WO2023007664A1 - 推定装置 - Google Patents

推定装置 Download PDF

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Publication number
WO2023007664A1
WO2023007664A1 PCT/JP2021/028170 JP2021028170W WO2023007664A1 WO 2023007664 A1 WO2023007664 A1 WO 2023007664A1 JP 2021028170 W JP2021028170 W JP 2021028170W WO 2023007664 A1 WO2023007664 A1 WO 2023007664A1
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WO
WIPO (PCT)
Prior art keywords
polygon
axis
rotary tool
tool
rotation axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/028170
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English (en)
French (fr)
Japanese (ja)
Inventor
高史 三好
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP2023537854A priority Critical patent/JPWO2023007664A1/ja
Priority to PCT/JP2021/028170 priority patent/WO2023007664A1/ja
Priority to US18/574,990 priority patent/US20240345562A1/en
Priority to CN202180100781.XA priority patent/CN117642704A/zh
Priority to DE112021007709.0T priority patent/DE112021007709T5/de
Publication of WO2023007664A1 publication Critical patent/WO2023007664A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/4093—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 program data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part program, for the NC machine
    • G05B19/40931—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 program data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part program, for the NC machine concerning programming of geometry
    • 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—Program-control systems
    • G05B19/02—Program-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 program 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 program 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
    • G05B2219/45—Nc applications
    • G05B2219/45236—Facing, polygon working, polyhedron 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
    • 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
    • G05B2219/49153—Avoid collision, interference between tools moving along same axis

Definitions

  • the present disclosure relates to an estimation device for estimating whether or not interference will occur in a machine tool, and a computer-readable storage medium.
  • the present disclosure is capable of estimating whether or not interference will occur in a machine tool before machining is performed when performing polygon machining by controlling the relative positions of the central axis of the polygon and the rotary tool. It is an object of the present invention to provide an accurate estimation device.
  • the estimating device determines the central axis of the polygon and the rotational axis of the rotary tool so that the positional relationship between the central axis of the polygon parallel to the rotational axis of the work and passing through a predetermined position of the work and the rotational axis of the rotary tool is constant.
  • an estimating device for estimating whether or not interference will occur in a machine tool when machining a polygon by controlling the relative position between the a determination unit that determines an initial position of a central axis of the polygon, an initial phase of the rotary tool, and a positional relationship between the central axis of the polygon and the rotary axis of the rotary tool at the start of machining of the polygon; At least one of the rotary axis of the rotary tool and the rotary axis of the workpiece is determined based on the determined initial position of the central axis of the polygon, the initial phase of the rotary tool, and the positional relationship between the central axis of the polygon and the rotary axis of the rotary tool.
  • a calculation unit that calculates the movement range; and an estimation unit that estimates whether or not interference will occur in the machine tool based on the model information received by the reception unit and the movement range calculated by the calculation unit.
  • a computer-readable storage medium storing instructions for causing a computer to estimate whether or not interference will occur in a machine tool when machining a polygon by controlling the receives model information of the structures that make up the machine tool, the initial position of the central axis of the polygon, the initial phase of the rotary tool, and the rotation of the central axis of the polygon and the rotary tool at the start of polygon machining.
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with respect to a work;
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with respect to a work;
  • It is a figure explaining an example of the function of a numerical controller. It is a figure explaining an initial state.
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with respect to a work;
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with respect to a work;
  • It is a figure explaining an example of the function of a numerical controller. It is a figure explaining an initial state.
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with respect to a work;
  • FIG. 4 is a diagram showing an example of a trajectory of a cutting edge of a rotary tool with
  • FIG. 4 is a diagram for explaining the positional relationship between the rotation axis of the rotary tool and the center axis of the polygon; It is a block diagram which shows an example of the function of an estimation apparatus. It is a figure explaining an example of an initial state. It is a figure explaining an example of the flow of the process performed by an estimation apparatus.
  • FIG. 10 is a diagram illustrating an example of changing the initial position of the center axis of a polygon;
  • the estimation device estimates whether or not interference will occur in the machine tool when performing polygon machining by controlling the relative positions of the workpiece and the rotary tool before machining is performed.
  • the estimating device is implemented, for example, in a numerical controller that controls a machine tool.
  • the estimating device may be implemented in a server that is LAN (Local Area Network) connected to the numerical controller.
  • the estimating device may be implemented in a server connected to the numerical controller via the Internet. An example in which the estimating device is implemented in a numerical controller will be described below.
