates PCO, the table turning correction amount TA1 due to the inclination with respect to a is set to PD5 = θy, and TA1 (= θz) is calculated from Expression 8. Further, the turning amount of the head 19 is determined by the table 35 of the processing surface of the work 30.
Of the head turning amount TA2 due to the inclination with respect to the workpiece mounting surface 35a from the data PD5 of the surface defining coordinates PCO
TA2 (= θ) is calculated from Equation 7 with = θy.
As described above, the coordinate conversion analysis control unit 60 shown in FIG. 3 causes the table 35 and the head 19 to turn around TB, TA1, and TA2.
After the analysis such as the calculation of
Outputs the analysis result to the machining control unit 56, and the machining control unit 56 receiving the analysis result instructs the axis control unit 57 to drive the drive motors 69 and 40 by a predetermined amount. Then, the axis control unit 57 which receives the command from the processing control unit 56 drives the B-axis drive motor 69 to move the table 35 shown in FIG. 1 to the table turning basic amount TB (= PD4 + B).
D4) and the table turning correction amount TA1 (= θz) P
Swivel in the direction to make the tool face the machined surface and α
The shaft drive motor 40 is driven to rotate the head 19 shown in FIG. 1 in the G direction by the head rotation amount TA2 (= θ) to position the rotation center CT5 of the spindle 22 and thus the tool perpendicular to the machining surface.

Further, the data PD1 of the surface definition coordinates PCO,
From the data BD1, BD2, BD3 of the reference coordinates BCO stored in PD2, PD3 and the buffer memory 58, the work coordinate system (WX, WY, WZ coordinates) is converted to the machine coordinate system (X,
The coordinate conversion analysis control unit 60 shown in FIG. 3 executes the conversion into (Y, Z coordinates) and outputs the calculation result to the processing control unit 56, so that the processing control unit 56 receiving the analysis result causes the axis control The unit 57 is instructed to drive each drive motor 65, 66, 67 by a predetermined amount. Then, the axis control unit 57, which receives the command from the machining control unit 56, causes the machining control unit 5 to move.
Based on the command of No. 6, each drive motor 65, 66, 67 is driven by a predetermined amount. That is, the X-axis drive motor 65 is driven to move the base 5 shown in FIG. 1 by D1 in the X-axis direction,
The Y-axis drive motor 66 is driven to move the headstock 9 shown in FIG. 1 by D2 in the Y-axis direction, and the Z-axis drive motor 67 is driven to move the column 6 shown in FIG. 1 by D3 in the Z-axis direction. Match the cutting edge of the tool with the work origin of the machining surface to be machined.

By the above, the cutting edge 31a of the tool 31 is
Since the tool 31 can be positioned at the machining start position (workpiece origin) so as to face the machining surface of the tool 30 perpendicularly,
The machining control unit 56 instructs the axis control unit 57 and the like based on a machining command or the like to drive the spindle 22 and rotate the spindle 22 in the arrow J or K direction together with the tool. Then, the headstock 9 is appropriately moved in the directions of arrows E and F,
The work 30 is processed by the tool 31 by moving and driving the base 5 and the column 6. Therefore, the operator does not have to obtain the rotation angle of the head and the rotation angle of the table according to the inclination of the machined surface when machining the machined surface of the workpiece, and the inclination angle of the machined surface of the workpiece is determined. Only by inputting, the head and the table are rotated and positioned according to the inclination of the processed surface.

[0022]

As described above, according to the present invention,
It has a frame such as a bed 2, and a head supporting means such as a head supporting portion 10 is provided on the frame, and the head supporting means has a head 19 such as a turning center CT3 having an angle of 45 degrees with respect to a horizontal plane. A tool such as a spindle 22 in which a tool is removably provided on the head, and a head rotation driving means such as an α-axis drive motor 40 for driving the head to rotate is provided. A main shaft is rotatably provided around a tool rotation shaft such as a rotation center CT5 formed at an angle of 45 degrees with the first turning shaft, and a table 35 is provided on the frame in a horizontal plane. A second swivel axis such as a center of rotation CT1 perpendicular to the horizontal plane is provided so as to be swivelable and
Table for the B-axis drive motor 69, etc.
In a 5-axis control processing machine provided with a bull swivel drive means, an inclination angle such as an angle MA or WA of a processing surface of a work to be processed with respect to the horizontal plane and an angle MB around an axis perpendicular to the horizontal plane, Memory means such as a buffer memory 58 and a memory 55 that stores machining surface angle information such as a reference condition BCT that defines a rotation angle of WB, a surface definition condition PDT, and the like are provided, and the first turning axis is centered from the tilt angle. Head rotation angle calculation means such as a coordinate conversion analysis control unit 60 for calculating a first rotation angle such as the head rotation amount TA2 of the head is provided, and the second rotation axis is centered from the tilt angle and the rotation angle. A table turning angle calculation means such as a coordinate conversion analysis control unit 60 for calculating the second turning angle of the table turning basic amount TB and the table turning correction amount TA1 of the table is provided. From the first turning angle obtained by the head turning angle calculating means and the second turning angle obtained by the table turning angle calculating means, the tool rotation axis is perpendicular to the machining surface of the workpiece. Thus, drive control means such as a machining control part 56 and an axis control part 57 for controlling the head turning drive means and the table turning drive means are provided.

