WO2004040384A1

WO2004040384A1 - Numerical control method and device therefor

Info

Publication number: WO2004040384A1
Application number: PCT/JP2002/011295
Authority: WO
Inventors: Yoshinori Yamada; Kouji Terada
Original assignee: Mitsubishi Denki Kabushiki Kaisha
Priority date: 2002-10-30
Filing date: 2002-10-30
Publication date: 2004-05-13

Abstract

A numerical control device capable of optimally controlling a machine having a parallel link mechanism, and a special configuration in which the control axis feeding direction is changed as other axes are moved, so that no orthogonal system is obtained by using a working program of the orthogonal coordinate system. A memory (110) contains Mechanism parameters (180) including the hinge axis definition for determining the configuration of the hinge axis of the link mechanism, the link mechanism dimension definition for defining the positional relationship of each connection point of the hinge axis, and the hinge axial length offset quantity for defining the dimension of the hinge axis at the origin establishing position. The program coordinate command given by the orthogonal system is analyzed by an analyzing unit (121) and interpolation data in each axial direction of the orthogonal coordinate system is generated by an interpolation unit (122), after which interpolation data in each axial direction of the orthogonal coordinate system is converted into numerical control data of the hinge axial direction of the link mechanism according to the mechanism parameters (180) by a machine component axis data conversion unit (160).

Description

Description Numerical control method and device

The present invention relates to a numerically controlled machine tool in which the feed direction of a control axis is not fixed by the length of a shaft driven by a drive source of its own axis or another axis (for example, motor shaft), for example, the feed mechanism of the machine is a parallel link mechanism, The present invention relates to a numerical control method for controlling a numerically controlled machine tool in which a feed direction of a control axis does not form a rectangular coordinate system, and an apparatus therefor. Background art

The numerical control device executes numerical control processing based on a processing program input from a magnetic storage medium or the like, drives a machine tool based on the processing result, and performs work on the workpiece as instructed.

FIG. 11 is a block diagram of a main part showing a conventional general numerical control device, which is an example of a configuration in which a servo axis has three axes and a main axis has two axes. The numerical control device 100 has a memory 110, a setting input unit 101, a screen processing unit 102, an external input / output interface unit 103, and a machine control signal. Processing unit 105, PLC (programmable logic controller) circuit 104, Analysis processing unit 121, Interpolation processing unit 122, Acceleration / deceleration processing unit 131, 1 3 2, 1 3 3 And a spindle control section 141, 142 and a communication control section 150.

Further, the numerical controller 100 is connected to the servo drive units 201, 202, 203, and the spindle drive units 301, 302 via the communication control unit 150, Servo motors to drive each numerical control axis 2 1 1, 2 1 2, 2 1 3 Control the moving spindle motors 3 1 1 and 312. The memory 110 stores a machining program 111 input from a magnetic storage medium or a screen, various parameters 112, and the like.

When executing the machining program 111 and performing numerical control operation, the analysis processing unit 121 reads the machining program 111 from the memory 110 and performs the analysis process one block at a time. Next, the interpolation processing unit 122 receives the code analyzed for each block, and performs interpolation control, spindle control, auxiliary function control, and the like for each block according to the analysis code. The interpolation data of each axis output by the interpolation control is subjected to acceleration / deceleration processing by a first-axis acceleration / deceleration processing unit 131, a second-axis acceleration / deceleration processing unit 132, and a third-axis acceleration / deceleration processing unit 133. Outputs command data to the first axis servo drive unit 201, the second axis servo drive unit 202, and the third axis servo drive unit 203 via the communication control unit 150, respectively. C First axis The servo drive unit 201, the second-axis servo drive unit 202, and the third-axis servo drive unit 203 perform position control in accordance with the given command data, respectively. E2, 12, Axis 3 servo monitor 213 is driven.

In the case of the spindle function command and auxiliary function command, the machine control signal processing unit 105 controls the spindle rotation command, forward / reverse rotation Z stop signal, chuck open / close, coolant ON / OFF, etc. according to the processing of the PLC circuit 104. Machine control signal processing is performed. The spindle rotation command is passed to the first spindle control unit 141 and the second spindle control unit 142, and is output to the first spindle drive unit 301 and the second spindle drive unit 302 via the communication control unit 150, respectively. Then, the first spindle drive section 301 and the second spindle drive section 302 control the rotation of the first spindle motor 311 and the second spindle motor 312 in accordance with the given commands. Also, machine control signals such as opening / closing of the chuck and ON / OFF of the coolant are processed via the external input / output IF unit 103. By the way, a conventional numerical controller inputs a machining program 111 for instructing a coordinate value on a rectangular coordinate system as shown in FIG. It outputs numerical control data to move the servomotors 2 1 1, 2 1 2, 2 13 driving the feed axis to the commanded coordinate values. In FIG. 12, reference numeral 200 denotes a work.

