WO2017138120A1 - 歯科技工物製造装置、方法、及びプログラム - Google Patents
歯科技工物製造装置、方法、及びプログラム Download PDFInfo
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- WO2017138120A1 WO2017138120A1 PCT/JP2016/053998 JP2016053998W WO2017138120A1 WO 2017138120 A1 WO2017138120 A1 WO 2017138120A1 JP 2016053998 W JP2016053998 W JP 2016053998W WO 2017138120 A1 WO2017138120 A1 WO 2017138120A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35316—Interference checking between tool, machine, part, chuck, machining range
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45167—Dentist, dental manufacture
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50008—Multiple, multi tool head, parallel machining
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50015—Multi cutting, twin tools contact at same time workpiece, balance cutting
Definitions
- the present invention relates to a dental technical product manufacturing apparatus, a dental technical product manufacturing method, and a dental technical product manufacturing program.
- a manufacturing apparatus having a processing mechanism for performing cutting or the like on a material that is a source of the workpiece is used.
- the material is processed by controlling the position of the processing head along three orthogonal axes by numerical control.
- the manufacturing equipment as described above employs a method of reversing the material and processing both sides, or arranging two sets of processing mechanisms facing each other centering on the material and processing simultaneously. Yes.
- a numerical value that avoids collision with interference objects within the movable range of the machine tool such as materials, jigs, tailstock, etc.
- Control devices have been proposed.
- a function for controlling the axis movement of a moving body of a machine tool is generated in accordance with a manual axis movement operation.
- the shape data of the moving body and the shape data of the interferer with the possibility of interference are stored, and the shape data of the moving body is moved to the axis before starting the function generation according to the manual axis movement operation. It is confirmed that there is interference with the shape data of the interfering object.
- an axial movement stop position that is a desired distance away from the interference position in the direction opposite to the movement direction is calculated, and a function is generated to stop the moving body at the movement stop position.
- An object of the present invention is, as one aspect, to suppress interference between a plurality of processing mechanisms of a dental technical product manufacturing apparatus.
- the first cutting means, the second cutting means, and the positions of the first cutting means and the second cutting means are controlled.
- a control means can perform cutting of the cutting object from both sides of the cutting object by bringing the cutting portions of the first cutting means and the second cutting means into contact with the cutting object. Further, the control means controls the cutting part of the second cutting means so as not to move to the interference position when the cutting part of the first cutting means comes into contact with the object to be cut.
- FIG. 3 is a block diagram showing a schematic configuration of a computer that functions as a control unit of a dental technical product manufacturing apparatus according to first to third embodiments. It is a flowchart which shows an example of the control process of dental technical product manufacture. It is a figure for demonstrating the division
- the dental technical product manufacturing apparatus 10 includes a control unit 20 and a processing machine 30.
- Numerical control (NC) data created by a computer aided manufacturing (CAM) 40 is input to the dental technical product manufacturing apparatus 10.
- the control unit 20 controls the processing machine 30 based on the input NC data.
- the processing machine 30 includes two cutting parts 31L and 31R.
- the cutting part 31L and the cutting part 31R are arranged so as to face each other with a processing stage 42 on which a cutting object 45 (a material of a dental technical product) is set as a center.
- the cutting unit 31L includes a cutting unit 32L such as a drill for performing a cutting process on the cutting object 45 set on the processing stage 42, and a drive unit 33L for moving the cutting unit 32L.
- the drive unit 33L supports the cutting unit 32L so that the axial direction of the cutting unit 32L is parallel to the Z-axis (details will be described later), and the supported cutting unit 32L is designated in the processing machine coordinate system.
- the cutting unit 31R includes a cutting unit 32R and a drive unit 33R.
- the drive units 33L and 33R are driven according to a pulse signal output from a motion controller 35 described later.
- the processing machine coordinate system may be a coordinate system of three orthogonal axes (X axis, Y axis, and Z axis) whose origin is a predetermined position (for example, the center position) of the processing stage 42.
- the vertical direction is the Y axis
- the direction orthogonal to the Y axis
- the direction in which the cutting portion 31L and the cutting portion 31R face each other is the Z axis, the Y axis, and the Z axis.
- the horizontal direction orthogonal to is the X axis.
- the processing machine 30 includes a motion controller 35 as shown in FIG.
- the motion controller 35 outputs a pulse signal corresponding to NC data output from the control unit 20 described later to the drive units 33L and 33R.
- the control unit 20 receives NC data input from the CAM 40.
- FIG. 3 shows an example of NC data.
- the processing machine 30 of the dental technical product manufacturing apparatus 10 includes the two cutting parts 31L and 31R. Therefore, NC data 41L for the cutting part 31L (hereinafter referred to as “for L”) and NC data 41R for the cutting part 31R (hereinafter referred to as “for R”) are input from the CAM 40.
- the L NC data 41L includes the coordinate values (LX, LY, and LZ) after movement of a predetermined position (for example, the tip portion) of the cutting part 32L and the coordinate values after the movement.
- This data is a set of the moving speed (L-speed) when moving 32L.
- the R NC data 41R includes coordinate values (RX, RY, and RZ) after movement of a predetermined position (for example, a tip portion) of the cutting portion 32R, and coordinate values after the movement.
- the data is a set of the moving speed (R-speed) when moving the cutting part 32R.
- One set of coordinate value and moving speed data is data for one section of NC data (in the example of FIG. 3, data for one row, hereinafter referred to as “section NC data”).
- the cutting portions 31L and 31R are controlled by the L NC data 41L and the R NC data 41R including a plurality of section NC data, thereby realizing a series of cutting steps.
- control unit 20 functionally includes a prediction unit 21 and a correction unit 22.
- the prediction unit 21 arranges the section NC data included in each of the input L NC data 41L and R NC data 41R on the time axis, and performs cutting processing indicated by corresponding section NC data in order from the top.