  • FIG. 1 is a block diagram showing an example of the hardware configuration of a machine tool equipped with a numerical controller.
  • Machine tool 1 includes a lathe, a machining center, and a multitasking machine.
  • the machine tool 1 includes a numerical controller 2, an input/output device 3, a servo amplifier 4, a tool rotating servo motor 5, an X-axis servo motor 6, a Y-axis servo motor 7, and a Z-axis servo motor.
  • a motor 8, a spindle amplifier 9, a spindle motor 10, and an auxiliary device 11 are provided.
  • the numerical controller 2 is a device that controls the machine tool 1 as a whole.
  • the numerical controller 2 includes a hardware processor 201 , a bus 202 , a ROM (Read Only Memory) 203 , a RAM (Random Access Memory) 204 and a nonvolatile memory 205 .
  • the hardware processor 201 is a processor that controls the entire numerical controller 2 according to the system program.
  • a hardware processor 201 reads a system program or the like stored in a ROM 203 via a bus 202 and performs various processes based on the system program.
  • the hardware processor 201 controls the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, the Z-axis servomotor 8, and the spindle motor 10 based on the machining program.
  • the hardware processor 201 is, for example, a CPU (Central Processing Unit) or an electronic circuit.
  • the hardware processor 201 analyzes, for example, a machining program, and analyzes the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, the Z-axis servomotor 8, and the spindle It outputs a control command to the motor 10 .
  • a bus 202 is a communication path that connects each piece of hardware in the numerical controller 2 to each other. Each piece of hardware within the numerical controller 2 exchanges data via the bus 202 .
  • the ROM 203 is a storage device that stores system programs and the like for controlling the numerical controller 2 as a whole.
  • a ROM 203 is a computer-readable storage medium.
  • the RAM 204 is a storage device that temporarily stores various data.
  • the RAM 204 functions as a work area for the hardware processor 201 to process various data.
  • the nonvolatile memory 205 is a storage device that retains data even when the machine tool 1 is powered off and power is not supplied to the numerical controller 2 .
  • the nonvolatile memory 205 stores, for example, machining programs and various parameters.
  • Non-volatile memory 205 is a computer-readable storage medium.
  • the nonvolatile memory 205 is composed of, for example, an SSD (Solid State Drive).
  • the numerical controller 2 further comprises an interface 206 , an axis control circuit 207 , a spindle control circuit 208 , a PLC (Programmable Logic Controller) 209 and an I/O unit 210 .
  • an interface 206 an interface 206 , an axis control circuit 207 , a spindle control circuit 208 , a PLC (Programmable Logic Controller) 209 and an I/O unit 210 .
  • the interface 206 connects the bus 202 and the input/output device 3 .
  • the interface 206 sends various data processed by the hardware processor 201 to the input/output device 3, for example.
  • the input/output device 3 is a device that receives various data via the interface 206 and displays various data. The input/output device 3 also accepts input of various data and sends the various data to the hardware processor 201 via the interface 206 .
  • the input/output device 3 is, for example, a touch panel.
  • the touch panel is, for example, a capacitive touch panel. Note that the touch panel is not limited to the capacitive type, and may be a touch panel of another type.
  • the input/output device 3 is installed, for example, on a control panel (not shown) in which the numerical control device 2 is stored.
  • the axis control circuit 207 is a circuit that controls the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, and the Z-axis servomotor 8.
  • the axis control circuit 207 receives a control command from the hardware processor 201 and drives the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, and the Z-axis servomotor 8.
  • Various commands are output to the servo amplifier 4 .
  • the axis control circuit 207 sends to the servo amplifier 4 torque commands for controlling the torques of the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, and the Z-axis servomotor 8, for example.
  • the servo amplifier 4 receives a command from the axis control circuit 207 and supplies current to the tool rotating servomotor 5, the X-axis servomotor 6, the Y-axis servomotor 7, and the Z-axis servomotor 8.
  • the tool rotating servomotor 5 is driven by being supplied with current from the servo amplifier 4 .
  • the tool rotating servomotor 5 is connected to, for example, the shaft of a rotary tool installed on the tool post.
  • the rotary tool is rotated by driving the tool rotating servomotor 5 .
  • a rotary tool is, for example, a polygon cutter.
  • the X-axis servomotor 6 is driven by being supplied with current from the servo amplifier 4 .
  • the X-axis servomotor 6 is connected to, for example, a ball screw that drives the tool post.
  • a structure of the machine tool 1 such as a tool post moves in the X-axis direction.
  • the X-axis servomotor 6 may incorporate a speed detector (not shown) for detecting the feed speed of the X-axis.
