JPS6097408A - Numerical control system - Google Patents

Abstract

PURPOSE:To correct the work of the depth of a hole by moving a table manually along a tool spindle and at right angles to the slanting tool spindle when a shaft rotates and the tool spindle slants. CONSTITUTION:When a tool 12 is moved manually in an X''-axis direction at right angles to the tool spindle to perform work, a movement selection switch SX is turned on and an operator rotates the handle of a manual pulse generator 103 to generate a specific number of pulses Hp. When the pulses Hp are generated, the distributing circuit in a manual pulse distributing circuit 104 performs arithmetic. Namely, the addition of a register and an accumulator is performed every time a pulse Hp is generated and the addition result is stored in the accumulator repeatedly to generate a specific number of overflow pulses by respective accumulators by the generation of N pulses Hp. Manual pulses XHp, YHp, and ZHp are generated by this distribution arithmetic and supplied to servo circuits 108-110 through adders 105-107 to drive motors 113-115.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application and Prior Art The present invention relates to a method for moving a tool or a workpiece while keeping the tool axis direction constant. This invention relates to a numerical control method that allows for manual movement.

In machine tools, such as machining machines, tools or tables are moved in the three axes of X, Y, and Z.
In addition, the workpiece can be machined by rotating in the direction of the A-axis, which is the rotation axis C around the X-axis, the B-axis, which is the rotation axis around the Y-axis, and the C-axis, which is the rotation axis around the Z-axis. There is. For example, in FIG. 1, when machining a hole 13a with a certain inclination in the workpiece 13 placed on the table 14, a servo motor (not shown) is used to machine the three axes of the X, Y, and Z axes.
The tool support part 11, which is driven in the axial direction, is moved together with the tool 12 in the X, Y, and Z axis directions to position C, and the tool 12 is rotated, for example, in the B-axis and C-axis directions around the rotation center Q. Tool axis direction of spoon and tool 12 (dotted chain line direction in the figure)
and the direction of the hole 13a to be machined. After that, while maintaining the tool axis direction, the tool support part 11 is moved in x and y directions.
.

2, the workpiece 13 is moved toward the workpiece 13 to start machining the hole 13a, and drilling is performed to a predetermined depth. Then, when the tool 12 is pulled out in the opposite direction after m, the drilling process is completed. There are cases in which such hole machining and machining are performed by rotating the machine around the rotation center Q and performing machining in a direction perpendicular to the tool axis at that time.

By the way, the tool 12 is
For machine tools such as machining centers that perform machining with the tool tilted, there are cases where you want to manually increase or decrease the depth of cut while machining with the tool tilted, or when machining on an inclined surface like the one shown in Figure 1. There may be cases where you want to make holes manually. Note that the manual operation here refers to a function of manually operating a normal manual pulse generator or jog button to move a tool or table.

Now, in the case of (1) and (2) above, the tool 12 is manually moved in X, Y, and Z while keeping the tool axis direction constant.
It must be moved using simultaneous three-axis control.

However, in the conventional manual operation, the tool 12 is moved in one axis direction at a time using a manual pulse generator or a jog button, and therefore, such requirements (1) and (3) cannot be met. However, manual feeding in the same direction as the inclined tool axis has been developed and is known in Japanese Patent Application Laid-Open No. 148758/1983, but manual feeding in the direction perpendicular to the inclined tool axis has been developed. As for feeding, it has not been developed yet.

OBJECTS OF THE INVENTION An object of the present invention is to improve the drawbacks of the prior art described above, and to make it possible to manually operate a tool in the direction of the inclined tool axis and in the direction perpendicular to the direction of the tool axis in a rotated tool axis. It is designed so that it can be moved.

Principle of the Invention Figure 2 shows the amount of tool movement in the X, Y, and Z axis directions (orthogonal coordinate system) before and after rotation when the tool axis is rotated b around the B axis and C around the C axis. This is an explanatory diagram illustrating the relationship between the displacement of the orthogonal coordinate system and the polar coordinate system, where h represents a spherical surface with a radius of 1 unit, and the intersections of the spherical surface and the X, Y, and Z axes are respectively 111 It is expressed as ~l+6. Therefore, if you rotate b around the Y axis in the 1st or 13th axis direction,
X axis.