- the section NC data is divided again so that the control times are the same. Further, the prediction unit 21 compares the corresponding NC data of the L NC data 41L and the R NC data 41R, and the interference between the cutting part 32L and the cutting part 32R occurs during the cutting process indicated by the NC data. Predict whether or not it will occur.
- the correction unit 22 corrects at least one of the L NC data 41L and the R NC data 41R, which are predicted to cause interference between the cutting unit 32L and the cutting unit 32R by the prediction unit 21, so as to avoid interference.
- the correction unit 22 outputs the corrected NC data 41L and R NC data 41R to the motion controller 35.
- the control unit 20 of the dental technical product manufacturing apparatus 10 can be realized by, for example, a computer 50 shown in FIG.
- the computer 50 includes a CPU 51, a memory 52 as a temporary storage area, and a nonvolatile storage unit 53.
- the computer 50 also includes an input / output device 54, a read / write (R / W) unit 55 that controls reading and writing of data with respect to the storage medium 59, and a communication interface (I / F) 56.
- the CPU 51, the memory 52, the storage unit 53, the input / output device 54, the R / W unit 55, and the communication I / F 56 are connected to each other via a bus 57.
- the storage unit 53 can be realized by a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like.
- the storage unit 53 as a storage medium stores a control program 60 for manufacturing a dental technical product for causing the computer 50 to function as the control unit 20 of the dental technical product manufacturing apparatus 10.
- the control program 60 has a prediction process 61 and a correction process 62.
- the CPU 51 reads out the control program 60 from the storage unit 53 and expands it in the memory 52, and sequentially executes processes included in the control program 60.
- the CPU 51 operates as the prediction unit 21 illustrated in FIG. 1 by executing the prediction process 61.
- the CPU 51 operates as the correction unit 22 illustrated in FIG. 1 by executing the correction process 62.
- the computer 50 which executed the control program 60 functions as the control unit 20 of the dental technical product manufacturing apparatus 10.
- control program 60 can also be realized by, for example, a semiconductor integrated circuit, more specifically, Application Specific Integrated Circuit (ASIC).
- ASIC Application Specific Integrated Circuit
- shape data (3D data, etc.) of a dental technical product to be manufactured is created by computer-aided design (CAD) or the like.
- CAD computer-aided design
- NC data 41L and R for L are generated by the CAM 40.
- NC data 41R is created.
- the NC data 41L for L and the NC data 41R for R may be created without considering interference during simultaneous machining of the cutting portion 32L and the cutting portion 32R.
- step S11 of the dental technician manufacturing control process shown in FIG. 5 the prediction unit 21 receives the input L NC data 41L and R NC data 41R.
- the prediction unit 21 arranges a plurality of section NC data included in each of the input L NC data 41L and R NC data 41R on a time axis, and performs control based on each section NC data. Calculate time. Specifically, the prediction unit 21 includes, in the target section NC data, the distance between the position indicated by the coordinate value included in the previous section NC data and the position indicated by the coordinate value included in the target section NC data. The control time of the target section NC data is calculated by dividing by the moving speed.
- the position indicated by the coordinate value included in the section NC data is also referred to as “section NC data designated position”
- the movement speed included in the section NC data is also referred to as “section NC data designated movement speed”.
- the prediction unit 21 associates the section NC data having the same control time in order from the head of each of the L NC data 41L and the R NC data 41R. Further, the prediction unit 21 divides the section NC data so that the number of sections is the same when the section NC data does not correspond one-to-one.
- the prediction unit 21 receives the NC data 41L for L and the NC data 41R for R as shown in the upper part of FIG. It is assumed that the section NC data A for L is associated with the section NC data B and C for R. In this case, the L section NC data and the R section NC data have a one-to-two correspondence. Therefore, as shown in the lower part of FIG. 6, the prediction unit 21 converts the section NC data A into the section NC data so that the L section NC data and the R section NC data have a two-to-two correspondence. Divide into A1 and A2.
- the prediction unit 21 is a position on the trajectory until the movement to the designated position of the section NC data A, the designated moving speed of the section NC data A, and the control time movement of the section NC data B
- the section NC data A1 including the coordinate value indicating the position to be reached is created.
- the prediction unit 21 sets the original section NC data A as the section NC data A2, and inserts the created section NC data A1 before the section NC data A2. Accordingly, the section NC data A1 and the section NC data B, and the section NC data A2 and the section NC data C are associated with each other.
- step S13 the prediction unit 21 selects one section in order from the head of each of the NC data 41L for L and the NC data 41R for R which are divided again.
- Step S14 whether or not interference between the cutting unit 32L and the cutting unit 32R occurs while the prediction unit 21 moves the cutting units 32L and 32R to the designated position of the section NC data of the selected section. Predict. For example, the prediction unit 21 generates interference when the locus of the cutting unit 32L and the locus of the cutting unit 32R intersect between the designated position of the previous section NC data and the designated position of the selected section NC data. Then it can be predicted. If it is predicted that interference between the cutting part 32L and the cutting part 32R will occur in the selected section, the process proceeds to step S15.
- the prediction unit 21 may predict not only the interference between the cutting unit 32L and the cutting unit 32R but also the occurrence of interference between the entire cutting unit 31L and the entire cutting unit 31R.
- the prediction unit 21 specifies an area occupied by the cutting unit 31L while moving from the designated position of the previous section NC data to the designated position of the selected section NC data. Then, when the prediction unit 21 enters this specified area while a part of the cutting unit 31R moves from the specified position of the previous section NC data to the specified position of the selected section NC data, interference is generated. It can be predicted that it will occur.
- the area can be specified based on the shape data and the control amount based on the NC data by preparing the shape data of the cutting parts 31L and 31R in advance.
- step S15 the correction unit 22 corrects at least one of the L NC data 41L and the R NC data 41R so as to avoid interference.