  • the Y-axis servomotor 7 is driven by being supplied with current from the servo amplifier 4 .
  • the Y-axis servomotor 7 is connected to, for example, a ball screw that drives the tool post.
  • a structure of the machine tool 1 such as a tool post moves in the Y-axis direction.
  • the Y-axis servomotor 7 may incorporate a speed detector (not shown) for detecting the Y-axis feed speed.
  • the Z-axis servomotor 8 is driven by being supplied with current from the servo amplifier 4 .
  • the Z-axis servomotor 8 is connected to, for example, a ball screw that drives the tool post.
  • a structure of the machine tool 1 such as a tool post moves in the Z-axis direction.
  • the Z-axis servomotor 8 may incorporate a speed detector (not shown) for detecting the Z-axis feed speed.
  • a spindle control circuit 208 is a circuit for controlling the spindle motor 10 .
  • a spindle control circuit 208 receives a control command from the hardware processor 201 and outputs a command for driving the spindle motor 10 to the spindle amplifier 9 .
  • the spindle control circuit 208 for example, sends a torque command for controlling the torque of the spindle motor 10 to the spindle amplifier 9 .
  • the spindle amplifier 9 receives a command from the spindle control circuit 208 and supplies current to the spindle motor 10 .
  • the spindle motor 10 is driven by being supplied with current from the spindle amplifier 9 .
  • a spindle motor 10 is connected to the main shaft and rotates the main shaft.
  • the spindle motor 10 has an angle detector (not shown) that detects the rotation angle of the main shaft.
  • the PLC 209 is a device that executes ladder programs and controls the auxiliary equipment 11 .
  • PLC 209 sends commands to auxiliary device 11 via I/O unit 210 .
  • the I/O unit 210 is an interface that connects the PLC 209 and the auxiliary equipment 11 .
  • the I/O unit 210 sends commands received from the PLC 209 to the auxiliary equipment 11 .
  • the auxiliary device 11 is a device that is installed in the machine tool 1 and performs an auxiliary operation in the machine tool 1.
  • the auxiliary equipment 11 operates based on commands received from the I/O unit 210 .
  • the auxiliary device 11 may be a device installed around the machine tool 1 .
  • the auxiliary device 11 is, for example, a tool changer, a cutting fluid injection device, or an opening/closing door driving device.
  • the numerical controller 2 executes polygon machining by controlling a tool rotating servomotor 5, an X-axis servomotor 6, a Y-axis servomotor 7, a Z-axis servomotor 8, and a spindle motor .
  • Polygon machining is machining for forming the cross-sectional shape of a workpiece into a polygonal shape.
  • the cross section is a cross section perpendicular to the rotation axis of the work.
  • the numerical controller 2 particularly performs processing to form polygons at positions eccentric from the rotation axis of the workpiece.
  • FIG. 2 is a diagram explaining an example of a polygon formed at a position eccentric from the rotation axis of the work.
  • the rotation axis Rw of the work is the center of rotation of the work. That is, the central axis Cp of the polygon is located at a position shifted from the rotation axis Rw of the work, in other words, at a position different from the rotation axis Rw of the work.
  • the central axis Cw of the work and the rotation axis Rw of the work match, but they do not necessarily have to match.
  • the central axis Cw of the workpiece does not coincide with the rotation axis Rw of the workpiece.
  • the numerical controller 2 rotates the workpiece W and the rotary tool at a constant ratio, and keeps the relative positions of the central axis Cp of the polygon and the rotary axis of the rotary tool constant.
  • a polygon is machined on the surface of the work W.
  • the ratio of the rotation speed of the workpiece W and the rotation speed of the rotary tool is 1:2
  • the relative trajectory of the cutting edge of the rotary tool with respect to the workpiece W is represented by Equation 1 below.
  • Xn and Yn are the trajectories of the cutting edge in an orthogonal coordinate system with the central axis Cp of the polygon as the origin, ⁇ is the rotational speed of the workpiece W, and l is the distance between the central axis Cp of the polygon and the rotational axis of the rotary tool.
  • r is the radius of the rotary tool
  • N is the number of blades of the rotary tool T
  • the cutting edge number is a number assigned to each cutting edge in order from 1 in order to identify each cutting edge of the rotary tool T. As shown in FIG.