The position command given to the servo drive units 201, 202, 203 of each axis is as follows: between the servo motors 211, 212, 213 and the machine to be driven. Based on the setting conditions such as the gear ratio and ball screw pitch, the amount of rotation of the servomotors 2 1 1, 2 1 2, 2 13 is calculated, and position control is performed. The direction of the program coordinate axes of the machine tool to be operated is generally the same as the direction of operation of the machine driven by the motor according to the program command, that is, the feed direction of the control axis. The orientation had to be fixed.

For this reason, as shown in Fig. 3, a numerically controlled machine tool in which the feed direction of the control axis is not fixed by the length of the axis driven by the motor of the own axis or another axis, for example, the feed mechanism of the machine is a parallel link There has been a problem that a numerically controlled machine tool that is mechanized and whose control axis feed direction does not form a rectangular coordinate system cannot be operated with a machining program that commands the rectangular coordinate system.

Also, in the case of a machine tool as shown in Fig. 3, the programmed command axis and the control axis are not the same, and the movement of another axis occurs due to the movement of one control axis according to the movement command of the programmed command axis. . For this reason, there has been a problem that every time the machine configuration changes, it is necessary to develop a numerical control device that performs dedicated control according to the machine configuration. Disclosure of the invention The present invention has been made to solve the above-described problem, and is directed to a machine having a structure in which a feed direction of a control shaft is not fixed by a length of a shaft driven by a drive source of a self-shaft or another shaft. Another object of the present invention is to obtain a numerical control method and a numerical control method capable of operating with a machining program commanded in a rectangular coordinate system. It is another object of the present invention to provide a numerical control device that can easily realize numerical control that matches the machine configuration even if the configuration of the machine to be controlled changes.

The present invention has been made to achieve the above object, and a link mechanism for driving a controlled object such as a turret, in which a feed direction of a control axis does not form a rectangular coordinate system, is commanded in a rectangular coordinate system. In the method of numerical control using a machining program, a joint axis definition for determining the configuration of the joint axis of the link mechanism, a link mechanism dimension definition for defining a positional relationship between the joint points of the joint axis, and a The parameters of the mechanism including the joint axis length offset amount that defines the dimensions of the joint axis are set in advance, and the program coordinates commanded in the orthogonal system are analyzed and processed. After generating the interpolation data, the controlled data is converted into the numerical control data in the direction of the joint axis of the link mechanism based on the mechanism parameters based on the mechanism parameters. body Is controlled in accordance with a machining program command specified in the rectangular coordinate system.

Further, the present invention provides a method for numerically controlling a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not form an orthogonal coordinate system, using a machining program commanded in the orthogonal coordinate system. The definition of the joint axis that determines the configuration of the joint axis of the mechanism, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and the joint axis length offset amount that defines the joint axis dimension at the origin establishment position In advance, a set of mechanical parameters including the definition of the rotation center size that determines the rotation center of the drive unit and are analyzed, and the program coordinate commands specified in the orthogonal system are analyzed and interpolated in each axis direction of the orthogonal coordinate system. De After generating one night, the interpolated data in each axis direction of the Cartesian coordinate system is converted into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters, thereby making the controlled object orthogonal. Movement control is performed as specified by the machining program specified in the coordinate system.

The present invention also provides an apparatus for numerically controlling a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not form an orthogonal coordinate system, by a machining program commanded in the orthogonal coordinate system. The definition of the joint axis that determines the configuration of the joint axis of the mechanism, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and the joint axis length offset amount that defines the joint axis dimension at the origin establishment position A storage unit for storing a set of mechanism parameters including a coordinate system, an analysis processing unit for analyzing and processing a program coordinate command instructed by an orthogonal system, and An interpolation processing unit that generates interpolation data in each axis direction; and an interpolation data of each axis direction of the orthogonal coordinate system generated by the interpolation processing unit based on the mechanism parameters. And a numerical control de conversion to Isseki machine configuration axis data evening converting unit, wherein and controls move as commanded machining program commanded by an orthogonal coordinate system the controlled.

