KR20130042073A - Multi-axis machine - Google Patents

Abstract

PURPOSE: A multi-axis processing machine is provided to obtain the three dimensional coordinate data of a processing object and to separate the coordinate synchronization of obtained coordinate data in terms of time and space. CONSTITUTION: A multi-axis processing machine includes a base(100), a moving stand unit(200), a fixing stand unit(300), a coordinate recognition means(400), and interface means(500). The base composes the X-Y plane of a bottom surface. The moving stand unit has two first columns and a first crossbar. The fixing stand unit has a second column and a vertical rod, a processing tool for processing a first processing object, or a second crossbar in which a second processing object fixing unit is selectively mounted. The coordinate recognition means recognizes the relative coordinate or absolute coordinate of a first processing object fixing unit, the processing tool or the second processing object fixing unit. The interface means transmits the relative coordinate or absolute coordinate of the first processing object fixing unit, the processing tool or the second processing object fixing unit to a computing means(600).

Description

Multi-axis machine

The present invention relates to a multi-axis processing machine for performing machining based on the coordinate data of the object to be processed, assembled, processed or a procedure (hereinafter, simply referred to as 'machining').

Advances in CAD / CAM technology have led to significant innovations throughout the industry, and CAD / CAM technology is not only limited to industries that are intended for production, but also to the medical field of manufacturing prosthetics optimized for individual patients. have.

In the dental field, as CAD / CAM technology is developed, its use is emerging as a major concern. For this purpose, 3D scanning of an intraoral impression model is indispensable. By using the intraoral impression model, at least one of the various processes for applying physical changes to the biological tissues in the oral cavity, for example, drilling at a predetermined point of the alveolar bone for implantation, or solving upper and lower jaw joints By changing the relative position between the jaw by moving the jawbone position, it is possible to more accurately simulate the procedure beforehand. As described above, the design and processing through the image are not only advantageous in terms of precision and efficiency, but also because the convenience is greatly improved compared to the conventional method, such as reducing the number of visits by the subject.

However, in order to apply the processing data designed on the computer based on the image obtained by 3D scanning of the intraoral impression model to the impression model, the process of synchronizing the coordinate data of the image to the coordinate system of the multi-axis processing machine must be accompanied.

Conventionally, as a part of achieving the object of coordinate synchronization, the position of the object to be processed is scanned at a specific position, thereby securing a coordinate system of the object image of the scanning device. However, this method requires a prior knowledge of the relationship between the coordinate system of the multi-axis machine and the coordinate system of the scanning device, and the process of generating the processing vector is cumbersome because the coordinate system of the image extracted from the impression model has to be converted according to the relationship of the coordinate system. The disadvantage is that it is complicated.

Also, if any of the multi-axis machine and the scanning device are changed, the coordinate system transformation must be set again from the beginning. That is, the conventional method has a problem in that there is a limit in versatility and compatibility between devices of different types.

The present invention is to provide a new multi-axis processing machine that can improve the conventional coordinate synchronization technique as described above, in particular, the position of the mark point extracted from the label attached to the object to be processed in the contact probe connected to the coordinate system of the multi-axis processing machine It is an object of the present invention to provide a multi-axis processing machine having a contact mark detector detector which can be obtained in the form of an absolute coordinate occupying the coordinate system of the multi-axis processing machine.

The present invention for achieving the above object, the base 100 to form an X-Y plane with respect to the floor; Between the plate 210 and the first column 220 is installed on the plate 210, the plate 210 is installed on the base 100 so that translational movement in the X direction, Y direction The movable stand is provided with a first side stand 242 which is rotatably installed in the X-axis direction and the first workpiece fixture 253 on which the first workpiece M1 is mounted is rotatably installed in the Z-axis direction. Part 200; Two second columns 320 fixed to a designated position of the base 100 with the movable stand part 200 therebetween, and each of the second columns 320 having an extension length in the Z-axis direction. The vertical rod 330 is installed, and the processing tool 351 or the second processing object for processing the first processing object M1 is installed to be able to translate in the Z-axis direction along the vertical rod 330. A fixed stand part 300 having a second side stand 340 on which the second object to be mounted fixture 353 to be mounted is selectively mounted; Coordinate recognition means 400 for recognizing the relative or absolute coordinates of the first object to be processed fixture 253 and the processing tool 351 or the second object to be fixed (353); And the relative coordinates or the absolute coordinates of the first object to be fixed 253 and the processing tool 351 or the second object to be fixed 353 via the coordinate recognizing means 400. Interface means 500 for transmitting to the multi-axis processing machine including;

Here, the machining tool 351 of the fixed stand part is driven to rotate in the Z-axis direction by the machining tool driving means installed on the second rail stand 340, and the first machining object M1 is processed by the rotational drive. can do.

The first workpiece fixture 253 has a degree of freedom of biaxial translation in the X-axis direction and the Y-axis direction, and a degree of freedom in the 2-axis rotational motion in the X-axis direction and the Z-axis direction. Tool 351 may have a degree of freedom of uniaxial translation relative to the Z-axis direction.

In addition, the first processing object M1 may be an intraoral impression model.

In addition, the second object fixing fixture 353 of the fixed stand portion is coupled to the end of the rotary shaft 342 provided in the Z-axis direction on the second rail stand 340, the first by the rotation of the rotary shaft 342 The rotational displacement in the Z-axis direction of the second workpiece can be adjusted with respect to the first workpiece M1.

The first workpiece fixture 253 has a degree of freedom of biaxial translation in the X-axis direction and the Y-axis direction, and a degree of freedom in the 2-axis rotational motion in the X-axis direction and the Z-axis direction. The two-piece fastener 353 may have a degree of freedom of one-axis translational movement with respect to the Z-axis direction and a degree of freedom of one-axis rotational movement with respect to the Z-axis direction.

In addition, the first and second processing object (M1, M2), may be an impression model corresponding to the mandible, upper jaw of the orthopedic guided wear, respectively.

In addition, the fixed stand part 300 is installed to protrude toward the second side stand 340 on the second column 320, the second side stand 340 by contact with the second side stand 340. Limiter 360 to variably limit the Z-axis translation of the; may further include.

In addition, the limiter 360 has an extension length in the Z-axis direction, and through the second column 320, the lifting hole (363) to be moved up and down in the Z-axis direction; A slit 362 extending in the Z-axis direction on the second column 320; And a one end portion having a width wider than the slit 362 and exposed to the outside of the second column 320, and the other side penetrating the slit 362 in the XY direction to be screwed to the lifting hole 363. Sphere 361; may include.

In addition, the limiter 360, the rotary operation tool (364) rotated in place by a rotational force applied to a part exposed to the outside of the second column (320); A screw bar (365) having an extension length in the Z-axis direction and fixed to the center of rotation of the rotary operation tool (364); And screwed to the outer peripheral portion of the screw bar 365, the rotation in the Z-axis direction is constrained by the rotation of the screw bar 365 to penetrate the upper portion of the second column 320 to adjust the lift in the Z-axis direction It may include; elevating bar (366).