  • FIG. 4 shows the cutting edge of the rotary tool T with respect to the workpiece W when the ratio of the rotation speed of the workpiece W to the rotation speed of the rotary tool is 1:2 and polygon machining is performed with the rotary tool T having two blades. It is a figure which shows the locus
  • FIG. 5 shows the rotation speed of the rotary tool T with respect to the workpiece W when the ratio of the rotation speed of the workpiece W to the rotation speed of the rotary tool T is 1:2 and polygon machining is performed with the rotary tool T having three blades.
  • FIG. 4 is a diagram showing the trajectory of the cutting edge; In this example, the rotary tool T rotates twice while the work W rotates once. The trajectory of each blade of the rotary tool T draws an ellipse, and the major axes of the ellipses intersect each other at an angle of 120°. Therefore, as shown in FIG. 5, a polygon P having six faces is formed on the workpiece W. As shown in FIG.
  • the processing in which the ratio of the rotational speed of the workpiece W to the rotational speed of the rotary tool T is 1:2 has been described. Polygons are formed when the product of the number of teeth is an integer greater than or equal to 3.
  • FIG. 6 is a block diagram showing an example of functions of the numerical controller 2.
  • the numerical controller 2 includes a first controller 21 , a second controller 22 and a third controller 23 .
  • the first control unit 21 , the second control unit 22 , and the third control unit 23 for example, the hardware processor 201 executes the system program stored in the ROM 203 and the processing stored in the nonvolatile memory 205 . It is realized by executing arithmetic processing using a program and various data.
  • the first control unit 21 controls the spindle motor 10 to move the central axis Cp of the polygon to the initial position before polygon processing is started.
  • the second control unit 22 controls the tool rotation servomotor 5 to move the blade of the rotary tool T to the initial position before the machining of the polygon P is started. In other words, the second controller 22 matches the phase of the rotary tool T to the initial phase.
  • the third control unit 23 controls at least the X-axis servomotor 6 and the Y-axis servomotor 7 so that the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool becomes a predetermined positional relationship. Either is controlled to move the rotation axis Rt of the rotary tool to the initial position.
  • the rotation axis Rt of the rotary tool and the rotation axis Rw of the workpiece may each be driven by the spindle motor 10, or may be driven by a servomotor.
  • the state in which the central axis Cp of the polygon is arranged at the initial position, the state in which the phase of the rotary tool T is the initial phase, and the central axis Cp of the polygon and the rotation axis of the rotary tool A state in which the positional relationship with Rt is a predetermined positional relationship is called an initial state.
  • FIG. 7 is a diagram explaining the initial state.
  • the initial state will be explained using a two-dimensional orthogonal coordinate system in which the rotation axis Rw of the work is the origin, the right direction is the positive direction of the X axis, and the upward direction is the positive direction of the Y axis.
  • the initial position of the central axis Cp of the polygon is, for example, the position where the X coordinate is 0 and the Y coordinate is k.
  • k is the distance between the rotation axis Rw of the workpiece and the center axis Cp of the polygon.
  • the initial phase of the rotary tool T is, for example, a phase in which one blade faces the central axis Cp of the polygon.
  • the position where the central axis Cp of the polygon and the rotation axis Rt of the rotary tool have a predetermined positional relationship is, for example, the position where the X coordinate of the rotary axis Rt of the rotary tool is 0 and the Y coordinate is k+l.
  • l is a value obtained by multiplying the sum of the diameter 2r of the rotary tool T and the distance a between the pair of faces of the polygon P by 1/2.
  • the first control unit 21 controls the spindle motor 10, for example. By doing so, the work W is rotated around the rotation axis Rw of the work.
  • the rotation axis Rw of the work is, for example, the central axis of the main shaft.
  • the rotation axis Rw of the work may be the center of the axis connected to the rotary table.
  • the first control unit 21 rotates the main shaft in a state where the work W is gripped by a chuck connected to the main shaft, the first control unit 21 moves the work W around the rotation axis Rw of the work. rotate.
  • the second control unit 22 rotates the rotary tool T at a rotation speed of a constant ratio to the rotation speed of the workpiece W around the rotation axis Rt of the rotary tool.
  • the second control unit 22 rotates the rotary tool T at a speed twice as fast as that of the workpiece W, for example. That is, the second control unit 22 rotates the rotary tool T so that the rotation speed of the workpiece W and the rotation speed of the rotary tool T are in a ratio of 1:2.
  • a rotary tool T is used in which two blades are arranged at positions separated from each other by 180° around the rotation axis Rt of the rotary tool.
  • a rotary tool T may be used in which three blades are arranged at positions separated from each other by 120° around the rotation axis Rt of the rotary tool.