The present invention also provides an apparatus for numerically controlling a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not form an orthogonal coordinate system, by a machining program commanded in the orthogonal coordinate system. The definition of the joint axis that determines the configuration of the joint axis of the mechanism, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and the joint axis length offset amount that defines the joint axis dimension at the origin establishment position A storage unit that stores a set of mechanical parameters including a rotation center dimension definition that determines the rotation center of the drive unit, an analysis processing unit that analyzes and processes a program coordinate command issued in an orthogonal system, and an analysis processing unit. Generates interpolated data for each axis of the Cartesian coordinate system based on the analyzed data And a mechanical configuration for converting the interpolation data in each axis direction of the orthogonal coordinate system generated by the interpolation processing unit into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters. An axis data conversion unit is provided to move and control the controlled object in accordance with a command of a machining program specified in a rectangular coordinate system.

Still further, according to the present invention, the machine component axis data conversion unit includes a mechanism parameter table definition table for defining a mechanism parameter to be actually used, and the machine component axis data converter is provided with a mechanical component data conversion unit. It is provided with a machine component axis data conversion unit update unit that replaces with another conversion module according to the specifications, and outputs such information when required. Brief explanation of drawings

FIG. 1 is a main block diagram showing a numerical control device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing the mechanism parameters of a machine controlled by the numerical controller according to Embodiment 1 of the present invention.

FIG. 3 is a diagram showing a configuration of a machine controlled by the numerical controller according to Embodiment 1 of the present invention.

FIG. 4 is a diagram showing an operation of a machine controlled by the numerical controller according to Embodiment 1 of the present invention.

FIG. 5 is a diagram showing a mechanism parameter setting screen of the numerical controller according to Embodiment 1 of the present invention.

FIG. 6 is a main block diagram showing a numerical control device according to Embodiment 2 of the present invention.

FIG. 7 is a state transition diagram of a mechanism parameter display process of the numerical controller according to Embodiment 2 of the present invention. FIG. 8 is a view showing a mechanism parameter display and setting screen of the numerical controller according to Embodiment 2 of the present invention.

FIG. 9 is a diagram showing a mechanism parameter setting screen of the numerical controller according to Embodiment 2 of the present invention.

FIG. 10 is a diagram for explaining a mechanical component axis data conversion unit updating unit that replaces the mechanical component axis data converter of the numerical control device according to Embodiment 2 of the present invention.

FIG. 11 is a block diagram showing a configuration of a conventional numerical control device.

FIG. 12 is an explanatory diagram showing a coordinate system of a conventional numerical controller. BEST MODE FOR CARRYING OUT THE INVENTION ''

Embodiment 1

Hereinafter, Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 5. c FIG. 1 is a block diagram of a main part showing a configuration of a numerical control device according to Embodiment 1 of the present invention. For the numerical control device, a storage unit that stores a mechanical parameter 180, which will be described later, and a machine configuration axis data conversion unit 160, which are secured only in a specific area on the memory 110, are added. The feature is that '

For the mechanism parameters 180, data corresponding to the machine configuration to be controlled is input from the setting input unit 101 using the screen shown in Fig. 5 (for example, axlname is entered in the # 10001 column). X, ax2name Y in the # 10002 field, ax3name Z in the # 10003 field, L1 10.000 in the # 10004 field, and so on from # 10005).

FIG. 3 shows the configuration of a numerically controlled machine tool controlled by the numerical control device of the present invention. This machine has high mechanical rigidity, and three sub-boats are assembled. The length of the axl axis, ax2 axis, and ax3 axis expands and contracts by connecting the two axes and the ax3 axis with the ball screw on the way. The evening let T1, which holds tools such as bytes, is mounted on the base supported by J12, J22, and J32 by axl axis, ax2 axis, and ax3 axis. Installed. The connection points Jll, J12, J21, J22, J31, and J32 have a structure that rotates flexibly, and the control axis is connected at points J11 and J12. ax l, the control axis ax 2 connected at the J2 1 point and the J 2 2 point, and the control axis ax 3 connected at the J 3 1 point and the J 32 point expand and contract, respectively. It is configured to move in the X, Z, and B axial directions on one plane.