In addition, the movable stand unit 200 is installed on the plate 210, the first column 220, and the first side rail 242, respectively, and the plate 210, the first column 220, and the first column 220. It may further include a first stopper for temporarily limiting the movement of the crosspiece 242 by the pressing force or friction force.

In addition, the first stopper may include a ring-shaped rotation guide sphere 262 provided on the plate 210 with a screw thread on an inner circumferential surface thereof; And an outer circumferential surface is screwed to the rotation guide sphere 262, and one end having a handle is exposed to the upper side of the plate 210, and the other end penetrates the plate 210 to be positioned close to the upper surface of the base 100. The first rotary knob 261 may be translated in the Z-axis direction by a rotation operation of the handle and may be detachably adjusted to the base 100.

In addition, the first column may include the first column such that one end thereof is positioned in contact with the X-axis rotation axis 342 or the Z-axis rotation axis 342 on the first column 220 or the first rail stand 242. An incision groove 266 formed across the 220 or the first side rail 242; And installed in the first column 220 or the first side rail 242 across the incision groove 266, one side of which the handle is formed is exposed to the outside, and the other side is the first column 220 or the first. And a second rotary knob 265 which is screwed to the crosspiece 242 and expands and contracts the width of the cutting groove 266 by a rotation operation of the handle.

In addition, the fixed stand unit 300 is coupled to the second rail stand 340 while covering the outer circumference of the vertical rod 330, and is slid in the Z-axis direction along the outer surface of the vertical rod 330. The gripper 370; may further include.

In addition, the fixed stand 300 is installed in the contact portion between the vertical rod 330 and the gripper 370, the second stand 340 in the designated position on the vertical rod 330 by a locking jaw. It may further comprise a second stopper for fixing.

In addition, the second stopper may include a rod coupling hole 381 fixed to an end of the vertical rod 330 by having an inclined surface 381a which is reduced in cross section toward the second side bar 340; And an end portion is inserted into a concave space portion formed at an end portion of the inclined surface 381a of the rod coupler 381 in the XY direction, and moves the gripper 370 in the Z-axis direction. By doing so, the end is pushed in the radial direction riding the inclined surface (381a) and the fixed pin 382 is separated from the vertical rod 330; may include.

In addition, a contact probe 352 which replaces the processing tool 351 or is mounted on the second rail stand 340 together with the processing tool 351 to be in contact with the first processing object M1. can do.

In addition, the coordinate recognition means 400, the first machining object M1, the machining tool 351 or the translational movement displacement, rotational movement displacement in the X, Y, Z axis direction of the second machining object visually It may include; the base 100, the moving stand 200, the scale 410 is selectively formed on the outer surface of the fixed stand 300.

In addition, the coordinate recognizing means 400 senses the translational displacement, rotational movement displacement of the first machining object M1 and the machining tool 351 or the second machining object in the X, Y, and Z axis directions. And an encoder 420 selectively installed on the base 100, the movable stand 200, and the fixed stand 300.

In addition, the first workpiece (M1) is formed with a label in contact with the contact probe 352, the coordinate recognition means 400, the label on the label in contact with the contact probe 352 Recognizing the absolute coordinate of the point (P), the computer processing means 600 receives the absolute coordinate of the cover point (P) through the interface means 500 to receive the absolute coordinate of the cover point (P) As a reference, a target coordinate of the first object to be fixed 253 may be calculated.

In addition, three of the label point (P) may be given, directly or indirectly to the first processing object (M1).

In addition, the mark point (P) may be located outside the machining portion of the first workpiece (M1) with respect to the geometric center of the first workpiece (M1).

In addition, the label is positive or negative and is formed in a shape that can determine the center of the circle obtained from the coordinates of the three points selected in the surface contour as one cover point (P), the contact probe 352 is It may have a shape complementary to the shape of the label.

In addition, trigger means (700) for instructing to recognize the absolute coordinates of the mark point (P) by transmitting to the coordinate recognition means 400 that the contact probe (352) is in contact with the label provided on the object to be processed; It may further include.

In addition, the trigger means 700, the first mode for commanding the coordinate recognition means 400 to recognize the absolute coordinates of the mark point (P) or a second mode for commanding to drive the machining tool driving means. It can have a mode change function to switch to.

In addition, the trigger means 700 is extended to the outside of the base 100 can be operated by the user's foot movements.

In addition, the first processing target fixture 253 is formed with three positive or negative labels, the first processing object (M1) is formed in the negative or positive shape complementary to the label is the first processing object Constantly fixed to the fixture 253, the label may have a shape capable of determining the center of one circle from the coordinates of three points selected in its surface contour.

In addition, the first workpiece M1, which is always fixed to the first workpiece fixture 253 in a predetermined direction and position, is formed with three positive or negative labels, and the label has three points selected from its surface contour. It may have a shape that can determine the center of one circle from the coordinates of.

In addition, the fixed stand 300 may further include a lighting means for illuminating the first processing object (M1).

In addition, the base 100, the moving stand 200, the fixed stand 300 is selectively installed on the outer surface portion, the first workpiece fixture 253 or the second workpiece of the translational movement, rotational movement It may further include a; motion indicator (800) for distinguishing and displaying according to the direction.

In addition, the computer processing unit 600, after comparing the target coordinates of the predetermined first target object fixture 253 and the current coordinates of the first target object fixture 253 converged toward the target coordinates. Instruction data indicating the direction of movement is transmitted to the interface means 500, and the interface means 500 may output a driving signal corresponding to the received instruction data to the motion indicator 800.

In addition, the computer processing unit 600, when the difference between the target coordinates of the first target object fixture 253 and the current coordinates of the first target object fixture 253 is within a predetermined error range, the motion The termination data which causes the indicator 800 to display the neutral signal may be transmitted to the interface means 500.

The multi-axis processing machine equipped with the contact point detector device according to the present invention completes the coordinate synchronization by using a contact probe connected to the coordinate system of the multi-side processing machine at any time when only three-dimensional coordinate data of the object including the mark point is prepared. The advantage is that you can. In other words, the present invention is very flexible because the acquisition of the three-dimensional coordinate data of the workpiece and the coordinate synchronization of the acquired coordinate data can be separated in time and space.

In addition, the present invention allows the contact probe to be mounted in place of the machining tool of the multi-axis machining machine, so that the coordinate detection and position control functions of the machining tool inherent in the multi-axis machining machine can be utilized as it is. Has an advantage.