  • the ratio between the rotational speed of the workpiece W and the rotational speed of the rotary tool T and the number of blades of the rotary tool T are not limited to these examples.
  • the ratio between the rotational speed of the work W and the rotational speed of the rotary tool T and the number of blades of the rotary tool T are determined according to the shape of the polygon P to be formed.
  • the third control unit 23 rotates the rotating tool so that the positional relationship between the rotating axis Rt of the rotating tool and the central axis Cp of the polygon parallel to the rotating axis Rw of the workpiece and passing through a predetermined position of the workpiece W is constant.
  • the relative positions of the rotational axis Rt of the polygon and the central axis Cp of the polygon are controlled.
  • the third control unit 23 controls the relative position between the rotation axis Rt of the rotary tool and the center axis Cp of the polygon by controlling the position of the rotation axis Rt of the rotary tool.
  • the position of the rotation axis Rt of the rotary tool may be fixed, and the position of the rotation axis Rw of the workpiece may be movable.
  • the third control unit 23 controls the positional relationship between the rotation axis Rt of the rotary tool and the center axis Cp of the polygon by controlling the position of the rotation axis Rw of the work.
  • FIG. 8 is a diagram explaining the positional relationship between the rotation axis Rt of the rotary tool and the central axis Cp of the polygon.
  • the X coordinate of the center axis Cp of the polygon and the X coordinate of the rotation axis Rt of the rotary tool are always the same.
  • the Y coordinate of the rotation axis Rt of the rotary tool is always a value obtained by adding 1 to the Y coordinate of the center axis Cp of the polygon. That is, if the trajectory along which the central axis Cp of the polygon moves is (Xt, Yt), the trajectory along which the rotation axis Rt of the rotary tool moves can be expressed as (Xt, Yt+l).
  • the central coordinates of the trajectory along which the rotation axis Rt of the rotary tool moves are (0, l).
  • the third control unit 23 controls the relative positions of the rotation axis Rt of the rotary tool and the central axis Cp of the polygon so that the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool is constant.
  • the polygon P is machined.
  • the polygon P is machined around the central axis Cp of the polygon passing through a predetermined position k apart from the rotation axis Rw of the workpiece.
  • the central axis Cp of the polygon moves on the circumference of a circle A1 of radius k centered on the rotation axis Rw of the work.
  • the third control unit 23 moves the rotation axis Rt of the rotary tool along the circumference of the circle A2 of radius k so that the relative position between the rotation axis Rt of the rotary tool and the center axis Cp of the polygon is constant.
  • the third control unit 23 controls the rotation angle ⁇ of the work rotation axis Rw and the distance between the work rotation axis Rw and the polygon center axis Cp. Cp may be located.
  • the rotation angle ⁇ of the workpiece rotation axis Rw is defined by the portion of the X-axis showing a positive value and the line segment connecting the workpiece rotation axis Rw and the origin in an orthogonal coordinate system having the workpiece rotation axis Rw as the origin. is the angle between
  • the third control unit 23 calculates the rotation angle ⁇ of the rotation axis Rw of the work based on information detected by an angle detector installed in the spindle motor 10, for example.
  • the third control unit 23 also reads, for example, a value indicating the distance between the rotation axis Rw of the workpiece and the center axis Cp of the polygon from the machining program. Thereby, the third control unit 23 specifies the position of the center axis Cp of the polygon with respect to the position of the rotation axis Rw of the work.
  • the third control unit 23 may use a feedback value of the rotation angle ⁇ of the rotation axis Rw of the work to control the relative position between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool.
  • the third control unit 23 rotates the rotation axis Rt of the rotary tool until the positional relationship between the center axis Cp of the polygon and the rotation axis Rt of the rotary tool reaches the initial positional relationship.
  • the cutting feed may be used to approach the center axis Cp of the polygon.
  • the third control unit 23 moves the rotary tool T, for example, to the workpiece W so that the rotary tool T and a part of the workpiece W do not come into contact when moving the position of the rotary axis Rt of the rotary tool to the initial position. It may be positioned at a position a predetermined distance away from one end of W in the Z-axis direction. In this case, the polygon P is machined by moving the rotary tool T in the Z-axis direction.
  • the estimating device determines the rotational axis Rw of the workpiece and the rotational axis Rt of the rotary tool so that the positional relationship between the central axis Cp of the polygon parallel to the rotational axis Rw of the workpiece and passing through a predetermined position of the workpiece W and the rotational axis Rt of the rotary tool is constant. It is estimated whether or not interference will occur in the machine tool 1 when machining is performed by controlling the relative position of the rotary tool with respect to the rotation axis Rt.