The ax1 axis and the ax2 axis are based on a state in which the connection points J11, J12, J21, and J22 are arranged in parallel so that they form a parallelogram. As shown in Fig. 4, when the axl axis, ax2 axis, and ax3 axis move while expanding and contracting, they operate according to the movement command specified on the rectangular coordinate system. In FIG. 4, the ax 3 axis is extended, and the axl axis and ax 2 axis are also extended by a predetermined amount, so that the state shown in FIG. Move to the processing start position. Then, the ax3 axis is further extended, and the axl axis and ax2 axis are further extended by a predetermined amount, so that the state of (b) is changed to the state of (c), and the tool moves in the Z-axis direction and the workpiece is moved. Add.

FIG. 2 is an explanatory diagram of the mechanical parameters 180 of a numerically controlled machine tool controlled by the numerical control device according to Embodiment 1 of the present invention. Based on this figure, the interpolation data conversion processing of the machine configuration axis data converter 160 will be described.

In the case of the first embodiment, the first axis, the second axis, and the joint axis definition parameter are set using the mechanism parameter, the parameter setting screen, and the keyboard as shown in FIG. The third axis is set as the axis for controlling the driving modes of ax1, ax2, and ax3 in FIG. 2 in the storage section of the mechanism parameter 180 of the memory 110, respectively. Also, as the link mechanism dimension definition parameters, the L1, L2, L3, L4, L5, L8, and L9 dimensions based on the Zp point are stored in the memory 110. Input into the storage section of the parameter 180, and set the positional relationship between the joint points J11, J12, J21, J22, J31, J32 of each joint axis. You. Note that if the joint axis J 11 is located on a straight line connecting the Zp point and the joint axis J 21, it is not necessary to input the dimension L 9. Since an assembly error may occur at the time of assembling, the dimension L9 is input in consideration of the assembly error. Of course, if the assembly error is "0", the input of the dimension L9 will be "0".

In addition, the joint axis length offset amount parameter indicating the dimension of each joint axis at the origin establishment position (in the state of La = 0, Lb = 0, Lc = 0) is defined as L10, L11. , L1 and 2 are set, and the reference lengths of the joint axes ax1, ax2, and ax3 are set in the storage section of the mechanism parameters 180 of the memory 110. When rotating the sunset T1 in an oblique direction, the definition of the center of rotation that determines the center of rotation (the coordinate relationship of the connection points on the machine unit that is moved by the arm) L6, L7 Are input to the storage section of the mechanism parameter 180 of the memory 110, and the rotation center point in the rotation command of the evening rate T1 is set. In this case, L7 and L8 may be input. In the Cartesian coordinate system specified by the machining program, the origin is the Zp point where the X axis that intersects the connection point J31 of the control axis ax3 and the Z axis that intersects the connection point J21 of the control axis ax2 are orthogonal to each other. It is created based on the mechanical coordinate system of the orthogonal coordinate system obtained as a reference point at the time of establishment, and rotates the evening T1 around the G point in Fig. 2 by the B axis command.

In the machining program 1 1 1, the X axis and Z A command is issued for the axis and the B axis that rotates the evening T1. X, Z, B coordinates on the rectangular coordinate system so that the position of the cutting edge of the tool with respect to point G, which is the center of rotation of the B axis, becomes the coordinate position programmed on the rectangular coordinate system. If the interpolation data is output to the machine configuration axis data converter 160, the interpolation data output in the Cartesian coordinate system is converted to ax l based on the data of the mechanism parameter 180 The axes are converted to the joint axis lengths (La, Lb, and Lc) of axes ax2 and ax3, for example, using the following conversion formula, and the converted command data is sent to each servo drive unit 2 1 By giving the values to 1, 2 12 and 2 13, each axis is driven to perform interpolation control to the optimal position.

La = (X + L7 * cos (B) + L6 * sin (B) -L9) "2+ (Z + L7 * sin (B) + L6 * cos (B) -L2-L3r2 -L10

^L ^ = A (X + L7 * cos (BHL8-L6) * sin (B) r2 + (Z-L7 * sin (B)-(L8-L6) * cos (B) -L2r2-L11

Lc = (X + (Sh7-L5) * cos (B)-(L8-L6 + L4) * sin (B) — 1_1Γ2 + (Ζ- (1_7—Sh5) * sin (B)-(L8-L6 + L4) * cos (B) hiro 2 -L12 In addition, in the above formula, “” means “square”.