- the correction unit 22 corrects the NC data so that any one of “standby”, “retreat”, “acceleration / deceleration”, and “machining order change” interference avoidance control is performed.
- correction of NC data for each interference avoidance control will be described in detail with reference to FIG. In FIG. 7, each block given a number represents one section NC data.
- a case where the R NC data 41R is corrected will be described as an example.
- “Standby” interference avoidance control is control for waiting so that the cutting unit 32R is not moved to a position where occurrence of interference with the cutting unit 32L is predicted.
- the correction unit 22 sets the R section NC data of the section where the occurrence of interference is predicted to be blank as correction of the NC data for the “standby” interference avoidance control. Accordingly, the correction unit 22 shifts the subsequent R section NC data to the subsequent stage one section at a time.
- section NC data for avoiding interference is inserted in a section where the occurrence of interference is predicted (broken line portion in FIG. 9).
- the blank is represented by the symbol “*”.
- the section NC data for L and the section NC data for R after correction are compared to determine whether or not interference has occurred. Since the NC data for avoiding interference is inserted into the corrected NC data 41R for R, the sections associated with each other so that the control times are the same in step S12 are shifted. Therefore, the prediction unit 21 may execute the process of step S12 again for the subsequent sections.
- each of the L NC data 41L and the R NC data 41R may be divided into sections indicating the same control time. In this case, since the control time of each section NC data is the same, there is no need to associate the NC data again.
- the “evacuation” interference avoidance control is control for retracting the cutting portion 32R from a position where occurrence of interference with the cutting portion 32L is predicted.
- the correction unit 22 corrects the NC data for the “evacuation” interference avoidance control, as shown in FIG. Shift to the next stage.
- the correction unit 22 inserts section NC data for retracting the cutting unit 32R from a position where occurrence of interference is predicted in a section where occurrence of interference is predicted.
- the correction unit 22 moves the cutting unit 32R to a position where the interference does not occur (a position indicated by a one-dot broken line) and moves the cutting unit 32R to the original position (a position indicated by a solid line) after passing through the cutting unit 32L.
- the section NC data for creating the data is created.
- the correction unit 22 inserts the created saving section NC data into the corresponding portion of the R NC data 41R.
- a coordinate value indicating the withdrawal position is added to the R section NC data of the section to be corrected. Then, an appropriate movement speed is associated with the coordinate value, and the movement speed associated with the original coordinate value is also corrected. In addition, the movement speed matched with each coordinate value is determined so that the control time of a applicable area may become the same as the original control time. Further, since the corrected section NC data has a plurality of coordinate values, the section NC data may be divided at each coordinate value portion. In this case, the corresponding L section NC data is also divided so that the control time is the same.
- the section NC data (3-1) to be moved to the retreat position and the original from the retreat position is inserted.
- the section NC data (3-2) to be returned to the position is inserted.
- the section NC data of section 3 of the L NC data 41L is also divided into section NC data (3-1) and section NC data (3-2).
- the cutting part 32R after retracting the cutting part 32R to the retracted position, it may be moved to the position indicated by the section NC data of the section in the next section without returning to the original position. In this case, since the moving distance of the cutting unit 32R in the next section changes, the designated moving speed of the next section NC data is corrected in accordance with the control time of the next section.
- the “acceleration / deceleration” interference avoidance control is a control for avoiding the interference with the cutting portion 32L by accelerating or decelerating the moving speed of the cutting portion 32R.
- the correction unit 22 corrects NC data for “acceleration / deceleration” interference avoidance control, as shown in FIG. Is corrected to be different in the section.
- the cutting portion 32L is decelerated until it passes, so that the cutting portion 32R does not reach the interference position, and after the cutting portion 32L passes, the cutting portion 32R is accelerated to the designated position. To move.
- FIG. 11 the cutting portion 32L is decelerated until it passes, so that the cutting portion 32R does not reach the interference position, and after the cutting portion 32L passes, the cutting portion 32R is accelerated to the designated position. To move.
- FIG. 11 the cutting portion 32L is decelerated until it passes, so that the cutting portion 32R does not reach the interference position, and after the cutting portion 32L passes, the cutting portion 32R is accelerated
- the cutting part 32R is accelerated and moved away from the interference position before the cutting part 32L passes, and after it is away from the interference position, it is decelerated and moved to the designated position.
- the R section NC data of the section to be corrected is provided with a plurality of coordinate values.
- the coordinate value corresponding to the location to be accelerated is associated with a movement speed faster than the original movement speed
- the coordinate value corresponding to the location to be decelerated is associated with a movement speed slower than the original movement speed.
- the movement speed matched with each coordinate position is determined so that the control time of a applicable area may become the same as the original control time.
- the “interference avoidance control” of “changing the processing order” is control for avoiding interference with the cutting portion 32L by changing the order of the processing steps by the cutting portion 32R.
- the correction unit 22 corrects the NC data for the interference avoidance control of “changing the processing order”, as shown in FIG. The order with the section NC data is changed.
- the correction unit 22 moves the designated section NC data so that the control time is the same as the control time of the section NC data for L in the replacement destination section. Correct the speed. Further, when the processing order is changed by exchanging the sections, the moving distance to the next section changes, so the moving speed is corrected according to the control time of each section. Further, after the sections are exchanged, the division of the section in step S12 may be performed again.
- the case where the R NC data 41R is corrected has been described.
- the L NC data 41 may be corrected, or both NC data may be corrected.
- more flexible interference avoidance control can be performed by correcting both NC data.
- step S15 If the prediction unit 21 has not predicted the occurrence of interference in step S14, the process in step S15 is skipped, and the process proceeds to step S16.
- step S16 the correction unit 22 determines whether or not all sections of NC data have been selected in step S13. If there is an unselected section, the process returns to step S13, the prediction unit 21 selects the next section, and repeats the processes of steps S14 and S15. If the selection of all the sections has been completed, the process proceeds to step S17, and the correction unit 22 outputs the corrected NC data 41L and R NC data 41R to the motion controller 35 for dental treatment. The control process for manufacturing the technical product ends.