2-axis G; LI'J l+1 b6 1+2 1+5 Circle unk, rotate by b along the axis, x of X and Z axis after rotation
The intersection of the ' and z' axes with the spherical surface is h7 in FIG. h,
It will be shown as follows. Then around the Z axis, i.e. C
When rotated by C in the axial direction, the Y-axis rotates by C on the circular surface of the circle 113 h2 1+4 1+1 through which the Y-axis passes and is orthogonal to the Z-axis, and the Y-II axis of the rotated Y-axis is on the above spherical surface. intersects at h9. J: The new Z' axis, rotated by b around the B axis, is tilted with the Z axis by b, rotated by C around the Z axis, and forms a new 7n axis, which is different from the above spherical surface. Intersect at 11m+. Furthermore, the new X' axis rotated in the B direction is perpendicular to the Z axis, and the circle h7 ha through which the X wheel passes
It rotates by C' on the circular surface of hlH, and the XJL axis, which is the X axis at that time, intersects the spherical surface at ha. Kakushi (,
When rotated by C in the B-axis direction and C in the C-axis direction, the new orthogonal coordinate system is composed of the XII axis, the Y'' axis, and the 7'' axis.

Therefore, a new orthogonal coordinate system X II , Y n ,
X, Y of the unit vector ε in the direction of the X n-axis.

The Z-axis components XI), Yll, Zl) are calculated.

X-Y axis plane from intersection 1c, 1 ie h11+3h2
Let the intersection of the perpendicular drawn to the plane of 114 and the plane 1r]1 be , and let h6 be the intersection of the perpendicular drawn from point hM to the X-axis.

0 ha=ε and J, xp = o hH=oh, cos C-・= (1
)0 1114 = Ohl'cO3b = εcos b
・・・・・・(2) Substituting equation (2) into equation (1), xp=εcos b cos c ・・・・・・〈3)
yp = hIIIh5=OhHsin c From formula (2), '1/p = EOO5b Sin C...--(
4) Zl) = -11Kl + Sho = -Qll ro 5in
b=-εsin b ・・・・・・(5) Above (3)
, (4) and (5), the X, Y, and Z axis components XI of the unit vector ε on the X LJ wheel axis perpendicular to the tool axis (Z″ axis)
), Yll, Zl) are XD-εcos b
cos c −・・−(6) Yp = εcos b
sin c ・----(7) 2ρ −ε5inb
(8) Similarly, the X, Y, and Z axis components of the unit vector ε on the Y axis are shown in Figure 2.
c=-εsin c...(9)YD=OI
II =0119 CO3C=Ccos c -(10
) 20 = 0 (11) Similarly, Z n axis, F unit square 1 - X, Y of unit square ε.

The Z-axis component is l1, which is placed on the 2nd axis from point 11 in Figure 2.
The intersection of iI and the Z axis is hl7, line segment..., point 1 on h8
If we take the intersection of the Iζ perpendicular and the line segment t++7 and bB from 1 illusion as hl8, then Oh group...ε xp ” l1ly 111B = hl, Itρco
s c=Q 11+o Sin b (ios O=6
Sin b 008 (i...(12) Yp = llu+ ll+o = 1117 tlm
Sfn C=OhIISin b 5ilt C=C
3in b Sin O... (13) ZD -OIIToCO3b =CCO3b -...
-(14) As above, the tool axis is B axis, Ct*
When the tool rotates, the direction perpendicular to the tool axis (X'').

The number of distributed pulses N is entered in place of the above unit vector by manual operation for the platform that is manually fed in the tool axis direction (Y n-axis direction) and the tool axis direction (2'' axis direction) for each X and Y.

The tool will move in the Z-axis direction, the XII, YII-axis direction, or the tool axis direction (Z'' axis direction).

In the above description, an example has been shown in which a rotation system is configured by the B-axis and the C-axis, but when the rotation system is configured by the A-axis and the C-axis and the rotation is performed by a1 on the A axis and C on the C-axis, the result will be as follows.

(1) X, Y, and Z axis components Xp, Yp of the unit vector ε of the X11 axis perpendicular to the tool axis (2″ axis).