L 1 to L 12 are mechanism parameters set by the length between the connection points shown in FIG. 2, and

L 1 is the length between the Z p and J 3 1 points,

L 2 is the length between the Z p point and J 2 1 point,

L 3 is the length between J 2 1 point and J 1 1 point,

L 4 indicates the point between J 2 2 and J 32 points in the Z-axis direction.

L 5 indicates the point between J 2 2 and J 3 2 points, the length in the X-axis direction,

L 6 indicates the distance between the J 1 2 point and the G point, the length in the Z axis direction,

L 7 indicates the distance between the J 1 2 point and the G point, the length in the X-axis direction,

L 8 is the length between J 1 2 and J 2 2 points, L 9 is the perpendicular distance from J 1 point to the Z axis,

L10 is the joint axis length offset amount at the origin (0 point) of ax1

L 1 1 is the joint axis length offset amount at the origin (0 point) of a x 2

L12 represents the joint axis length offset amount at the origin (point 0) of ax3.

X, Z, and B are values specified by the machining program.

The mechanical component axis data converter 160 operates as described above. Embodiment 2

Next, a second embodiment of the present invention will be described with reference to FIGS. 6 to 10.

FIG. 6 is a main block diagram showing the configuration of a numerical controller according to Embodiment 2 of the present invention. The feature is that a mechanism parameter overnight definition table 163 is added to 60 and a machine component axis data conversion unit update unit 170 is added.

The mechanism parameter definition table 163 added to the machine configuration axis data conversion unit 1660 can be defined by defining the contents of the mechanism parameter configuration 180 according to the machine configuration. The machine configuration axis data conversion unit 160 is used to refer to this and perform processing according to the machine configuration.

In addition, the machine configuration axis data conversion unit updating unit 1700 reads the module of the machine configuration axis data conversion unit 160 stored in the external storage device 191 from the screen shown in FIG. The input / output IF section 190 replaces the machine configuration axis data conversion section 160 with the machine configuration.

Next, the operation of the setting input unit 101, the screen processing unit 102, and the machine component axis data conversion unit updating unit 170 will be described. Fig. 7 is a diagram showing the state transition of the main block for the display of the mechanism parameters, Fig. 8 is the first display example of the mechanism parameters screen, and Fig. 9 is the mechanism parameters screen. Second display example, FIG. 10 shows a machine configuration axis data conversion unit update screen of the machine configuration axis data conversion unit update unit 170.

The module of the machine configuration axis data conversion unit 160 including the mechanical parameter overnight definition table 163 is based on the configuration of the machine in which the numerical control device is built using C language or the like outside the numerical control device. Is created and stored in the external storage device 19 1. Then, the machine configuration axis data conversion unit updating unit 1Ί0 is stored in advance in the numerical control device from the external storage device 191 via the input / output unit 190 in accordance with an instruction from the setting input unit 101. The machine configuration axis data conversion section 160 including the existing mechanical parameter definition table 16 3 is replaced (overwritten), and the mechanism parameter definition table according to the mechanism of the machine in which the numerical control device is incorporated. Change to machine configuration axis data conversion section 160, including 163. Fig. 10 shows an example of the replacement screen. By pressing the function key corresponding to "Transfer AB", the machine configuration axis data including the mechanical parameter definition table 16 3 stored in the numerical controller is displayed. The evening conversion unit 160 relates to the machine B, and is stored in the memory directory; / module as a file name; trans, o. The directory of the external storage device 19 1 (device; D); the machine configuration including the mechanism parameter overnight definition table 16 3 relating to the machine A stored in / data as the file name; trans.o This shows a screen where the axis is converted to a data conversion unit 160.

Also, in FIG. 7, the screen processing unit 102 issues a request to confirm the specifications of the mechanical parameters to the mechanical component axis data conversion unit 160 at the first time of device startup. The machine configuration axis data conversion unit 1.60 responds to the request by the machine configuration axis data conversion unit update unit 170 and stores the mechanism parameters set in advance. Parameter specifications according to the definition table 1 63 (number of parameters required by the machine configuration axis data converter 1650, parameter name, number, data type, setting range, etc.) Reply.