- the motion controller 35 that has received the corrected L NC data 41L and the R NC data 41R outputs a pulse signal corresponding to the received L NC data 41L to the drive unit 33L, and receives the received R NC data 41R.
- the corresponding pulse signal is output to the drive unit 33R.
- the drive units 33L and 33R are driven by an amount corresponding to the pulse signal, the cutting units 32L and 32R are moved to the positions specified by the NC data, and the cutting with respect to the cutting object 45 set on the processing stage 42 is performed. Processing is performed.
- the dental technical product manufacturing apparatus 10 when a plurality of cutting parts are simultaneously processed, at least one of the cutting parts is prevented from moving to a position where the cutting parts interfere with each other. NC data for controlling the cutting part of the machine is corrected. Thereby, interference avoidance at the time of simultaneous processing using a plurality of processing mechanisms can be performed efficiently.
- the section NC data included in the NC data 41L and 41R for L and 41R are arranged on the time axis, and the section NC data corresponding in order from the head are arranged.
- the section is divided again so that the control time of the cutting process indicated by is the same.
- interference between moving objects that is, interference between the cutting part 32L and the cutting part 32R.
- the interference between the cutting portion 32L and the cutting portion 32R controlled based on the L NC data 41L and the R NC data 41R is taken into consideration. There is no need to do. Therefore, the calculation amount for creating NC data can be suppressed. Further, interference avoidance control can be performed efficiently by utilizing NC data for L and R that are created independently.
- control unit 20 executes a control process for manufacturing a dental technical product shown in FIG.
- the control process of dental technical product manufacture shown in FIG. 14 about the same process as the control process of dental technical product manufacture shown in FIG. 5, the same step number is attached
- the prediction unit 21 and the correction unit 22 predict the occurrence of interference for the selected section and correct the NC data when the interference occurs. Then, in the next step S117, the correction unit 22 outputs the corrected section NC data for L and R to the motion controller 35 in the selected section.
- the motion controller 35 outputs a pulse signal corresponding to the received section NC data to the drive units 33L and 33R, and the drive units 33L and 33R are driven by the pulse signal so that the cutting units 32L and 32R are selected. Move to the specified coordinate position of NC data.
- the motion controller 35 can immediately output a pulse signal corresponding to the received NC data to the drive units 33L and 33R. Further, the motion controller 35 may buffer the received section NC data by a predetermined number of sections, and provide a time lag corresponding to the predetermined number of sections from the reception of the NC data to the output of the pulse signal.
- step S16 the correction unit 22 determines whether or not all sections have been completed. If there is an unselected section, the process returns to step S13. Thereby, prediction of occurrence of interference and correction of NC data when interference occurs can be executed in real time at the time of cutting.
- the dental technical product manufacturing apparatus 210 includes a control unit 220 and a processing machine 230.
- the processing machine 230 includes motion controllers 35L and 35R instead of the motion controller 35 according to the first embodiment.
- the motion controller 35L outputs a pulse signal corresponding to the L NC data 41L output from the control unit 220 to the drive unit 33L of the cutting unit 31L.
- the motion controller 35R outputs a pulse signal corresponding to the R NC data 41L output from the control unit 20 to the drive unit 33R of the cutting unit 31R.
- the control unit 220 functionally includes a prediction unit 21, a correction unit 22, and an adjustment unit 23.
- each of the cutting parts 31L and 31R is controlled based on the pulse signals output from the corresponding motion controllers 35L and 35R. For this reason, even if the L NC data 41L and the R NC data 41R are divided and associated for each section where the control time is the same, there may be a difference in the actual control time.
- the adjustment unit 23 compares the progress of the control of the cutting unit 31L based on the NC data 41L with the progress of the control of the cutting unit 31R based on the R NC data 41R, and both controls are synchronized. Check whether or not Moreover, the adjustment part 23 outputs the adjustment signal for adjusting a control timing to at least one of the motion controllers 35L and 35R, when both control is not synchronizing.
- the adjustment of the control timing is not limited to the adjustment unit 23.
- the motion controllers 35L and 35R may adjust the control timing with respect to a standard such as a standard time common to the motion controllers 35L and 35R. .
- the control unit 220 of the dental technical product manufacturing apparatus 210 can be realized by, for example, the computer 50 shown in FIG.
- the storage unit 53 of the computer 50 stores a dental technician manufacturing control program 260 for causing the computer 50 to function as the controller 220 of the dental technician manufacturing apparatus 210.
- the control program 260 includes a prediction process 61, a correction process 62, and an adjustment process 63.
- the CPU 51 reads the control program 260 from the storage unit 53 and expands it in the memory 52, and sequentially executes the processes included in the control program 260.
- the CPU 51 operates as the adjustment unit 23 illustrated in FIG. 15 by executing the adjustment process 63.
- Other processes are the same as those of the control program 60 according to the first embodiment.
- the computer 50 which executed the control program 260 functions as the control unit 220 of the dental technical product manufacturing apparatus 210.
- control program 260 can be realized by, for example, a semiconductor integrated circuit, more specifically, an ASIC or the like.
- the adjustment process shown in FIG. 16 is executed in parallel with the control process (FIG. 5) for manufacturing a dental technical product similar to that in the first embodiment.
- the adjustment process is repeatedly executed at a predetermined timing.
- the predetermined timing can be, for example, a periodic timing, a timing for every predetermined section, a timing instructed by the user, or the like.
- step S21 of the adjustment process illustrated in FIG. 16 the adjustment unit 23 determines the progress of control of the cutting unit 31L based on the NC data 41L and the progress of control of the cutting unit 31R based on the R NC data 41R. And get. For example, the adjustment unit 23 acquires, from each of the motion controllers 35L and 35R, which part of the NC data 41L for L and the NC data 41R for L corresponds to as a progress degree. .