1 is a front side perspective view of a multi-axis processing machine according to a first embodiment of the present invention.
FIG. 2 is a rear perspective view of FIG. 1. FIG.
Figure 3 is a front view of Figure 1;
4 is a left side view of FIG. 1;
5 is a sectional view taken along line AA in Fig. 3;
6 is a cross-sectional view taken along line BB and line CC of FIG. 3.
7 is a sectional view taken along the line DD of FIG. 4.
8 is a cross-sectional view taken along line EE of FIG. 3.
9 is a cross-sectional view taken along line FF of FIG. 4.
10 is a cross-sectional view taken along the line GG of FIG.
11 is a cross-sectional view taken along line HH of FIG. 3.
12 is a cross-sectional view taken along line II of FIG. 3.
13 is a front perspective view of a multi-axis processing machine according to a second embodiment of the present invention.
14 is a rear side perspective view of FIG. 13;
FIG. 15 is a front view of FIG. 13; FIG.
16 is a cross-sectional view taken along line JJ of FIG. 15.
17 is a cross-sectional view taken along the line KK of FIG.
18 is a cross-sectional view taken along the line LL of FIG. 15.
19 is a cross-sectional view taken along the line MM of FIG.
20 is a perspective view of main parts of a fixed stand according to another embodiment of the present invention.
FIG. 21 is a bottom perspective view of FIG. 20; FIG.
FIG. 22 is a front view of FIG. 20; FIG.
FIG. 23 is a sectional view taken along the line NN of FIG. 22;
24 is a perspective view illustrating a structure in which a processing object is fixed to the processing object fixture.
FIG. 25 is a partially enlarged perspective view illustrating a configuration of detecting a mark point given to an object by using a contact probe; FIG.

Hereinafter, described in detail with reference to the accompanying drawings for a preferred embodiment of the present invention.

1, 2, 3, and 4 are a front side perspective view, a back side perspective view, a front view, and a left side view of the multi-axis machining machine according to the first embodiment of the present invention, respectively, and FIGS. 5 to 12 are AA of FIGS. 3 and 4, respectively. It is sectional drawing of the line to II line.

1 to 12, the multi-axis processing machine according to the first embodiment of the present invention, the base 100, the moving stent part 200, the fixed stand 300, the coordinate recognition means 400, the interface means ( 500).

The base 100 is a part forming a plane with respect to the floor on which the multi-axis processing machine is placed. If the base 100 forms a plane parallel to the floor to be stably seated on the floor, the base 100 is not limited to a particular shape and structure including a shape such as square and rectangle. Do not.

In the following description, it is assumed that the floor forms the XY plane, and for convenience of description, the X direction is in the left and right directions (-X direction and + X direction), and the Y direction is the front and rear direction (+ Y direction and -Y direction, respectively) and the Z direction. It will be described by mixing in the vertical direction (+ Z direction, -Z direction respectively).

The movable stand 200 includes a plate 210 installed in the base 100 so as to be able to translate in the X direction and the Y direction, two first columns 220 installed on the plate 210, and The first side stand is installed between the first column 220 so as to be rotatable in the X-axis direction and the first processing object fixture 253 on which the first processing object M1 is seated rotatably in the Z-axis direction. 242.

5 and 7, a slider 120 having an upper portion connected to the plate 210 and a lower portion penetrating through an upper surface of the base 100 and positioned inside the base 100 and the slider 120. By having a pair of guide bars 110 installed in the X-axis direction to penetrate through, accurate translation of the plate 210 in the X-axis direction can be realized.

A frame-shaped sliding frame 130 accommodating the guide bar 110 and the slider 120 therein is integrally connected to both ends of the guide bar 110, and the sliding frame 130 in the Y-axis direction. By providing a guide rail 140 for guiding it is possible to implement the accurate Y-axis translation of the plate 210.

Accordingly, when the external force is transmitted to the plate 210 from the outside of the base 100 by the user or the driving device in the X-axis direction or the Y-axis direction, the slider 120, the guide bar 110, and the sliding frame ( 130 and the guide rail 140, the plate 210 (the first object to be fastened 253) is linearly moved only in the correct X-axis direction, Y-axis direction.

6 (a), 6 (b) and 7, the first column 220 is fixed to the plate 210 by the fixing part 221 and the X-axis direction rotating shaft SX. And a rotating part 222 that is axially coupled to the fixed part 221 to generate a rotational displacement. When the first rail 242 is connected to the rotating part 222, the plate 210 may be used as a reference. It is possible to implement the accurate X-axis rotational movement of the side rail 242.

Referring to FIG. 7, when the first workpiece fixture 253 is axially coupled to the first rail stand 242 by the Z-axis rotation axis SZ, the first rail stand 242 may be rotated. An accurate Z-axis rotational motion of the first object to be fixed 253 may be implemented based on the reference.

Accordingly, when the rotational force in the X-axis direction is transmitted to the rotating unit 222 or the rotational force in the Y-axis direction to the first workpiece fixture 253 by a user or a driving device, the first workpiece fixture 253. ) Will only rotate in the correct X and Z directions.

The fixed stand 300 has two second columns 320 fixed to a predetermined position of the base 100 with the movable stand 200 therebetween, and has an extension length in the Z-axis direction. It consists of a vertical rod 330 is installed on each of the second column 320, and the second rail stand 340 is installed to be able to translate in the Z-axis direction along the vertical rod 330.

In the second side stand 340, a processing tool 351 for processing the first processing object M1 or a second processing object fixture 353 on which the second processing object is mounted (hereinafter, according to the third embodiment of the present invention). The processing tool 351 or the second object to be fixed 353 are lifted with the same displacement according to the Z-axis direction of the second bar 340. Is moved.

7 and 8, a gripper 370 having a shape that can be gripped by a worker is installed at a connection portion between the vertical rod 330 and the second rail stand 340. It is installed to be slidably movable in the Z-axis direction around the outer surface of the vertical rod 330, the second side rail 340 has a structure in which both ends are coupled to the pair of grippers 370, respectively.

Accordingly, by applying an external force in the Z-axis direction to the gripper 370, the second side stand 340 (the processing tool 351 or the second object to be fixed) along the outer surface of the vertical rod 330 (353)) will only linearly move in the correct Z-axis direction.

9, the second column 320 has a limiter 360 that variably limits the Z-axis translational motion of the second rail stand 340 by contact with the second rail stand 340. It is installed to protrude toward the crosspiece 340.

The limiter 360 has an extension length in the Z-axis direction and moves up and down in the Z-axis direction through the upper part of the second column 320 and the Z-axis on the second column 320. And a slit 362 extending in a direction, one end of which is wider than the slit 362 and is exposed to the outside of the second column 320 and the other side penetrates the slit 362 in the XY direction. The sliding control unit 361 is screwed to the lifting hole 363.

Accordingly, the pressure contact with the second column 320 is released by rotating one end portion of the sliding manipulation tool 360 in one direction, and then the lifting and lowering adjustment is performed along the slit 362 in the Z-axis direction. Thereby positioning the hoist 363 in the desired Z-direction phase while elevating and adjusting the hoist 363 with the same displacement as the sliding operator 360, and by rotating one end of the sliding operator 360 in the opposite direction. The sliding hole 360 may be pressed and contacted on the second column 320 to stop and fix the lifting hole 363.

When the machining tool driving means (for example, a motor) (not shown) is installed on the second side stand 340 to rotate the machining tool 351 in the Z-axis direction, the machining tool 351 is continuously maintained. The first processing object (M1) of the lower side with the processing tool 351 can be processed (including machining for assembly such as bolt fastening, cutting by high-speed rotation of the cutting tool, etc.) while rotating the drive.