The number of mechanical parameters used in the second embodiment is 15, and in response to a specification check request from the screen processing unit 102, the configuration of the joint axis of the link mechanism that drives the turret device etc. Axlname, ax2name, ax3name that sets the joint axis that determines the position of the link mechanism that defines the positional relationship between the joint points of the joint axis, Ll, L2, L3, L4, L5, L8, L9, and the origin establishment Set the joint axis dimension at the position Set the joint axis length offset amount L10, Lll, L12 and 'Set the rotation center dimension to determine the rotation center of the drive L6, L7 Overnight specifications return it.

The screen processing unit 102 displays each parameter item corresponding to the number of received parameters as shown in FIG. 8 in accordance with the content of the response. Note that this display example is a display example in a case where the value of the mechanical parameter 180 is not stored in the storage section of the mechanical parameter 180 of the memory 110, that is, the so-called cleared state. Then, the operator inputs the mechanical parameters 180 of the machine to be controlled to the respective parameter items displayed on this screen from the setting input section 101 as shown in FIG.

The mechanism parameters 180 stored in the memory 110 follow the arrangement defined in the mechanism parameter definition table 163 incorporated in the mechanical component axis data converter 160. . In the case of the second embodiment, they are set on the memory 110 so that # 1001 to # 1005 can be sequentially allocated.

Also, after setting the mechanism parameters 180 as described above, when the machining program of the orthogonal coordinate system for driving the machine as shown in FIG. 3 is input and the numerical controller is started, the machine configuration axis data conversion unit is started. 160 is expressed in the Cartesian coordinate system. In the first embodiment, based on the mechanism parameter overnight definition table 163 which defines the contents of the mechanism parameter night 180 in accordance with the machine configuration, the input interpolation data is described. As described, the joint axis lengths (L a, L b, L c) of the axl axis, ax 2 axis, and ax 3 axis are converted, for example, by the above conversion formula, and the converted command data is By giving it to the servo drive units 211, 212, and 213, each axis is driven to perform interpolation control to an optimal position.

In the above explanation, the machine specifications are changed, the new machine component axis data conversion unit 160 that matches the machine specifications is changed by the machine component axis data conversion unit update unit 170, and the This is an example of the case where the value of the mechanism parameter 1800 is not stored in the storage section of the mechanism parameter 1180, so-called cleared. When the screen processing unit 102 is operated while the numerical values of the mechanical parameters 180 are stored in the storage unit of the mechanical parameters 0, 180, the definition table of the mechanical parameters is set. The screen shown in Fig. 9 is displayed according to 163, so that the operator can check the mechanism parameters stored in the numerical controller. For example, in Fig. 9, the dimension of # 10004 L1 is displayed as 10.000, but if the L1 dimension of the mechanical configuration in which the numerical controller is incorporated is 11.000, the setting input section 101 Change the dimensions to 11.000. In this case, it is not necessary to update the machine component axis data converter 160 only by changing the L1 dimension. This changed data is stored in a predetermined area of the storage unit of the mechanism parameter data 180 in accordance with the mechanism parameter data definition table 1663.

Therefore, according to the second embodiment, even if the machine specifications are significantly changed, it is sufficient to simply replace the mechanical component axis data conversion unit and change the data of the mechanism parameters. There is no need to develop a new numerical controller according to the specifications. In particular, the command specified in the rectangular coordinate system In a general-purpose numerical control device operated by a computer program, a numerical control machine tool in which the feed mechanism of the machine is a parallel link mechanism as shown in FIG. 3 and the feed direction of the control axis does not constitute a rectangular coordinate system is used. If you want to control it, simply replace the mechanical configuration axis data conversion unit according to the machine specifications and change the data of the mechanism parameters. It can be easily changed to a numerical control device that can control various machines.

In addition, a mechanism parameter definition table is integrated with the machine configuration axis data conversion unit that matches the machine configuration, and the screen display and settings can be performed according to the parameter settings obtained from the machine configuration axis data conversion unit. Therefore, when using another machine configuration axis data conversion unit with a different machine configuration, there is no need to create a dedicated parameter screen that matches the setting specifications.