- step S22 the adjusting unit 23 compares the degree of progress for L acquired in step S21 with the degree of progress for R, and the control of the cutting part 31L and the control of the cutting part 31R are synchronized. It is determined whether or not. If they are synchronized, the adjustment process ends.
- step S23 the adjustment unit 23 outputs an adjustment signal for adjusting the control timing to at least one of the motion controllers 35L and 35R.
- the adjustment unit 23 can output, to the motion controllers 35L and 35R, a signal for synchronizing the timing of outputting a pulse signal corresponding to the section NC data of the next section as the adjustment signal.
- the adjustment unit 23 stops the output of the pulse signal as the adjustment signal, for example, by the motion controller 35L or 35R corresponding to the cutting processing unit 31L or 31R having the higher degree of progress for the time that is out of timing.
- a signal may be output.
- the dental technical product manufacturing apparatus 210 According to the dental technical product manufacturing apparatus 210 according to the second embodiment, even when the cutting units 31L and 31R are driven by different motion controllers 35L and 35R, respectively, the cutting unit 31L and the cutting process are performed.
- the control with the unit 31R is adjusted to be synchronized. As a result, the correspondence between the L section NC data and the R section NC data divided so that the control times are the same is appropriately maintained.
- a dental technical product manufacturing apparatus 310 includes a control unit 320 and a processing machine 330.
- the processing machine 330 includes two cutting portions 331L and 331R. Also in the third embodiment, similarly to the first embodiment, the cutting unit 331L and the cutting unit 331R are arranged so as to face each other with the processing stage 42 as the center.
- the cutting part 331L includes two cutting parts 32L1 and 32L2 and a drive part 33L for moving the two cutting parts 32L1 and 32L2 as a unit.
- the cutting portion 32L1 and the cutting portion 32L2 are of different types such as a roughing drill and a finishing drill, and the sizes represented by at least one of the length and the diameter of the drill portion are different.
- the cutting portion 32L1 is larger in size than the cutting portion 32L2.
- the cutting part 32L1 and the cutting part 32L2 are integrally supported by the arm so that the axial direction is parallel to the Z-axis.
- the cutting portion 331R includes two cutting portions 32R3 and 32R4 and a drive portion 33L, and the cutting portion 32R3 is larger in size than the cutting portion 32R4.
- the control unit 320 receives NC data input from the CAM 40.
- FIG. 18 shows an example of NC data in the third embodiment.
- Each section NC data of the L NC data 341L, together with the coordinate position and the moving speed, is information for identifying whether the cutting part to be controlled by each section NC data is the cutting part 32L1 or the cutting part 32L2 (L-target cutting part )including.
- each section NC data of the R NC data 341R is information (R ⁇ ) that identifies whether the cutting part to be controlled by each section NC data is the cutting part 32R3 or the cutting part 32R4 together with the coordinate position and the moving speed. Target cutting part).
- control unit 320 functionally includes a prediction unit 321 and a correction unit 322.
- the prediction unit 321 re-divides the section NC data so that the control time is the same as in the prediction unit 21 in the first embodiment. Further, the prediction unit 321 compares the corresponding NC data of the L NC data 41L and the R NC data 41R, and determines whether or not the cutting part interference occurs during the cutting process indicated by the NC data. Predict. At this time, the prediction unit 321 predicts not only the interference between the cutting parts that perform the cutting process but also the occurrence of interference with the cutting part that does not perform the cutting process. The prediction unit 321 calculates the position of the cutting unit that does not perform the cutting process based on the position specified by the section NC data for the cutting unit that performs the cutting process and the mounting position relationship of the cutting unit in the prediction of the occurrence of interference. .
- the prediction unit 321 is the same as the cutting part 32L1 as in the first embodiment. It is predicted whether or not interference with the cutting part 32R3 occurs. In addition, the prediction unit 321 also predicts interference between the cutting unit 32L1 and the cutting unit 32R4 and interference between the cutting unit 32L2 and the cutting unit 32R4.
- the correction part 322 correct
- the correction unit 322 corrects the NC data so that interference avoiding control is performed such that neither the cutting units 32L1 and 32L2 nor the cutting units 32R3 and 32R4 interfere.
- the correction unit 322 corrects the NC data so that the cutting parts having large sizes are separated from each other by a predetermined distance or more during interference avoidance control.
- the control unit 320 of the dental technical product manufacturing apparatus 310 can be realized by, for example, the computer 50 shown in FIG.
- the storage unit 53 of the computer 50 stores a dental technician manufacturing control program 360 for causing the computer 50 to function as the controller 320 of the dental technician manufacturing apparatus 310.
- the control program 360 includes a prediction process 361 and a correction process 362.
- the CPU 51 reads out the control program 360 from the storage unit 53 and expands it in the memory 52, and sequentially executes processes included in the control program 360.
- the CPU 51 operates as the prediction unit 321 illustrated in FIG. 1 by executing the prediction process 361. Further, the CPU 51 operates as the correction unit 322 illustrated in FIG. 1 by executing the correction process 362.
- the computer 50 which executed the control program 360 functions as the control unit 320 of the dental technical product manufacturing apparatus 310.
- control program 360 can be realized by, for example, a semiconductor integrated circuit, more specifically, an ASIC or the like.
- the operation of the dental technician manufacturing apparatus 310 according to the third embodiment is different only in that the interference of all the cutting parts is taken into consideration in steps S14 and S15 of the dental technician manufacturing control process shown in FIG. Therefore, the description is omitted.
- the dental technical product manufacturing apparatus 310 According to the dental technical product manufacturing apparatus 310 according to the third embodiment, even when the cutting units 31L and 31R each have a plurality of cutting units, interference avoidance at the time of simultaneous processing is efficiently performed. be able to.