Zp is xp=εcos c...(15)Yp=εs
in c -...-(113)zp-o...
(11) (2) X, Y, and Z axis components Xp, Yp of the unit vector ε of the Yn axis perpendicular to the tool axis (X″ axis).

Zn is Xp=-εcos a sin c --------(1
8) yp-εcos a cos c -・-(19)
ZLI-εsi++ a ・−・−(20) (3) The x, y, and z axis components xp, yp, and zp of the unit vector ε in the tool axis (X″ axis) direction are Xp = Csin a sin c ・−− --(2
1) Y++ == −εsln a cos c −■
・−(22>Zv−εcos a −・−−−−(23
) Structure of the Invention The present invention rotates a shell or table in the direction of one or more rotational axes to control the axis direction of a tool relative to a workpiece, and also rotates the tool or table in the direction of one or more rotational axes. Move in the direction to perform the desired machining on the workpiece.
In the i11 method, a selection switch for determining a tool axis direction of the tool relative to the workpiece and an axial direction perpendicular to the tool axis direction based on the rotary mold of the tool or workpiece, and selecting each of the determined axial directions. This is a numerical control system characterized by distributing pulses from a manual pulse generator to the X, Y, and Z axes so that the tool or table moves in the direction of the IC axis selected by the operator.

EXAMPLES Hereinafter, examples of the present invention will be described in detail with reference to the drawings.

FIG. II3 is a circuit block diagram of an embodiment for realizing the present invention, and this embodiment shows an example in which the rotation axes are composed of a B axis and a C axis.

In the figure, 101 is a command tape, 102 is a command tape 101
The well-known inkvolator 103 is a manual pulse generator that executes a pulse distribution calculation based on a movement command input from the ink generator. ,
A pulse train HP having the number of pulses corresponding to the rotation angle is generated.

Reference numeral 104 denotes a manual pulse distribution circuit which receives signals from selection switches SX, SY, and SZ for selecting the moving directions in the X-axis, Y-axis, and Z-axis directions perpendicular to the tool axis. , when one of the selection switches is pressed and the handle of the manual pulse generator 103 is rotated, the pulses of the pulse train HP from the manual pulse generator 103 are determined based on equations (6) to (4). to generate manual pulses XHP, Yl-IP, and 1l-IP in the X, Y, and Z axis directions.

105 to 107 are adders or mixers, each of which receives the distribution pulses XI) generated from the intabolator 102;
Yl+, zp k: Override manual pulses XHP, YHP, and ZHP generated from manual pulse distribution circuit 104! −
do. 108-112 are servo circuits for each axis, 113-1
17 is a motor for driving each axis.

Next, the present invention will be explained in detail.

Normally, the inturbator 102 executes pulse distribution operation based on a movement command from the command tape 101, and distributes each distribution pulse Xp, ' of the X-axis, Y-axis, Z-axis, B-axis, and C-axis.
It generates v'p, ZD, Bll, and Cp, and inputs each to the corresponding servo circuits 108-112. When the distribution pulse is inputted to each robot circuit, the motors 113 to 117 for each axis are driven by well-known servo control to process the workpiece according to the robot diagram. In addition, such N
Distribution pulse a for B-axis and C-axis drive generated during O sub-control
ll and CD are input to the servo circuits 111 and 112, and also to a reversible counter (corresponding to the current position register), not shown, of the manual pulse distribution circuit 104. Since one distribution pulse Bll, Op corresponds to a predetermined rotation angle in the B-axis direction and the C-axis direction of the tool 12, respectively, the distribution pulse B is determined by the reversible counter according to the rotation direction of the tool.
If D and C11 are reversibly counted, the current rotational angular position bLO of the tool 12 in the B and C axis directions will be stored in the reversible counter.

Next, we will explain the control for manually moving the tool 12 in the direction of the X (X") axis perpendicular to the tool axis. In this case, first, After turning on the direction movement selection switch Sx, the operator rotates the handle of the manual pulse generator 103 to generate a predetermined number of pulses H1). When the pulse Il+) is generated, a distributing circuit (not shown) built in the manual pulse distributing circuit 104 performs a function n to be described later. Note that this distribution circuit is a well-known DDA (Digital Digital Analyzer) as described later.
l Qifferential (8 nalizer) can be used.