With the above-mentioned structure, according to the present invention, the head turning angle calculation means obtains the first turning angle from the tilt angle, and the drive control means sets the first turning angle to the first turning angle. Based on the second turning angle, the drive turning means drives the head turning drive means, and the table turning angle calculation means obtains the second turning angle from the tilt angle and the rotation angle. Since the tool is controlled and positioned so that the tool is perpendicular to the machining surface of the workpiece to be machined, the operator, when machining the inclined machining surface of the workpiece, responds to the inclination of the machining surface. By simply inputting the tilt angle and the rotation angle, the head and the table are rotated and positioned so that the tool is perpendicular to the working surface according to the tilt of the working surface.

[Brief description of 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 cross-sectional view showing an example of a main part of a headstock of the 5-axis control processing machine shown in FIG.

FIG. 3 is a diagram showing an example of a control block of a processing control device mounted on the 5-axis control processing machine shown in FIG. 1.

FIG. 4 is a diagram showing an example of definition of coordinates.

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

FIG. 6 is a diagram showing an example in which the coordinates of each processing surface of a work are defined for the 5-axis control processing machine shown in FIG.
(A) is a figure which shows a reference condition. (B) is a figure which shows a surface definition condition.

FIG. 7 is a diagram showing a spindle attached to a head and X,
It is a figure which shows the angle between the Y and Z axes.

FIG. 8 is a view showing a spindle attached to a head and an X,
It is a figure which shows the angle between the Y and Z axes.

[Explanation of symbols]

2 ... Frame (bed) 10 ... Head support means (head support part) 19 ... Head 22 ... Tool spindle (spindle) 35 ... Table 40 ... Head rotation drive means (.alpha.-axis drive motor) 55 ...... Memory means (machining program memory) 56 …… Drive control means (machining control section) 57 …… Drive control means (axis control section) 60 …… Head turning angle calculation means (coordinate conversion analysis control section) 60 …… Table Turning angle calculation means (coordinate conversion analysis control section) 69 ... Table turning drive means (B axis drive motor) MA ... Inclination angle (angle) MB ... Rotation angle (angle) WA ... Inclination angle (angle) WB ... Rotation angle (angle) BCT ... Machining surface angle information (reference condition) PDT ... Machining surface angle information (surface definition condition) TA1 ... 2nd turning angle (table turning correction amount) TA2 ... 1st Turning angle (head turning amount) TB …… Second turning angle (table turning basic amount) CT1 …… Second turning axis (rotation center) CT3 …… First turning axis (turning center) CT5 …… Tool rotation axis (rotation) center)

Claims (1)

[Claims] 1. A frame, wherein a head support means is provided on the frame, and a head is provided on the head support means so as to be rotatable about a first rotation axis having an angle of 45 degrees with respect to a horizontal plane. Head rotating drive means for driving the head is provided, and a tool spindle having a tool detachably provided on the head has a tool rotating shaft formed at an angle of 45 degrees with the first rotating shaft. The table is rotatably driven about the center, and the table is rotatably provided on the frame about a second turning axis perpendicular to the horizontal plane in the horizontal plane, and the table turning drive means is for turning the table. In a 5-axis control processing machine configured to provide a workpiece, a tilt angle of a processing surface of a workpiece to be processed with respect to the horizontal plane and a rotation angle about an axis perpendicular to the horizontal plane are determined. A memory means for storing the processed surface angle information is provided, and a head turning angle calculating means for calculating a first turning angle of the head about the first turning axis from the tilt angle is provided. A table turning angle calculating means for calculating a second turning angle of the table about the second turning axis from an angle is provided, and the first turning angle and the table turning angle calculating means obtained by the head turning angle calculating means are provided. Drive control means for controlling the head rotation drive means and the table rotation drive means such that the tool rotation axis becomes perpendicular to the machining surface of the workpiece to be machined from the second rotation angle obtained in 5 axis control processing machine configured.