Due to the configuration of the movable stand part 200, the first object to be fixed 253 has two degrees of freedom in two-axis translational movement in the X-axis direction and the Y-axis direction, and two-axis rotation in the X-axis direction and the Z-axis direction. It has a degree of freedom of movement, and by the configuration of the fixed stand 300, the processing tool 351 has a degree of freedom of uniaxial translational movement in the Z-axis direction.

If the fixed stand 300 is provided with a lighting means (not shown) for illuminating the first processing object (M1), the first processing object (M1) seated on the first processing object fixture 253 The state can be observed in detail with the naked eye, and the first processing object M1 can be processed.

The movable stand part 200 includes a first stopper for temporarily limiting the movement of the plate 210, the first column 220, and the first side rail 242 by pressing or frictional force. It is installed in each of the first column 220 and the first side stand 242.

Referring to FIG. 10, the first stopper for restraining the translational movement in the X-axis direction and the Y-axis direction of the plate 210 may include a ring-shaped rotation guide sphere installed on the plate 210 having a screw thread on an inner circumferential surface thereof. 262 and an outer circumferential surface of the first rotary knob 261 screwed to the inner circumferential surface of the rotation guide sphere 262.

One end of the first rotary knob 261 is formed with a handle exposed to the upper side of the plate 210 and the other end penetrates the plate 210 in the Z-axis direction and is located close to the upper surface of the base 100. By rotating the handle in the Z-axis direction, the first rotary knob 261 itself can translate in and out of the Z-axis direction along the inner surface of the rotation guide port 262 and can be detachably adjusted on the base 100. have.

Referring to FIG. 11, the first stopper for restraining the X-axis rotational movement of the first rail stand 242 may include the first column (1) so that one end of the contact portion with the X-axis rotational shaft 342 is positioned. The cutting groove 266 is formed across the 220, and the second rotary knob 265 is installed in the first column 220 across the cutting groove 266.

One end of the second rotary knob 265 in which the handle is formed is exposed at the end of the first column 220 and the other side (based on the cutting groove 266) is screwed to the first column 220. By rotating the handle in the Y-axis direction, the width of the cutting groove 266 may be stretched and contracted, and the X-axis direction rotation shaft SX may be pressed or released.

Referring to FIG. 12, the first stopper for restraining the Z-axis rotational movement of the first object to be machined 253 may include a contact portion of the cutting groove 266 in contact with the Z-axis rotational shaft 342. It is formed on the first side rail 242 to cross, and the second rotary knob 265 is installed in the first side rail 242 across the cutting groove 266.

One side of the second rotary knob 265 in which the handle is formed is exposed to the outside of the first side rail 242, and the other side (based on the cutting groove 266) is the first column 220 or the first side rail ( Screwed to 242, by rotating the handle in the Y-axis direction to adjust the width of the incision groove 266 to stretch and pressurize or release the Z-axis rotation axis (SZ).

Referring to FIG. 8, the locking stand 300 may be selectively formed at a contact portion between the vertical rod 330 and the gripper 370 in a fixed position on the vertical rod 330. A second stopper for selectively fixing the two side rails 340 is installed.

The second stopper is provided with an inclined surface 381a, the cross section of which is reduced toward the side of the second side stand 340, and is fixed to an end of the vertical rod 330, and the gripper 370 To the fixing pin 382, the end of which is inserted into the concave space portion formed at the end of the inclined surface 381a of the rod coupling hole 381 across the XY direction (planar direction connecting the X and Y axes, transverse direction). Is done.

When the gripper 370 is moved in the Z-axis direction, the end of the fixing pin 382 rides the inclined surface 381a of the rod coupling tool in the radial direction (the gripper 370 side), that is, outside the concave space part. The assembly state of pushing the gripper 370 to the vertical rod 330 is naturally released.

Accordingly, when the fixed stand 300 is not in use, the holding pin 370 is moved to the upper end of the vertical rod 330, and then the fixing pin 382 is pushed inward to the holding hole 370. By holding, the gripper 370 can be fixed to the upper end of the vertical rod 330.

By pressing the upper end of the vertical rod 330, that is, the upper end of the rod coupling hole 381 protruding upward from the holding hole 370 with the thumb or the like while holding the holding tool 370 by hand. After releasing the binding state between the gripper 370 and the vertical rod 330, the second rail stand 340 may be moved downward to the upper end of the limiter 360.

The coordinate recognition means 400 is a means for recognizing and identifying the relative coordinates or absolute coordinates, that is, the current position of the first object to be processed fixture 253 and the machining tool 351 or the second object to be fixed (353) to be.

1 and 2, in the first embodiment of the present invention, as the coordinate recognition means 400, the user can directly check the position of the first object to be fastened 253, etc. with the eye. 100), the moving stand 200, the scale 410 formed on the outer surface of the fixed stand 300 is provided.

The scale 410 may visually identify the translational movement displacement and the rotational movement displacement in the X, Y, and Z axis directions of the first processing object M1 and the processing tool 351 or the second processing object. The base 100, the movable stand 200, and the outer surface of the fixed stand 300 are selectively formed.

When the position of the first workpiece clamp 253 is set to absolute coordinates (0, -y, 0) in the state shown in FIG. 1, the scale 410, the right side is + X-axis direction, The left side is the -X axis direction, the origin is (0,0,0) in front + y, the front is the + Y axis direction, the direction of tilting the front side of the first side rail 242 upward + X Axial rotation direction, the opposite direction is -X axis rotation direction, the direction to rotate the front end of the first object to be fixed 253 to the right is + Z axis rotation direction, the opposite direction is -Z axis rotation direction, etc. Without using electronic components, the user can accurately recognize the direction and the displacement.

The interface means 500 may determine the relative or absolute coordinates of the first object to be fixed 253 and the processing tool 351 or the second object to be fixed 353 via the coordinate recognition means 400. It is a means for transmitting to the computer processing means 600.

The computer processing means 600 is a means for processing the coordinate values measured by the coordinate recognition means 400 on the computer, may be embedded in the base 100 or the like separately provided, the computer processing means 600 For details of the work performed by the), the computer processing unit 600 will be described separately in each part for describing the related content.

24 is a perspective view illustrating a structure in which the first workpiece M1 is fixed to the first workpiece fixture 253, and FIG. 25 is a first workpiece M1 using a contact probe 352. It is an enlarged perspective view of the main part shown in order to demonstrate the structure which detects the marking point P given to this.

Referring to FIG. 25, the contact probe 352 may be mounted to be replaced by the machining tool 351, or may be mounted to the second rail stand 340 together with the machining tool 351. Through the process of contacting the probe 352 to the label of the first object M1, the position of the label point P is extracted from the label (not shown) given to the first object M1. In the coordinate system of the multi-axis processing machine according to the embodiment of the present invention can be obtained in absolute coordinates.