- the motion controllers 35L and 35R may correspond to the cutting parts 31L and 31R, respectively.
- the control unit 320 is provided with the same adjustment unit 23 as in the second embodiment.
- the cutting unit 31L may be arranged to perform machining from the upper left and the cutting unit 31R may be arranged from the upper right.
- each embodiment demonstrated the case where there were two cutting parts, three or more cutting parts may be provided.
- interference occurs due to comparison between any of the section NC data
- any NC data in the section may be corrected.
- control programs 60, 260, and 360 are stored (installed) in the storage unit 53 in advance.
- the present invention is not limited to this.
- the control program according to the present invention can also be provided in a form recorded on a recording medium such as a CD-ROM, DVD-ROM, or USB memory.
Abstract
Description
図1に示すように、第1実施形態に係る歯科技工物製造装置10は、制御部20と、加工機30とを含む。歯科技工物製造装置10には、コンピュータ支援製造 (computer aided manufacturing:CAM)40で作成された数値制御(Numerical Control、NC)データが入力される。制御部20は、入力されたNCデータに基づいて、加工機30を制御する。
次に、第2実施形態について説明する。なお、第2実施形態に係る歯科技工物製造装置において、第1実施形態に係る歯科技工物製造装置10と同様の部分については、同一符号を付して、詳細な説明を省略する。
次に、第3実施形態について説明する。なお、第3実施形態に係る歯科技工物製造装置において、第1実施形態に係る歯科技工物製造装置10と同様の部分については、同一符号を付して、詳細な説明を省略する。
20、220、320 制御部
21、321 予測部
22、322 補正部
23 調整部
30、230、330 加工機
31L、31R、331L、331R 切削加工部
32L、32L1、32L2、32R、32R3、32R4 切削部
33L、33R 駆動部
35、35L、35R モーションコントローラ
41L、41R、341L、341R NCデータ
42 加工ステージ
45 切削対象物
50 コンピュータ
51 CPU
52 メモリ
53 記憶部
59 記憶媒体
60、260、360 制御プログラム
Claims (26)
- 歯科技工物製造装置において、
第1の切削加工手段、第2の切削加工手段と、
前記第1の切削加工手段と前記第2の切削加工手段の位置を制御して、前記第1の切削加工手段と前記第2の切削加工手段の切削部を切削対象物に当接させて前記切削対象物の両側から前記切削対象物の切削を実行可能な制御手段と、を備え、
前記制御手段は、前記第1の切削加工手段の切削部が前記切削対象物に当接する際に、前記第2の切削加工手段の切削部が干渉位置に移動しないように制御する、
ことを特徴とする歯科技工物製造装置。 - 前記制御手段は、前記第1の切削加工手段の切削部が前記切削対象物に当接する際に、前記第2の切削加工手段の切削部を干渉位置から離れた位置に待機させるか、又は前記第2の切削加工手段の切削部の動作速度を加減させるか、又は前記第2の切削加工手段の切削部の加工順序を変更させるか、のいずれかにより前記干渉位置に移動しないように制御する、
ことを特徴とする請求項1記載の歯科技工物製造装置。 - 歯科技工物製造装置において、
第1の切削加工手段、第2の切削加工手段と、
前記第1の切削加工手段と前記第2の切削加工手段の位置を制御して、前記第1の切削加工手段と前記第2の切削加工手段の切削部を切削対象物に当接させて前記切削対象物の両側から前記切削対象物の切削を実行可能な制御手段と、を備え、
前記制御手段は、前記第1の切削加工手段に対応する第1の制御データと、前記第2の切削加工手段に対応する第2の制御データとを解析して、前記第1の切削加工手段と前記第2の切削加工手段とが干渉位置に移動する事象の発生を予測すると、前記第1の切削加工手段又は前記第2の切削加工手段のいずれかを待機させて干渉を回避する制御を行う、
ことを特徴とする歯科技工物製造装置。 - 前記制御手段は、前記第1の制御データに基づいて前記第1の切削加工手段を制御する第1制御部と、前記第2の制御データに基づいて前記第2の切削加工手段を制御する第2制御部と、前記第1制御部による前記第1の制御データに基づく制御プロセスの進展度と前記第2制御部による前記第2の制御データに基づく制御プロセスの進展度との比較に応じて前記第1制御部及び/又は前記第2制御部の制御タイミングを調整するタイミング調整部と、を備えたことを特徴とする請求項3記載の歯科技工物製造装置。
- 前記第1の制御データ及び前記第2の制御データは、NCデータである、ことを特徴とする請求項3記載の歯科技工物製造装置。
- 歯科技工物製造装置において、
第1の切削加工手段、第2の切削加工手段と、
前記第1の切削加工手段の切削部の位置と前記第2の切削加工手段の切削部の位置とが干渉するタイミングが発生しないように、前記第1の切削加工手段の第1の制御データ及び前記第2の切削加工手段の第2の制御データを生成する制御データ生成手段と、
前記第1の制御データに基づいて前記第1の切削加工手段を制御し、前記第2の制御データに基づいて前記第2の切削加工手段の位置を制御する制御手段と、
を備えたことを特徴とする歯科技工物製造装置。 - 前記制御手段は、前記第1の制御データに基づいて前記第1の切削加工手段を制御する第1制御部と、前記第2の制御データに基づいて前記第2の切削加工手段を制御する第2制御部と、前記第1制御部による前記第1の制御データに基づく制御プロセスの進展度と前記第2制御部による前記第2の制御データに基づく制御プロセスの進展度との比較に応じて前記第1制御部及び/又は前記第2制御部の制御タイミングを調整するタイミング調整部と、を備えたことを特徴とする請求項6記載の歯科技工物製造装置。
- 歯科技工物製造装置において、
第1及び第2の切削部を備えた第1の切削加工手段と、