  • FIG. 9 is a block diagram showing an example of functions of the estimation device.
  • the estimation device 30 includes, for example, a reception unit 31 , a storage unit 32 , a determination unit 33 , a calculation unit 34 , an estimation unit 35 and an output unit 36 .
  • the reception unit 31, the determination unit 33, the calculation unit 34, the estimation unit 35, and the output unit 36 for example, the hardware processor 201 executes the system program stored in the ROM 203 and the processing program stored in the nonvolatile memory 205. , and various data to perform arithmetic processing.
  • the storage unit 32 is realized, for example, by storing data input from the input/output device 3 or an external server and various parameters in the RAM 204 or the nonvolatile memory 205 .
  • the reception unit 31 receives model information of structures that constitute the machine tool 1 .
  • Structures constituting the machine tool 1 include, for example, a headstock, a chuck, a tool post, a rotating tool T, a telescopic cover, and a splash guard.
  • Model information is, for example, information on a three-dimensional model of a structure.
  • the three-dimensional model information is, for example, three-dimensional CAD (Computer Aided Design) data.
  • the receiving unit 31 receives, for example, model information of a structure forming the machine tool 1 from an external server.
  • the storage unit 32 stores the model information received by the receiving unit 31.
  • the determination unit 33 determines the initial position of the central axis Cp of the polygon P, the initial phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotational axis Rt of the rotary tool when the polygon P is started to be processed. decide. In other words, the determination unit 33 determines the initial state of the central axis Cp of the polygon, the phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool.
  • FIG. 10 is a diagram explaining an example of the initial state.
  • the determining unit 33 determines the initial position of the central axis Cp of the polygon, for example, at a position where the X coordinate is 0 and the Y coordinate is k.
  • k is the distance between the rotation axis Rw of the workpiece and the center axis Cp of the polygon.
  • the determination unit 33 determines the initial phase of the rotary tool T, for example, at a position where one blade faces the central axis Cp of the polygon.
  • the determining unit 33 determines that the rotation axis Rt of the rotary tool is positioned 45° above the central axis Cp of the polygon, and the distance between the rotation axis Rt of the rotary tool and the central axis Cp of the polygon is 1, the positional relationship between the center axis Cp of the polygon and the rotation axis Rt of the rotary tool is determined (see (1) in FIG. 10).
  • l is a value obtained by multiplying the sum of the diameter of the rotary tool T and the distance between the pair of faces of the polygon P by 1/2. That is, when the coordinates of the center axis Cp of the polygon are (0, k), the coordinates of the position of the rotation axis Rt of the rotary tool are (lcos45°, k+lsin45°).
  • the calculation unit 34 Based on the initial position of the central axis Cp of the polygon determined by the determining unit 33, the initial phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool, the calculation unit 34: A moving range of the rotation axis Rt of the rotary tool is calculated. Note that when the position of the rotation axis Rw of the work is movable, the calculator 34 calculates the movement range of the rotation axis Rw of the work.
  • the calculation unit 34 also calculates the movement range of the cutting edge of the rotary tool T when the rotation axis Rt of the rotary tool moves within the movement range.
  • the estimation unit 35 estimates whether or not interference will occur in the machine tool 1 based on the model information received by the reception unit 31 and the movement range of the rotation axis Rt of the rotary tool calculated by the calculation unit 34 . For example, the estimation unit 35 superimposes the movement range of the rotation axis Rt of the rotary tool or the movement range of the cutting edge of the rotary tool T on the three-dimensional model of the structure received by the reception unit 31 . Thereby, the estimation unit 35 determines whether or not at least a part of the structure and the rotary tool T overlap.
  • the estimation unit 35 estimates that the machine tool 1 will interfere. If at least a portion of the structure S and the rotary tool T do not overlap, the estimation unit 35 estimates that the machine tool 1 does not interfere.
  • the output unit 36 outputs the estimation result estimated by the estimation unit 35 .
  • the output unit 36 outputs the estimation result estimated by the estimation unit 35 to the input/output device 3, for example.
  • the determination unit 33 determines the initial position of the central axis Cp of the polygon, the initial phase of the rotary tool T, and the central axis of the polygon at the start of machining of the polygon P. At least one of the positional relationships between Cp and the rotation axis Rt of the rotary tool is changed. In other words, the determination unit 33 repeatedly changes the initial state until the estimation unit 35 estimates that no interference will occur.