Through this distribution calculation, the manual pulses XHP, YHP, and Zl-IP in the X, Y, and Z axis directions are R-generated L, and each of these manual pulses is sent to the servo circuit 1 via adders 105 to 107.
08-110 to drive motors 113-1115. As a result, as described above, the tool 12 moves in the X (X'') axis direction perpendicular to the tool axis direction, and machining is performed.

FIG. 4 shows the manual pulse distribution circuit 104 in J3 in FIG.
201 and 202 in the figure are the B axis and C@
A reversible counter that reversibly counts the distribution pulses B11 and C11 in the h direction according to their signs, calculates the rotational position in the B-axis and C-axis directions, and stores c; 203 is the rotational internal position 1f;
sin b based on fb, c.

cos b, sin c, cos c, c
os b IIcos b.

coSb sin c, sin b cos c
, sin b, sin c, and 204 to 212 are DDAs, each having register 2.
04a to 212a and accumulators 204b to 212
It has adders 2040 to 212c that add the contents of the register and the contents of the accumulator every time a pulse Hp is input from the manual pulse generator 103 and stores the addition result in the accumulator.
~ 2128 is the calculation result cos of the brightening circuit 203
b cos c , cos b sin c , -
sin b.

-5in c, cos c, sln b cos
c, sin b sin c.

cos b are stored respectively. Also, SX, SY.

SZ is the tool movement direction selection switch, GX, GY, G
Z is an or gate.

Now, the selection switch SX is turned on and the tool axis (Z″ axis)
If the accumulators 204b to 212 are moved by manual operation in the X (X”) axis direction orthogonal to
If b is made up of n pi 1-, its ancient annotation becomes (2n-1)
It is. Therefore, every time pulse 1p occurs, the register and the 7-accumulator are added together, and the addition result is stored in the accumulator.
Due to N occurrences of a, each 7 cumulators 204b
.

20511, 20Cill/J-co), N-co
s b ・C03C/'(2"-1> ・・・・・・(
24〉N-C03II ・5ine/(2'-1)・・
...(25) N-sin b / (2n -1)
-(26) A-barf 1''-pulses are generated.

Therefore, the operation result at J3 in circuit 203 is (
20-1) (F? L)-(LI3 stop, NCO!1
111 cos c , NCO3I)3inC,N
sin b manual pulses XI-IP, YHI-'.

Z l-I P tfi ft live, Aage-1-GX
. Motors 113 to 115 obtained
The tool is moved in a direction perpendicular to the tool axis (X'' axis direction).

Similarly, the Y-axis (Y″'Ml) perpendicular to the tool axis (/″-axis)
) If you want to move it in the II direction, press the selection switch S Y
If you turn on the manual pulse generator and turn on the manual pulse generator, steps (9) to
The pulse is distributed according to equation (11), and the tool moves in the Y-axis (Y″ axis) direction perpendicular to the tool axis.If the selection switch SZ is turned on, the pulse is distributed according to equations (12) to (14). is distributed, and the tool moves along the tool axis (Z'' axis).

Fig. 5 is a circuit block diagram for maintaining the tool axis direction constant when a manual pulse is generated during the 1115-axis control, and the same parts as in Fig. 3 are designated by the same symbols. However, the detailed explanation will be omitted. 6 differs from FIG. 3 in that the manual pulse distribution circuit 104 is made clear. That is, the manual pulse distribution circuit 10
4 divides the distribution pulses Bp and Cp in the B-axis and C-axis directions into reversible numbers according to the moving direction, respectively, and divides the B-axis and Cl11
Registers R13 and RC that store the integrated value of the distributed pulses that arrive at time tn of 1, in other words, the current rotational angular positions b (tn) and c (tn), and the manual pulse In generated from the manual pulse generator 103. is reversibly counted according to the rotation direction of the handle of the manual pulse R generator, and at time t11, the integrated value 1-1 p (tn) of the manual pulse date p is recorded.
When register RHP and manual pulse I-111 are generated, predetermined calculations to be described later are executed at fixed time intervals,
Manual hull in X, Y, and Z axes), X l-I P,
YNP.

It has a calculation circuit oPc that generates ZHP.