第3及び第4の切削部を備えた第2の切削加工手段と、
前記第1の切削加工手段及び前記第2の切削加工手段の位置を制御して、前記第1の切削加工手段の前記第1又は前記第2の切削部と前記第2の切削加工手段の前記第3の切削部又は前記第4の切削部とを切削対象物に当接させて前記切削対象物の両側から前記切削対象物の切削を実行可能な制御手段と、を備え、
前記制御手段は、前記第1と前記第2の切削部のうちサイズが大きい切削部と前記第3と前記第4の切削部のうちサイズが大きい切削部との間の干渉マージン距離以上離れるように、前記第1の切削加工手段の各切削部と、前記第2の切削加工手段の各切削部間の軸をずらす、
ことを特徴とする歯科技工物製造装置。 - 歯科技工物製造装置において、
第1及び第2の切削部を備えた第1の切削加工手段と、
第3及び第4の切削部を備えた第2の切削加工手段と、
前記第1の切削加工手段及び前記第2の切削加工手段の位置を制御して、前記第1の切削加工手段の前記第1又は前記第2の切削部と前記第2の切削加工手段の前記第3の切削部又は前記第4の切削部とを切削対象物に当接させて前記切削対象物の両側から前記切削対象物の切削を実行可能な制御手段と、を備え、
前記制御手段は、前記第3の切削部及び前記第4の切削部のいずれについても、前記第1の切削部の干渉位置及び前記第2の切削部の干渉位置のいずれにも移動しないように制御する、
ことを特徴とする歯科技工物製造装置。 - 歯科技工物製造装置において、
複数の切削加工手段と、
前記複数の切削加工手段の位置を制御して、前記複数の切削加工手段を切削対象物に当接させて前記切削対象物を多方向からの切削を実行可能な制御手段と、を備え、
前記制御手段は、前記複数の切削加工手段のうち一の切削加工手段の切削部が前記切削対象物に当接する際に、前記複数の切削加工手段のうち前記一の切削加工手段と異なる他の複数の切削加工手段の切削部が干渉位置に移動しないように制御する、
ことを特徴とする歯科技工物製造装置。 - 歯科技工物製造装置において、
切削部を備えた第1の切削加工部と、
切削部を備えた第2の切削加工部と、
前記第1の切削加工部の切削部及び前記第2の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御する制御部と、を備え、
前記制御部は、前記第1の切削加工部の切削部と前記第2の切削加工部の切削部とが干渉する位置へ移動しないように、前記第1の切削加工部及び前記第2の切削加工部の少なくとも一方の干渉回避制御を行う
ことを特徴とする歯科技工物製造装置。 - 前記制御部は、前記干渉回避制御として、前記第1の切削加工部の切削部及び前記第2の切削加工部の切削部のいずれかを、前記干渉する位置から離れた位置に待機させる制御、前記第1の切削加工部の切削部及び前記第2の切削加工部の切削部のいずれかを、前記干渉する位置から退避させる制御、前記第1の切削加工部と前記第2の切削加工部の少なくとも一方の動作速度を加減させる制御、又は前記第1の切削加工部と前記第2の切削加工部の少なくとも一方の前記切削対象物に対する切削の順序を変更する制御のいずれかを行うことを特徴とする請求項11記載の歯科技工物製造装置。
- 前記制御部は、第1の制御データに基づいて前記第1の切削加工部の位置を制御し、第2の制御データに基づいて前記第2の切削加工部の位置を制御すると共に、前記第1の制御データと前記第2の制御データとを解析して、前記第1の切削加工部の切削部と前記第2の切削加工部の切削部との干渉が予測される場合に、前記干渉回避制御を行うことを特徴とする請求項11又は請求項12記載の歯科技工物製造装置。
- 前記制御部は、前記切削対象物に対する一連の切削加工に関する前記第1の制御データ及び前記第2の制御データを解析して、前記第1の切削加工部の切削部と前記第2の切削加工部の切削部との干渉が予測される前記第1の制御データ及び前記第2の制御データの少なくとも一方の部分に、前記干渉回避制御を行うための補正を行い、補正後の前記第1の制御データ及び前記第2の制御データに基づいて、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御する請求項13記載の歯科技工物製造装置。
- 前記制御部は、複数区間に分割された前記第1の制御データ及び前記第2の制御データの各々に基づいて、区間毎に順次、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御すると共に、制御を実行中の区間より予め定めた区間数分後の区間の前記第1の制御データ及び前記第2の制御データを解析して、前記第1の切削加工部の切削部と前記第2の切削加工部の切削部との干渉が予測される場合には、解析した区間の前記第1の制御データ及び前記第2の制御データの少なくとも一方に、前記干渉回避制御を行うための補正を行う請求項13記載の歯科技工物製造装置。
- 前記制御部は、前記第1の制御データに基づく前記第1の切削加工部の制御時間と、前記第2の制御データに基づく前記第2の切削加工部の制御時間とが同一となる区間毎に、前記第1の制御データ及び前記第2の制御データの各々を分割し、同一時間に実行される前記第1の制御データの区間と前記第2の制御データの区間とを比較して、前記第1の切削加工部の切削部と前記第2の切削加工部の切削部との干渉を予測する請求項13~請求項15のいずれか1項記載の歯科技工物製造装置。
- 前記制御部は、
前記第1の制御データに基づいて前記第1の切削加工部を制御する第1制御部と、
前記第2の制御データに基づいて前記第2の切削加工部を制御する第2制御部と、
前記第1制御部による前記第1の制御データに基づく制御プロセスの進展度と、前記第2制御部による前記第2の制御データに基づく制御プロセスの進展度との比較に応じて、前記第1制御部及び前記第2制御部の少なくとも一方の制御タイミングを調整する調整部と、
を備えたことを特徴とする請求項13~請求項16のいずれか1項記載の歯科技工物製造装置。 - 前記第1の切削加工部は、第1の切削部及び第2の切削部を備え、
前記第2の切削加工部は、第3の切削部及び第4の切削部を備え、
前記制御部は、前記第1の切削加工部の前記第1の切削部又は前記第2の切削部のいずれか、及び前記第2の切削加工部の前記第3の切削部又は前記第4の切削部のいずれかを、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御すると共に、前記第1の切削部及び前記第2の切削部と、前記第3の切削部及び前記第4の切削部とのいずれもが干渉する位置へ移動しないように、前記第1の切削加工部及び前記第2の切削加工部の少なくとも一方の干渉回避制御を行う
ことを特徴とする請求項11~請求項17のいずれか1項記載の歯科技工物製造装置。 - 前記制御部は、前記第1の切削部及び前記第2の切削部のうちサイズが大きい切削部と、前記第3の切削部及び前記第4の切削部のうちサイズが大きい切削部との間が所定距離以上離れるように、前記干渉回避制御を行うことを特徴とする請求項18記載の歯科技工物製造装置。
- 歯科技工物製造装置において、
切削部を備えた複数の切削加工部と、