  • the determining unit 33 determines that the rotation axis Rt of the rotary tool is positioned 135° above the central axis Cp of the polygon, and the distance between the rotation axis Rt of the rotary tool and the central axis Cp of the polygon is The positional relationship between the center axis Cp of the polygon and the rotation axis Rt of the rotary tool is determined so as to be l (see (2) in FIG. 10).
  • the coordinates of the position of the rotation axis Rt of the rotary tool are (lcos135°, k+lsin135°).
  • the determination unit 33 determines the phase of the rotary tool T in accordance with the position of the rotation axis Rt of the rotary tool.
  • the determining unit 33 determines, for example, a position where one edge faces the central axis Cp of the polygon. That is, the determination unit 33 determines the phase of the rotary tool T to be the phase indicated by the rotary tool T in (2) of FIG. 10 .
  • the phase of the rotary tool T in (2) of FIG. 10 is obtained by adding 90° to the phase of the rotary tool T in (1) of FIG.
  • the estimation unit 35 Based on the initial position of the central axis Cp of the polygon, the initial phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotational axis Rt of the rotary tool, the estimation unit 35 Again, it is estimated whether or not interference will occur in the machine tool 1 .
  • the estimation unit 35 estimates that interference will occur at positions (1) to (3). On the other hand, the estimation unit 35 estimates that no interference occurs at the position indicated by (4).
  • first control unit 21, the second control unit 22, and the third control unit 23 control the initial position of the central axis Cp of the polygon and the initial position of the rotary tool T based on the result estimated by the estimation unit 35.
  • the phase and the positional relationship between the center axis and the rotation axis Rt of the rotary tool may be determined, and the polygon P may be machined.
  • FIG. 11 is a diagram explaining an example of the flow of processing executed by the estimating device 30.
  • FIG. 11 is a diagram explaining an example of the flow of processing executed by the estimating device 30.
  • the reception unit 31 receives model information of the structure S that constitutes the machine tool 1 (step S1).
  • the storage unit 32 stores the model information received by the receiving unit 31 (step S2).
  • the determining unit 33 determines the initial state of the central axis Cp of the polygon, the phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotary axis Rt of the rotary tool (step S3).
  • the calculation unit 34 calculates the movement range of at least one of the rotation axis Rt of the rotary tool and the rotation axis Rw of the workpiece (step S4).
  • the estimation unit 35 estimates whether or not interference will occur in the machine tool 1 (step S5).
  • the determination unit 33 determines the initial state again. That is, the determination unit 33 changes the initial state.
  • step S6 If the estimation unit 35 estimates that no interference will occur (No in step S6), the output unit 36 outputs the estimation result (step S7), and the process ends.
  • the central axis of the polygon is arranged so that the positional relationship between the central axis Cp of the polygon parallel to the rotational axis Rw of the work and passing through a predetermined position of the work W and the rotational axis Rt of the rotary tool is constant.
  • the determination unit 33 changes the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool at the start of machining.
  • the determination unit 33 may change the initial position of the center axis Cp of the polygon at the start of polygon processing.
  • the estimating unit 35 estimates that interference will occur in the machine tool 1 if polygon machining is performed from the initial states shown in (1) to (4) of FIG. change the initial position of the central axis Cp of the polygon in .
  • FIG. 12 is a diagram explaining an example of changing the initial position of the central axis Cp of the polygon.
  • the determination unit 33 determines the initial position of the center axis Cp of the polygon, for example, at a position where the X coordinate is k and the Y coordinate is 0 in the two-dimensional orthogonal coordinate system with the work rotation axis Rw as the origin.
  • k is the distance between the rotation axis Rw of the workpiece and the center axis Cp of the polygon.
  • the determination unit 33 determines the initial phase of the rotary tool T, for example, at a position where one blade faces the central axis Cp of the polygon.
  • the determining unit 33 determines that the rotation axis Rt of the rotary tool is positioned 45° above the central axis Cp of the polygon, and the distance between the rotation axis Rt of the rotary tool and the central axis Cp of the polygon is 1, the positional relationship between the center axis Cp of the polygon and the rotation axis Rt of the rotary tool is determined (see (1) in FIG. 12).
  • l is a value obtained by multiplying the sum of the diameter of the rotary tool T and the distance between the pair of faces of the polygon P by 1/2.
  • the coordinates of the rotation axis Rt of the rotary tool are (k+lcos45°, lsin45°).