A label is formed on a contact portion with the contact probe 352 on the first processing object M1, and the coordinate recognizing means 400 is a label point P on the label contacted with the contact probe 352. Recognizing the absolute coordinate of the contact point, the computer processing means 600 receives the absolute coordinate of the mark point (P) through the interface means 500 and then based on the absolute coordinate of the mark point (P). The target coordinates (coordinates of the processing vector included in the three-dimensional image data of the first processing object M1) of the first processing object fixture 253 are calculated.

The first processed object M1 to which the label is attached may acquire three-dimensional coordinate data with respect to its appearance and position information of the label by using a three-dimensional scanning apparatus such as a three-dimensional CT. Directly attach the label to M1, or when the medium (for example, the first processing object M1) coupled to the first processing object (M1) is an intraoral impression model, the tray engraved the shape of the teeth and gingiva (T) (see FIG. 25) can be indirectly given a label.

By inputting the three-dimensional coordinate data of the first processing object M1 acquired through the above process into a computer and performing a machining simulation, an optimal machining plan can be established and derived as three-dimensional coordinate data. The processed machining plan may be stored as data of a three-dimensional machining vector defining a machining content of the first machining object M1.

Since the three-dimensional coordinate data of the first object M1 is obtained from a three-dimensional scanning apparatus having a coordinate system separate from that of the multi-axis machine, the multi-axis machine according to the embodiment of the present invention is the first object M1. It has its own unique coordinate system that is not related to the three-dimensional coordinate data of) and the coordinate system of the machining vector. Applying the machining vector established by simulation on a multi-axis machine according to an embodiment of the present invention as it is. In order to do this, the coordinate system needs to coincide with each other.

The mark point P serves as a reference point for matching the three-dimensional coordinate data of the first object M1 acquired by the coordinate system of the three-dimensional scanning apparatus with the coordinate system of the multi-axis processing machine according to the embodiment of the present invention.

That is, the coordinates of the tip of the contact probe 352 have a known value on the coordinate system of the multi-axis processing machine according to the embodiment of the present invention, and the first machining contacted with the contact probe 352. 3D coordinate data of the first object M1 by matching one point (the mark point P) on the object M1 with the coordinates of the tip of the contact probe 352. It is possible to match the coordinate system of the multi-axis processing machine according to an embodiment of the present invention.

Calculating a coordinate shifting matrix for moving the coordinates of the mark point P on the three-dimensional image data of the first processing object M1 to the coordinates of the mark point P on the multi-axis processing machine according to the embodiment of the present invention; When the calculated coordinate shift matrix is applied to the three-dimensional image data and the processing vector data of the first processing object M1, the three-dimensional image data and the processing vector data of the first processing object M1 are applied. It can be implanted into the coordinate system of the multi-axis processing machine according to the embodiment.

Referring to FIGS. 24 and 25, the label on the first processing object M1 is reliably extracted so as to reliably extract the mark P as a reference point of the coordinate transformation as described above using the contact probe 352. It is preferably formed in a positive or negative shape, the tip of the contact probe 352 is preferably formed in a shape complementary to the label.

Preferably, the number of the labels to be given to the first processing object M1 is selected to be three, and the minimum and minimum positions for defining the position and the direction (rotation) of the first processing object M1 occupying a three-dimensional space. If the number of coordinates is 3 and there are atypical three or more coordinates that do not form a single plane, the data of _n C ₃ (where n is the number of selected coordinates, which is a natural number of n> 4) must be fitted together. This is because it is inefficient.

In forming a label on the first object M1, the center of the circle obtained from the coordinates of three points (three mark points P) selected in the outline of the first object M1 is newly created. When located outside of the machining portion of the first workpiece M1 with respect to the geometric center of the first workpiece M1 so as to determine the mark point P, one circle is extracted from three points. The center of the circle can be determined as the new reference mark point (P). The reason why it is preferable to position the label outside the machining portion of the first workpiece M1 with respect to the geometric center of the first workpiece M1 is because one plane is extracted by three marker points. This is because the presence of the machining part inside the reference point of extraction is advantageous in terms of error. This is the same reason that the interpolation method has less error than the extrapolation method in the interpolation method.

According to an embodiment of the present invention, the contact probe 352 is transmitted to the coordinate recognition means 400 that the contact with the label formed on the outer surface of the first processing object (M1) and the fraudulent contact probe 352 and It may further include a trigger means 700 for instructing to recognize the absolute coordinate of the mark point (P) determined by the contact of the mark.

Accordingly, when the user determines that the touch probe 352 and the label are in tangible contact, the trigger means 700 may be operated to acquire the coordinates of the mark point P at the corresponding point in time.

The trigger means 700 may be provided with a mode change function that can be set to switch between a first mode instructing to recognize the absolute coordinates of the mark point and a second mode instructing to drive the machining tool drive means. have.

Accordingly, when the contact probe 352 is mounted, the mode change switch (not shown) of the triggering means 700 is set to the first mode to obtain the coordinates of the mark point P. When the machining tool 351 is mounted, the mode change switch may be switched to the second mode to operate the machining tool driving means.

When the trigger means 700 is configured, the interface means 500 can be transmitted and received to the outside of the base 100 and configured as a kind of foot switch configured to issue a command by a user's foot motion. By using the movable stand 200 or the fixed stand 300, a user who is manually operating the trigger means 700 may be conveniently operated by using a foot.

On the other hand, it is also possible to convert the three-dimensional coordinate data of the first workpiece M1 into absolute coordinates in the coordinate system of the multi-axis processing machine without using the contact probe 352, which is special on the first workpiece fixture 253. It may consist of providing a label having a geometric meaning.

Referring to the embodiment of the first workpiece fixture 253 shown in FIG. 24, three markers protrude in a positive shape on the upper surface of the body of the first workpiece fixture 253 having a plate shape. Correspondingly, a negative cavity having a shape complementary to the shape of the label is formed on the bottom of the first processing object M1. Therefore, the first workpiece M1 is always fixed to the first workpiece fixture 253 in a predetermined direction and position, which is the absolute coordinate of the negative cavity formed on the bottom surface of the first workpiece M1 in the coordinate system of the multi-axis machine. Means that it is already set.

In addition, since the three-dimensional coordinate data obtained by three-dimensional scanning of the first workpiece M1 includes negative cavity data, it is possible to incorporate the coordinates of the machining vector into the coordinate system of the multi-axis machine using the negative cavity data. If this is described in more detail as follows.

Even if the 3D image data of the first processing object M1 is obtained according to an independent coordinate system of the 3D scanning apparatus, the image data includes negative cavity data, and all image data other than the negative cavity are coordinates of the negative cavity. Since it may be defined as a relative coordinate with respect to, all three-dimensional image data of the first processing object M1 may be implanted in the coordinate system of the multi-axis processing machine.