前記複数の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記複数の切削加工部の各々の位置を制御する制御部と、を備え、
前記制御部は、前記複数の切削加工部のうちの一の切削加工部と、前記一の切削加工部とは異なる他の切削加工部とが干渉する位置へ移動しないように、前記一の切削加工部及び前記他の切削加工部の少なくとも一方の干渉回避制御を行う
ことを特徴とする歯科技工物製造装置。 - コンピュータに、
第1の切削加工部の切削部及び第2の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御し、
前記第1の切削加工部の切削部と前記第2の切削加工部の切削部とが干渉する位置へ移動しないように、前記第1の切削加工部及び前記第2の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造プログラム。 - コンピュータに、
複数の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記複数の切削加工部の各々の位置を制御し、
前記複数の切削加工部のうちの一の切削加工部と、前記一の切削加工部とは異なる他の切削加工部とが干渉する位置へ移動しないように、前記一の切削加工部及び前記他の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造プログラム。 - コンピュータに、
第1の切削加工部の切削部及び第2の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御し、
前記第1の切削加工部の切削部と前記第2の切削加工部の切削部とが干渉する位置へ移動しないように、前記第1の切削加工部及び前記第2の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造方法。 - コンピュータに、
複数の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記複数の切削加工部の各々の位置を制御し、
前記複数の切削加工部のうちの一の切削加工部と、前記一の切削加工部とは異なる他の切削加工部とが干渉する位置へ移動しないように、前記一の切削加工部及び前記他の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造方法。 - コンピュータに、
第1の切削加工部の切削部及び第2の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記第1の切削加工部及び前記第2の切削加工部の各々の位置を制御し、
前記第1の切削加工部の切削部と前記第2の切削加工部の切削部とが干渉する位置へ移動しないように、前記第1の切削加工部及び前記第2の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造プログラムを記憶した記憶媒体。 - コンピュータに、
複数の切削加工部の切削部の各々を、異なる方向から切削対象物に当接させて前記切削対象物の切削が実行されるように、前記複数の切削加工部の各々の位置を制御し、
前記複数の切削加工部のうちの一の切削加工部と、前記一の切削加工部とは異なる他の切削加工部とが干渉する位置へ移動しないように、前記一の切削加工部及び前記他の切削加工部の少なくとも一方の干渉回避制御を行う
ことを含む処理を実行させる歯科技工物製造プログラムを記憶した記憶媒体。
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JPH0375904A (ja) * | 1989-08-18 | 1991-03-29 | Honda Motor Co Ltd | ロボットのオフライン教示装置 |
JPH03266102A (ja) * | 1990-03-16 | 1991-11-27 | Nec Corp | 数値制御装置 |
JPH0423103A (ja) * | 1990-05-18 | 1992-01-27 | Okuma Mach Works Ltd | 数値制御情報作成装置 |
JP2002328711A (ja) * | 2001-04-27 | 2002-11-15 | Mitsubishi Electric Corp | 数値制御方法及びその装置 |
JP2006059187A (ja) | 2004-08-20 | 2006-03-02 | Okuma Corp | 数値制御装置 |
JP2007286688A (ja) * | 2006-04-12 | 2007-11-01 | Nakamura Tome Precision Ind Co Ltd | 工作機械の干渉検出方法及び制御装置 |
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JPS62136340A (ja) * | 1985-12-10 | 1987-06-19 | Fanuc Ltd | 4軸旋盤用ncプログラムの修正方法 |
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JPS62246459A (ja) * | 1986-04-16 | 1987-10-27 | Okuma Mach Works Ltd | 自動プログラミングにおける4軸同時加工再組合せ決定方法 |
JPS63266505A (ja) | 1987-04-23 | 1988-11-02 | Osaka Kiko Co Ltd | 自動金型加工装置 |
JPH0375904A (ja) * | 1989-08-18 | 1991-03-29 | Honda Motor Co Ltd | ロボットのオフライン教示装置 |
JPH03266102A (ja) * | 1990-03-16 | 1991-11-27 | Nec Corp | 数値制御装置 |
JPH0423103A (ja) * | 1990-05-18 | 1992-01-27 | Okuma Mach Works Ltd | 数値制御情報作成装置 |
JP2002328711A (ja) * | 2001-04-27 | 2002-11-15 | Mitsubishi Electric Corp | 数値制御方法及びその装置 |
JP2006059187A (ja) | 2004-08-20 | 2006-03-02 | Okuma Corp | 数値制御装置 |
JP2007286688A (ja) * | 2006-04-12 | 2007-11-01 | Nakamura Tome Precision Ind Co Ltd | 工作機械の干渉検出方法及び制御装置 |
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EP3416006B1 (en) | 2021-12-15 |
JP6627892B2 (ja) | 2020-01-08 |
JPWO2017138120A1 (ja) | 2018-11-29 |
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