  • the calculation unit 34 Based on the initial position of the central axis Cp of the polygon determined by the determining unit 33, the initial phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotation axis Rt of the rotary tool, the calculation unit 34: A moving range of the rotation axis Rt of the rotary tool is calculated. Note that when the position of the rotation axis Rw of the work is movable, the calculator 34 calculates the movement range of the rotation axis Rw of the work.
  • the calculation unit 34 also calculates the movement range of the cutting edge of the rotary tool T when the rotation axis Rt of the rotary tool moves within the movement range.
  • the estimation unit 35 estimates whether or not interference will occur in the machine tool 1 based on the model information received by the reception unit 31 and the movement range of the rotation axis Rt of the rotary tool calculated by the calculation unit 34 .
  • the determination unit 33 changes the position of the rotation axis Rt of the rotary tool with respect to the center axis Cp of the polygon.
  • the determining unit 33 determines that the rotation axis Rt of the rotary tool is positioned 135° above the central axis Cp of the polygon, and the distance between the rotation axis Rt of the rotary tool and the central axis Cp of the polygon is 1, the positional relationship between the center axis Cp of the polygon and the rotation axis Rt of the rotary tool is determined (see the position indicated by (2) in FIG. 12).
  • the coordinates of the rotation axis Rt of the rotary tool are (k+lcos135°, lsin135°).
  • the determination unit 33 determines the phase of the rotary tool T in accordance with the position of the rotation axis Rt of the rotary tool.
  • the determining unit 33 determines, for example, a position where one edge faces the central axis Cp of the polygon. That is, the determination unit 33 determines the phase of the rotary tool T to the phase indicated by the rotary tool T at the position (2) in FIG. 12, for example. In this case, the phase of the rotary tool T shown at position (2) in FIG. 12 is obtained by adding 90° to the phase of the rotary tool T shown at position (1) in FIG.
  • the estimation unit 35 Based on the initial position of the central axis Cp of the polygon, the initial phase of the rotary tool T, and the positional relationship between the central axis Cp of the polygon and the rotational axis Rt of the rotary tool, the estimation unit 35 Again, it is estimated whether or not interference will occur in the machine tool 1 .
  • the estimation unit 35 estimates that interference will occur at positions (1) and (2). On the other hand, the estimation unit 35 estimates that no interference occurs at the position indicated by (3).
  • the determination unit 33 changes the initial position of the central axis Cp of the polygon at the start of polygon processing.
  • the determination unit 33 may change the initial phase of the rotary tool T. That is, when the estimation unit 35 estimates that interference will occur, the determination unit 33 determines the initial position of the central axis Cp of the polygon, the initial phase of the rotary tool T, and the central axis Cp of the polygon and the rotation At least one of the positional relationships between the tool and the rotation axis Rt may be changed. In this case, the estimating device 30 can efficiently find the position where no interference occurs in the machine tool 1 .

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Geometry (AREA)
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PCT/JP2021/028170 2021-07-29 2021-07-29 推定装置 Ceased WO2023007664A1 (ja)

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PCT/JP2021/028170 WO2023007664A1 (ja) 2021-07-29 2021-07-29 推定装置
US18/574,990 US20240345562A1 (en) 2021-07-29 2021-07-29 Inference device
CN202180100781.XA CN117642704A (zh) 2021-07-29 2021-07-29 推定装置
DE112021007709.0T DE112021007709T5 (de) 2021-07-29 2021-07-29 Folgerungsvorrichtung

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JPH02309401A (ja) * 1989-05-24 1990-12-25 Okuma Mach Works Ltd 数値制御装置
JPH04164557A (ja) * 1990-10-29 1992-06-10 Fanuc Ltd ポリゴン加工方法
JP2015079348A (ja) * 2013-10-17 2015-04-23 ブラザー工業株式会社 数値制御装置
JP2020086759A (ja) * 2018-11-21 2020-06-04 ファナック株式会社 ３次元モデル作成装置、加工シミュレーション装置、工具経路自動生成装置
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JP4913545B2 (ja) * 2006-10-30 2012-04-11 オークマ株式会社 加工シミュレーションシステム
JP5139230B2 (ja) * 2008-10-06 2013-02-06 オークマ株式会社 数値制御装置における衝突防止装置
JP5458115B2 (ja) * 2010-02-05 2014-04-02 株式会社日立製作所 加工経路生成方法及びその装置
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JP2020086759A (ja) * 2018-11-21 2020-06-04 ファナック株式会社 ３次元モデル作成装置、加工シミュレーション装置、工具経路自動生成装置
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DE112021007709T5 (de) 2024-03-21

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