Wherein the shape of the label of the negative cavity, that is, the first processing object fixture 253 having a shape complementary thereto is the same as described above. That is, when the shape of the label is determined so that one circular plane (reference circle) can be extracted from the coordinates of three points selected from the surface contour of the protruding portion of the label, two coordinate systems (coordinate systems of the three-dimensional scanning apparatus and the multi-axis processing machine) ) Can be synchronized by mutually matching the coordinates of the center of the reference circle and the vector of the plane to which the reference circle belongs in three-dimensional space.

The selection of the three coordinates is as described above because the minimum number of coordinates for extracting the circle from the spatial coordinates is as described above, and one embodiment which can be used as such a marker is three pillars as shown in FIG. 24. As a projection of a shape, the contour of the upper surface or the base surface of a projection is made into the shape which can extract a circle. Therefore, in this case, the three coordinates for determining the reference circle are the centers of the circles respectively extracted from the contours of the top surface or the bottom surface of the three projection-shaped labels. Here, determining the coordinates (center of the circle) from the base surface contour of the label is based on the first object M1 in which a negative cavity having a shape complementary to the protruding label is generated. It has the same meaning as determining coordinates from the baseline contour of a negative cavity located on the surface.

There are numerous shapes available for the contour of the top or base surface of the label from which one circle can be extracted. Most intuitively, it may be a circular contour as shown in FIG. 24, or may be a polygonal contour inscribed or circumscribed to a circle that may be represented by an equilateral triangle. In the case of a polygon, three coordinates may be obtained from three vertices selected from a plurality of vertices of a polygon. Here, the shape of the polygon may be a regular polygon that is easy to numerically calculate and verify and to intuitively recognize the center of the circle.

In addition, the reverse method of forming the label formed on the first object to be fixed 253 as a negative cavity and forming a positive protrusion on the first to be processed M1 is possible, and the second object to be fixed 353 is the same. Of course, it can be configured.

On the other hand, if the first processing object M1 can always be fixed to the first processing object fixture 253 in a predetermined direction and position, the first processing object M1 without forming a label on the first processing object fixture 253. It is possible to convert the three-dimensional coordinate data of the first processing object M1 into absolute coordinates in the coordinate system of the multi-axis processing machine only by forming a negative or positive label only. That is, as illustrated in FIG. 24, if the fixed position of the first processing object M1 can be constantly reproduced by forming a jaw protruding along the circumference of the first processing object fixing tool 253, the multi-axis The absolute coordinate of the first workpiece M1 in the coordinate system of the machine will always remain constant, which means that the absolute coordinate of the label formed at the predetermined position on the first workpiece M1 is also a known value. Because. Since the number, shape, and the like of the label included in the first processing object M1 are the same as described above, the description thereof will be omitted.

13, 14, and 15 are a front side perspective view, a rear side perspective view, and a front view of the multi-axis processing machine according to the second embodiment of the present invention, respectively, and FIGS. 16 to 19 are cross-sectional views taken along the line J-J to M-M of FIG. 15.

13 to 19, the multi-axis processing machine according to the second embodiment of the present invention, compared with the multi-axis processing machine according to the first embodiment, the limiter 360 and the coordinate recognition means 400 by using a sensor ), And the motion indicator 800 is further provided.

Referring to FIG. 19, the limiter 360 has a rotation control tool 364 rotated in an exact position and a screw bar 365 fixed to a rotation center of the rotation control tool 364 with an extension length in the Z-axis direction. ) And an elevating bar 366 which is screwed to an outer circumference of the screw bar 365 in a state in which rotation in the Z axis direction is constrained, and thus elevates and adjusts in the Z axis direction by the rotation of the screw bar 365. do.

Accordingly, a user applies the lifting bar 366 to the second column 320 by applying a rotational force in the Z-axis direction to a part of the rotation control tool 364 exposed to the outside of the second column 320. It can move up and down in the Z-axis direction through the upper part.

16 to 19, in the second embodiment of the present invention, as the coordinate recognition means 400, the first processing object M1, the processing tool 351 or the second processing object X, An encoder 420 is selectively installed on the base 100, the moving stand part 200, and the fixed stand part 300 to sense translational displacement and rotational displacement in the Y and Z-axis directions.

16 and 19, the base 100 is provided with a linear encoder for sensing linear displacements in the X-axis direction and the Y-axis direction of the first processing object M1, and the second column 320. ) May be provided with a linear encoder for sensing a linear displacement in the Z-axis direction of the machining tool 351 or the second object to be fixed (353).

17 and 18, rotary encoders for sensing rotational displacements in the X-axis direction and the Z-axis direction of the first processing object M1 are respectively provided in the first column 220 and the first side rail 242. The second rail stand 340 may be provided with a rotary encoder for sensing a rotational displacement in the Z-axis direction of the machining tool 351 or the second object to be fixed 353.

The resolution of the encoder 420 is preferably about 0.01 mm for the linear encoder and about 0.01 ° for the rotary encoder. Although the resolution of the encoder 420 may be further increased, an error may be generated due to a sensitive response to noise, and a sensitivity may be affected by measurement and control. Therefore, adjusting the resolution to an appropriate level in software in consideration of processing precision is required. desirable.

By installing a plurality of the encoder 420 in the base 100, the first column 220, the second column 320, the first side rail 242, the second side rail 340 as described above, the X The linear displacement in the axial direction, the Y-axis direction and the Z-axis direction, and the rotational displacement in the Z-axis direction can be automatically and accurately recognized.

Referring to FIGS. 13 and 15, the base 100 and the moving stand may include the motion indicator 800 which is distinguished and displayed according to the translational and rotational movement directions of the first object to be fixed 253 or the second object to be processed. The unit 200 and the outer surface of the fixed stand 300 is selectively installed.

In the second embodiment of the present invention, the motion indicator 800 is composed of means for emitting light by distinguishing linear displacement and rotation displacement in the directions of + X, -X, + Y, -Y, + Z, and -Z axes. If the user can recognize the linear displacement and rotational displacement in the + X, -X, + Y, -Y, + Z, and -Z axis directions, the user is not limited to a specific means including a beep.

The computer processing means 600 compares the target coordinates of the first target object fixture 253 and the current coordinates with each other, and then directs the instruction data indicating the direction of movement to converge toward the target coordinates. And the interface means 500 may output a driving signal corresponding to the transmitted indication data to each of the motion indicators 800.

As described above, when the light emission of the motion indicator 800 is controlled, the indicator of the motion indicator 800 corresponding to the direction toward the target coordinate during processing is automatically emitted, so that the user indicates that the motion indicator 800 emits light. The first workpiece M1 may be positioned at the correct machining position by moving the moving stand 300 or rotating the first workpiece fixator 253 in the direction.

The computer processing unit 600 causes the motion indicator 800 to display a neutral signal when a difference between a target coordinate and a current coordinate of the first object to be processed 253 is within a preset error range. By transmitting the termination data to the interface means 500, it is possible to easily recognize that the user has reached the target coordinates.

The neutral signal includes all signals that enable the user to recognize that the user has reached the target coordinate, such as turning on some or all of the plurality of motion indicators 800, flashing intermittently, or changing the color of light emitted. It is also possible to beep with a buzzer.