In addition, in the operational circuit 01)C, manual pulses in the directions of each axis are generated at time 11-1, which is a certain period of time before time tnJ.
-1F,)'s final test 1-IPX (tn-+), I
”PY (tn-+), 1-IPZ (tn-+
) is built-in.

Now, for example, if the switch S/ is turned on, the circuit 01)C in the diagram executes the calculation of the following equation at regular intervals to generate manual pulses XI-IP, YHP, and Zl-IP. To read. , LI3, LI F' X (tn),
I-IP Y (tn), I-IPZ (tn) are manual pulses XI-IP, YHP.

Z l-11) II; 'i time 111 () accumulation 1
It is 16.

1-I PX (L++) -1f I' (tn)
・sin b (In)-cos c (In) --
-----(27)1-1PY (tn) =1-1f)
(tn) ・sin b (tn)−5ilI C(t
n) ・-'・(28)1-I P Z (tn) =
tIP (tn) -cos b (tn)...
...(29) On the other hand, before the calculation of equations (27) to (29) above, the time tl
Manual pulse XI-IP with one node on l-j, Yl-IF-
), Zl-IP INN13IPX (tn-+)
, IIPY (tll-+).

1'' P Z (tll-+) is stored in the register built into the operation circuit OPC, so the correction path number Δl-1l of each axis at time [n()]X (tn ),
ΔHP Y (tn>.

ΔHPZ(tn) is determined by calculating the following equation.

Δ 1-IPX (tn) - IPX (tn) -1
-IPX (tn-1>...(30) Δ1-IPY (tn) =1-11"Y (tn)
-1-IPY (tel-+) (31) Δ1-IPZ un) =l-IPZ (tel-1
-IPZ (tn-+) (32) Therefore, adder 105 adds the number of manual pulses XI-IP, YHP, Zl-11) determined by the C1 formulas (30) to (32). ~107 (respectively servo circuits 108~
If input in step 110, the tool will move forward or backward along the tool axis direction.

Although the present invention has been described above in detail according to examples, the present invention is not limited to the examples. For example, the above embodiment 13. Although we have explained the case of a rotating system that rotates in the C-axis direction, when it is configured with A and C axes, the abstract circuit 20
3, calculate equations (15) to (23) (2n-1)
Multiply and output each register 2041 to 212a.
It is sufficient to memorize each of them. Furthermore, in the above embodiment,
Although an example of handle feeding is shown, jog feeding may also be used.

Effects of the Invention As mentioned above, when the shaft rotates and the tool axis is tilted, according to the present invention, the tool or Since the table can be moved 1,000 J: and the machining can be performed 11 times, manual operation is required when drilling a hole perpendicular to the slope of a workpiece fixed to the table. When the depth of the hole is corrected, or when machining is performed along the two slopes, it is possible to compensate for the addition by manual operation.

[Brief explanation of the drawing]

Figures 1 and 2 are explanatory diagrams for explaining 5-axis control when the table and workpiece are fixed and the tool is moved or rotated in the X, Y, Z, B, and C axis directions; Figure 3; Fourth
The figure is a block diagram of an embodiment of the circuit for realizing the present invention.
FIG. 5 is a circuit block diagram of the present invention when manual pulses are generated during simultaneous five-axis control. 11...: [Tool support part, 12...1 shell, 13...
Work, 13a... Hole, 14... Table, 101
...Command tape, 102...Intavolator, 10
3... Manual pulse generator, 104... Manual pulse distributor, 105-107... Addition device, 108-112.
... Servo circuit, 113-117 ... Motor, 201
．． 202... Reversible counter, 203... Arithmetic circuit,
204-212...DDA. Patent applicant FANUC Corporation

Claims (1)

[Claims] The tool or table is rotated in the direction of one or more rotational axes to control the direction of the tool axis relative to the workpiece, and the tool or table is rotated in the direction of one or more rotational axes. The tool moves in the Z-axis direction to perform desired machining on the workpiece. Based on the amount of rotation of the tool or workpiece, the tool axis direction relative to the sorter and the axial direction perpendicular to the tool axis direction are determined based on the amount of rotation of the tool or workpiece. In order to move the tool or table, pulses from the hand pulse light generator are applied to the X, Y, and Z axes to move the tool or table. A numerical control method characterized by distribution to the axes.