As described above, according to the present invention, a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not form a rectangular coordinate system, is numerically controlled by a machining program commanded in the rectangular coordinate system. A joint axis definition that determines the configuration of the joint axis of the link mechanism, a link mechanism dimension definition that defines the positional relationship between the joint points of the joint axis, and a joint axis dimension at the origin establishment position. After setting the mechanism parameters including the joint axis length offset amount in advance, analyze the program coordinate command issued in the orthogonal system, and generate the interpolation data in each axis direction of the orthogonal coordinate system. By converting the interpolation data in each axis direction of the Cartesian coordinate system into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters, the controlled object is commanded in the Cartesian coordinate system. The movement control is performed as instructed by the machining program, so even if the machine has a structure in which the feed direction of the control axis is not fixed depending on the length of the axis driven by the own axis or the drive source of the other axis, the orthogonal coordinates It is possible to obtain a numerical control method that can be operated with a machining program commanded by the system. According to the present invention, there is provided a method for numerically controlling a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not constitute an orthogonal coordinate system, using a machining program instructed in the orthogonal coordinate system. A joint axis definition that determines the configuration of the joint axis of the link mechanism, a link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and a joint axis length offset that defines the joint axis dimension at the origin establishment position A set of mechanical parameters including the quantity and the definition of the rotation center dimension that determines the rotation center of the drive unit is set in advance, and the program coordinate commands specified in the orthogonal system are analyzed and processed, and each of the orthogonal coordinate systems is analyzed. After generating the interpolation data in the axial direction, the interpolation data in each axis direction of the rectangular coordinate system is converted into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters. Since the movement of the controlled object is controlled in accordance with the command of the machining program commanded in the orthogonal coordinate system, the feed direction of the control axis depends on the length of the axis driven by the drive source of the own axis or the other axis. Even if the machine does not have a fixed structure, it is possible to obtain a numerical control method that can be operated by a machining program commanded in a rectangular coordinate system. ₍ Also, according to the present invention, the feed direction of the control axis does not form a rectangular coordinate system, and a link mechanism for driving a controlled object such as a tool post is commanded in a rectangular coordinate system. In a device that is numerically controlled by a machining program, a joint axis definition that determines the configuration of the joint axis of the link mechanism, a link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and an origin A storage unit for storing the mechanical parameters including the joint axis length offset amount defining the joint axis dimensions at the position, and an analysis processing unit for analyzing and processing the program coordinate command issued in the orthogonal system. An interpolation processing unit that generates interpolation data for each axis of the orthogonal coordinate system based on the analysis data analyzed by the analysis processing unit of The interpolation is performed based on the mechanism parameters. And a mechanical component axis data conversion unit for converting the link mechanism into numerical control data in the joint axis direction, and the movement of the controlled object is controlled according to a command of a machining program commanded in a rectangular coordinate system. Numerical control that can be operated with a machining program commanded in the Cartesian coordinate system even if the feed direction of the control axis is not fixed depending on the length of the axis driven by the own axis or another axis drive source A device can be obtained.

According to the present invention, there is provided an apparatus for numerically controlling a link mechanism for driving a controlled object such as a tool post, in which a feed direction of a control axis does not constitute an orthogonal coordinate system, using a machining program instructed in the orthogonal coordinate system. A joint axis definition that determines the configuration of the joint axis of the link structure, a link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and a joint axis length offset that defines the joint axis dimension at the origin establishment position A storage unit that stores mechanical parameters including a rotation amount and a rotation center dimension definition that determines the rotation center of the drive unit; and an analysis processing unit that analyzes and processes a program coordinate command issued in an orthogonal system. An interpolation processing unit that generates interpolation data in each axis direction of the rectangular coordinate system based on the analysis data analyzed by the processing unit; and an interpolation data unit in each axis direction of the rectangular coordinate system generated by the interpolation processing unit. A machine configuration axis data conversion unit for converting the control object into numerical control data in the direction of the joint axis of the link mechanism based on the mechanism parameters, and a machining program commanding the controlled object in a rectangular coordinate system. Movement control is performed according to the command of (1), so even if the feed direction of the control axis is not fixed depending on the length of the axis driven by the own axis or the drive source of the other axis, the command is executed in the Cartesian coordinate system. In particular, according to the present invention, it becomes possible not only to move the tool rest or the like in the axial direction but also to rotate the tool post.