20, 21, and 22 are main parts perspective views showing an embodiment in which the second workpiece fixing fixture 353 is installed on the fixed stand part 300, respectively, and is a bottom side perspective view and a front view of FIG. 20, and FIG. NN line cross section.

20 to 23, in place of the processing tool driving means and the processing tool 351, the rotating shaft 342 penetrates in the Z-axis direction and is installed on the second side stand 340 of the fixed stand part. The second workpiece fixing fixture 353 may be coupled to a lower end of the 342.

Accordingly, the second workpiece fixing fixture 353 is rotated in the Z-axis direction by rotating the rotary shaft 342 by a user or a separate driving device, and is seated on the first workpiece fixing fixture 253. With respect to the first processing object M1, the Z-axis rotational displacement of the second processing object (not shown) seated on the second processing object fixture 353 may be adjusted.

According to the configuration as described above, the first object to be fixed 253 is a degree of freedom of two-axis translational movement in the X-axis direction and Y-axis direction, the degree of freedom of the two-axis rotational movement in the X-axis direction and Z-axis direction The second workpiece object fixture 353 has a degree of freedom of uniaxial translational movement in the Z-axis direction and a degree of freedom of uniaxial rotational movement in the Z-axis direction.

The first processing object M1 may be an intraoral impression model, and according to the embodiment illustrated in FIGS. 20 to 23, the first and second processing objects M1 and M2 may have a lower jaw of an orthopedic guide. The impression model may correspond to the maxilla.

When applying the impression model corresponding to the mandible and the maxilla of the orthopedic surgical guide fitting as the first and second processing objects M1 and M2, the impression model corresponding to each of the mandible and the maxilla of the subject is marked as described above. After adjusting the rotation axis 342 to have a rotational displacement in the Z-axis direction according to the target coordinate calculated on the basis of the absolute coordinates of (P), and then interconnected and fixed with an adhesive or the like as a treatment target An intraoral impression model having a mandibular and maxillary engagement type can be processed.

The present invention has been described with reference to preferred embodiments of the present invention, but the present invention is not limited to these embodiments, and the claims and detailed description of the present invention together with the embodiments in which the above embodiments are simply combined with existing known technologies. In the present invention, it can be seen that the technology that can be modified and used by those skilled in the art are naturally included in the technical scope of the present invention.

100: base 110: guide bar
120: slider 130: sliding frame
140: guide rail 200: moving stand portion
210: plate 220: first column
221: fixing part 222: rotating part
242: 1st street 253: fixtures for the first object
261: first rotary knob 262: rotary guide sphere
265: second rotary knob 266: incision groove
300: fixed stand part 320: second column
330: vertical rod 340: second side stand
342: rotation axis 351: machining tool
352: touch probe 353: fixture for the second object
360: limiter 361: sliding control
362: slit 363: hatch
364: rotating operation 365: screw bar
366: lift bar 370: gripper
381: rod coupling sphere 381a: slope
382: fixed pin 400: coordinate recognition means
410: scale 420: encoder
500: interface means 600: computational processing means
700: trigger means 800: motion indicator
M1: First object to be processed P: Cover point
SX: X axis rotation axis SZ: Z axis rotation axis
T: Tray

Claims (32)

A base 100 forming an XY plane with respect to the floor;
Between the plate 210 and the first column 220 is installed on the plate 210, the plate 210 is installed on the base 100 so that translational movement in the X direction, Y direction The movable stand is provided with a first side stand 242 which is rotatably installed in the X-axis direction and the first workpiece fixture 253 on which the first workpiece M1 is mounted is rotatably installed in the Z-axis direction. Part 200;
Two second columns 320 fixed to a designated position of the base 100 with the movable stand part 200 therebetween, and each of the second columns 320 having an extension length in the Z-axis direction. The vertical rod 330 is installed, and the processing tool 351 or the second processing object for processing the first processing object M1 is installed to be able to translate in the Z-axis direction along the vertical rod 330. A fixed stand part 300 having a second side stand 340 on which the second object to be mounted fixture 353 to be mounted is selectively mounted;
Coordinate recognition means 400 for recognizing the relative or absolute coordinates of the first object to be processed fixture 253 and the processing tool 351 or the second object to be fixed (353); And
The relative coordinates or absolute coordinates of the first processing object fixture 253 and the processing tool 351 or the second processing object fixture 353 are transferred to the computer processing means 600 through the coordinate recognition means 400. Interface means 500 for transmitting;
Multi-axis processing machine comprising a.
The method of claim 1,
The processing tool 351 of the fixed stand portion,
The multi-axis processing machine is rotated in the Z-axis direction by the processing tool driving means installed on the second side stand 340, and processes the first processing object (M1) by the rotation drive.
The method according to claim 1 or 2,
The first object to be fixed 253,
Degrees of freedom of two-axis translational movement in the X-axis direction and Y-axis direction, and degrees of freedom of the two-axis rotational movement in the X-axis direction and the Z-axis direction,
The processing tool 351,
Multi-axis machine with 1-axis translational freedom in the Z-axis direction.
The method according to claim 1 or 2,
The first processing object (M1) is an oral impression model multi-axis processing machine.
The method of claim 1,
The second processing target fixture 353 of the fixed stand portion,
It is coupled to the end of the rotating shaft 342 installed in the Z-axis direction on the second rail stand 340, the Z axis of the second processing object relative to the first processing object M1 by the rotation of the rotating shaft 342 Multi-axis machine for adjusting directional rotational displacement.
6. The method according to claim 1 or 5,
The first object to be fixed 253,
Degrees of freedom of two-axis translational movement in the X-axis direction and Y-axis direction, and degrees of freedom of the two-axis rotational movement in the X-axis direction and the Z-axis direction,
The second object to be processed fixture 353,
A multi-axis machine having a degree of freedom of uniaxial translational movement in the Z-axis direction and a degree of freedom of uniaxial rotational movement in the Z-axis direction.
6. The method according to claim 1 or 5,
The first and second processing object (M1, M2),
Multi-axis processing machine that is an impression model corresponding to the mandible and maxilla of the orthopedic guided fixture.
The method of claim 1,
The fixed stand 300,
The limiter is installed to protrude toward the second side stand 340 on the second column 320, the limiter to variably limit the Z-axis translation of the second side stand 340 by contact with the second side stand 340. 360;
Multi-axis processing machine further comprising.
9. The method of claim 8,
The limiter 360 is,
A lifting hole 363 having an extension length in the Z-axis direction, the lifting hole penetrating the upper portion of the second column 320 in the Z-axis direction;
A slit 362 extending in the Z-axis direction on the second column 320; And
One end has a width that is wider than the slit 362 and is exposed to the outside of the second column 320 and the other side is a sliding control unit screwed to the lifting hole 363 through the slit 362 in the XY direction (361);
Multi-axis processing machine comprising a.
9. The method of claim 8,
The limiter 360 is,
A rotation manipulation tool 364 rotated in position by a rotation force applied to a part exposed to the outside of the second column 320;
A screw bar (365) having an extension length in the Z-axis direction and fixed to the center of rotation of the rotary operation tool (364); And
Screwed to the outer circumferential portion of the screw bar 365, the rotation in the Z-axis direction is constrained to be adjusted in the Z-axis direction through the upper portion of the second column 320 by the rotation of the screw bar (365) Elevating bars 366;
Multi-axis processing machine comprising a.
The method of claim 1,
The moving stand unit 200,
The plate 210, the first column 220, and the first side rail 242 are respectively installed, and the movement of the plate 210, the first column 220, the first side rail 242 is applied to the pressing force or the frictional force. A first stopper temporarily limited by the first stopper;
Multi-axis processing machine further comprising.
The method of claim 11,
The first stopper,
A ring-shaped rotation guide sphere 262 installed on the plate 210 by having a screw thread on an inner circumferential surface thereof; And
The outer circumferential surface is screwed to the rotation guide sphere 262, one end of the handle is exposed to the upper side of the plate 210 and the other end is located close to the upper surface of the base 100 through the plate 210 A first rotary knob 261 which is translated in the Z-axis direction by a rotation operation of the handle and is detachably adjusted to the base 100;
Multi-axis processing machine comprising a.
The method of claim 11,
The first stopper,
The first column 220 or the first side stand (1) is positioned on the first column 220 or the first side stand 242 in contact with the X-axis rotation axis 342 or Z-axis rotation axis 342 A cutout 266 formed across the 242; And
It is installed in the first column 220 or the first side rail 242 across the cutting groove 266, one side of the handle is exposed to the outside and the other side is the first column 220 or the first side rail A second rotary knob 265 which is screwed to 242 and expands and contracts the width of the cutting groove 266 by a rotation operation of the handle;
Multi-axis processing machine comprising a.
The method of claim 1,
The fixed stand 300,
A gripper 370 coupled to the second side rail 340 while covering the outer circumference of the vertical rod 330 and sliding along the outer surface of the vertical rod 330 in the Z-axis direction;
Multi-axis processing machine further comprising.
15. The method of claim 14,
The fixed stand 300,
A second stopper installed at a contact portion between the vertical rod 330 and the gripper 370 to fix the second rail stand 340 at a designated position on the vertical rod 330 by a locking jaw;
Multi-axis processing machine further comprising.
16. The method of claim 15,
The second stopper,
A rod coupling hole 381 fixed to an end of the vertical rod 330 by having an inclined surface 381a with a cross section reduced toward the second side stand 340; And
An end portion is inserted into a concave space portion formed at an end portion of the inclined surface 381a of the rod coupling portion 381 across the grip hole 370 in the XY direction, and moves the grip hole 370 in the Z-axis direction. A fixed pin 382, the end of which is pushed radially along the inclined surface 381a and separated from the vertical rod 330;
Multi-axis processing machine comprising a.
The method according to claim 1 or 2,
A contact probe 352 that replaces the machining tool 351 or is mounted on the second rail stand 340 together with the machining tool 351 to be in contact with the first workpiece M1;
Multi-axis processing machine further comprising.
The method of claim 1,
The coordinate recognition means 400,
The base 100 is moved to visually check the translational displacement and rotational displacement in the X, Y, and Z-axis directions of the first and second workpieces M1 and the machining tool 351 or the second workpiece. A scale 410 selectively formed on an outer surface of the stand part 200 and the fixed stand part 300;
Multi-axis processing machine comprising a.
The method of claim 1,
The coordinate recognition means 400,
The base 100 and the moving stand part to sense the translational displacement, the rotational movement displacement in the X, Y, Z-axis direction of the first processing object M1 and the processing tool 351 or the second processing object ( 200, an encoder 420 selectively installed on the fixed stand part 300;
Multi-axis processing machine comprising a.
20. The method of claim 19,
The first processing object M1 is formed with a label in contact with the contact probe 352,
The coordinate recognition means 400,
Recognize the absolute coordinate of the label point (P) on the label in contact with the contact probe 352,
The computer processing means 600,
The multi-axis processing machine for receiving the absolute coordinates of the cover point (P) through the interface means 500 to calculate the target coordinates of the first object to be fixed 253 on the basis of the absolute coordinates of the cover point (P). .
21. The method of claim 20,
The cover point (P),
The multi-axis processing machine is provided three directly or indirectly to the first processing object (M1).
The method of claim 21,
The cover point (P),
The multi-axis machine is located outside the machining portion of the first object (M1) with respect to the geometric center of the first object (M1).
22. The method according to claim 20 or 21,
The label,
It is formed into a shape that can determine the center of the circle, which is positive or negative and is obtained from the coordinates of three points selected in its surface contour, as one cover point P.
The contact probe 352,
A multi-axis processing machine having a shape complementary to the shape of the label.
18. The method of claim 17,
Trigger means (700) for instructing the touch probe (352) to contact the marker provided in the object to be processed to recognize the absolute coordinates of the mark (P) by transmitting to the coordinate recognition means (400);
Multi-axis processing machine further comprising.
25. The method of claim 24,
The trigger means 700,
Multi-axis processing machine having a mode change function for switching to the first mode for commanding the coordinate recognition means 400 to recognize the absolute coordinate of the mark point (P) or the second mode for commanding to drive the machining tool driving means. .
The method of claim 24 or 25,
The trigger means 700,
A multi-axis processing machine extending out of the base 100 is operated by the user's foot motion.
The method of claim 1,
The first processing target fixture 253 is formed with three positive or negative labels, and the first processing object M1 is formed with a negative or positive shape complementary to the label to the first processing target fixture ( 253),
The label,
Multi-axis machine having a shape that can determine the center of one circle from the coordinates of three points selected in the surface contour.
The method of claim 1,
Three positive or negative labels are formed in the first processing object M1 which is always fixed to the first processing object fixing tool 253 in a predetermined direction and position.
The label,
Multi-axis machine having a shape that can determine the center of one circle from the coordinates of three points selected in the surface contour.
The method of claim 1,
The fixed stand 300,
Illumination means for illuminating the first processing object (M1);
Multi-axis processing machine further comprising.
The method of claim 1,
Optionally installed on the outer surface of the base 100, the moving stand 200, the fixed stand 300, in the direction of the translation, rotational movement of the fixture 253 or the second object to be processed A motion indicator 800 according to the distinction;
Multi-axis processing machine further comprising.
31. The method of claim 30,
The computer processing means 600,
After comparing the preset target coordinates of the first target object fixture 253 and the current coordinates of the first target object fixture 253, the instruction data indicating the direction of movement that converges toward the target coordinates is interfaced. To means 500,
The interface means 500,
And a drive signal corresponding to the received instruction data to the motion indicator (800).
32. The method of claim 31,
The computer processing means 600,
When the difference between the target coordinate of the first workpiece fixture 253 and the current coordinate of the first workpiece fixture 253 is within a predetermined error range, the motion indicator 800 to display a neutral signal Multi-axis processing machine for transmitting the termination data to the interface means (500).

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