According to the invention, the machine configuration axis data conversion unit including the mechanism parameter overnight definition table is replaced with another conversion module according to the machine specifications. And an output unit for updating the mechanical parameter conversion table, and outputs the information of the mechanism parameter definition table. Therefore, even if the machine specifications change significantly, the mechanism parameter It is only necessary to change the data and change the machine configuration axis data and data conversion unit, so that it is not necessary to develop a new numerical controller according to the machine specifications. Industrial applicability

As described above, the numerical control method and apparatus according to the present invention provide a numerically controlled machine tool, for example, a machine, in which the feed direction of the control axis is not fixed by the length of its own axis or the axis of the other axis driven by the motor. This feed mechanism is a parallel link mechanism, and is suitable for being used as a numerical control method and a device for controlling a numerically controlled machine tool in which the feed direction of the control axis does not form a rectangular coordinate system.

Claims

The scope of the claims

1. A method of numerically controlling a link mechanism for driving a controlled object such as a turret, in which a feed direction of a control axis does not form a rectangular coordinate system, by a machining program commanded by a rectangular coordinate system, The joint axis definition, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, and the joint axis length offset amount that defines the joint axis dimension at the origin establishment position After pre-setting the mechanism parameters including the above, analyzing the program coordinate command instructed in the orthogonal system and generating interpolation data in each axis direction of the orthogonal coordinate system, By converting the interpolation data into a numerical control data in the direction of the joint axis of the link mechanism based on the mechanism parameters, the controlled object can be converted in accordance with a machining program command in a rectangular coordinate system. A numerical control method comprising controlling movement.

2. A method of numerically controlling a link mechanism for driving a controlled object such as a turret, in which a feed direction of a control axis does not form a rectangular coordinate system, by a machining program commanded in a rectangular coordinate system, The joint axis definition, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, the joint axis length offset amount that defines the joint axis dimension at the origin establishment position, A set of mechanical parameters including the definition of the rotation center dimension that determines the rotation center of the drive device is set in advance, and the program coordinate commands specified by the orthogonal system are analyzed and interpolated in each direction of the orthogonal coordinate system. Then, the controlled object is directly converted by converting the interpolation data in each axis direction of the orthogonal coordinate system into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters. A numerical control method characterized by performing movement control according to a machining program command in a cross coordinate system.

3. Controlled object such as a turret, in which the feed direction of the control axis does not form a rectangular coordinate system In a device that numerically controls a link mechanism that drives a joint by a machining program commanded in a rectangular coordinate system, the joint axis definition that determines the configuration of the link mechanism and the joint axis, and the positional relationship between the joint points of the joint axis Linkage dimensions that define the parameters and a joint axis length offset amount that defines the dimensions of the joint axis at the origin establishment position, and a storage unit that stores the mechanism parameters, and the program coordinates commanded by the orthogonal system An analysis processing unit that analyzes the command, an interpolation processing unit that generates interpolation data in each axis direction of the orthogonal coordinate system based on the analysis data analyzed by the analysis processing unit, and an interpolation processing A mechanical component axis data conversion unit that converts the interpolation data in each axis direction of the rectangular coordinate system generated by the unit into numerical control data in the joint axis direction of the link mechanism based on the mechanism parameters. The controlled object Numerical control device, characterized in that the movement control as commanded in the machining program to be commanded by the intersection coordinate system.

4. An apparatus for numerically controlling a link mechanism for driving a controlled object such as a turret, in which a feed direction of a control axis does not form a rectangular coordinate system, by a machining program commanded in a rectangular coordinate system, The joint axis definition, the link mechanism dimension definition that defines the positional relationship between each joint point of the joint axis, the joint axis length offset amount that defines the joint axis dimension at the origin establishment position, A storage unit for storing a set of mechanical parameters including a rotation center dimension definition for determining the rotation center of the drive unit, an analysis processing unit for analyzing and processing a program coordinate command instructed by an orthogonal system; An interpolation processing unit that generates interpolation data in each axis direction of a rectangular coordinate system based on the analyzed data; and an interpolation unit that generates interpolation data in each axis direction of the rectangular coordinate system generated by the interpolation processing unit. Parameter A mechanical component axis data conversion unit for converting into numerical control data in the direction of the joint axis of the link mechanism based on the evening, and controlling the movement of the controlled object as instructed by a machining program instructed in a Cartesian coordinate system. Numerical control device characterized by the above.

5. The machine component axis data conversion unit includes a mechanism parameter definition table that defines the mechanism parameters actually used, and the machine component axis data conversion unit is converted to another conversion module according to the machine specifications. 5. The numerical control device according to claim 3, further comprising a machine component axis data conversion unit updating unit that performs replacement, and outputting such information when required.