JP5669993B1 - Numerical controller - Google Patents

Abstract

  The numerical control device (1) includes a workpiece support (907) having a C-axis for rotating a workpiece and a workpiece support (907), and rotates about an H-axis parallel to the C-axis. A numerical control device that controls a machine tool (900) that has a turret (906) that moves along an orthogonal X axis and a tool (908) that processes a workpiece and does not have a Y axis that is orthogonal to the X axis (1), a movement command in virtual coordinates defined by the machining program (53) is converted into an X-axis, H-axis, and C-axis movement command, and the X-axis, H-axis, and C-axis are converted according to the converted commands. Are driven in conjunction with each other, and the machining in the Y-axis direction is performed while maintaining the posture of the workpiece.

Description

  The present invention relates to a numerical control device and a machine tool.

  Patent Document 1 includes a turret that moves linearly along the X axis and rotates about the H axis, and a tool provided on the turret, and a workpiece provided at a position away from the turret is defined as an H axis. A machine tool that rotates about a parallel C-axis is disclosed. In addition, this machine tool is not provided with a moving axis for linearly moving the turret or the workpiece along the Y axis orthogonal to the X axis and the H axis. In this machine tool, the rotation of the turret and the movement of the turret and the rotation of the workpiece are linked, and the workpiece or the tool is processed as if it were moved linearly along the Y axis.

Japanese Unexamined Patent Publication No. 01-316101

  However, the machine tool disclosed in Patent Document 1 does not consider supporting a workpiece on the turret side.

  The present invention has been made in view of the above, and is a numerical control device capable of processing a workpiece or a tool as if moved linearly along the Y axis while supporting the workpiece on the turret side. The purpose is to obtain.

  In order to solve the above-described problems and achieve the object, the present invention is provided with a workpiece support portion having a C axis for rotating a workpiece, and a workpiece support portion attached thereto, and rotating around an H axis parallel to the C axis. A numerical control device for controlling a machine tool having a turret that moves along an X axis orthogonal to the H axis and a tool for processing a workpiece, and that does not have a Y axis orthogonal to the X axis. Converts movement commands in virtual coordinates specified by the program to X-axis, H-axis, and C-axis movement commands, and executes a virtual Y-axis control mode that drives the X-axis, H-axis, and C-axis according to the converted commands. And a virtual Y-axis processing unit.

  The numerical control device according to the present invention has an effect that the workpiece or tool can be processed as if it were linearly moved along the Y axis while supporting the workpiece on the turret side.

FIG. 1 is a front view showing a schematic configuration of the machine tool according to the first embodiment of the present invention. FIG. 2 is a side view showing a schematic configuration of the machine tool according to the first embodiment of the present invention. FIG. 3 is a perspective view showing an external configuration of the machine tool according to the first embodiment of the present invention. FIG. 4 is a block diagram showing a schematic configuration (in start-up mode) of the numerical control apparatus according to the first embodiment of the present invention. FIG. 5 is a block diagram showing a schematic configuration of the numerical control apparatus according to the first embodiment of the present invention (in the work position control type virtual Y-axis mode). FIG. 6 is a flowchart showing the operation of the numerical controller. FIG. 7 is a diagram illustrating the operation of the machine tool. FIG. 8 is a diagram illustrating an example of a machining program read into the analysis processing unit. FIG. 9 is a flowchart showing a more detailed operation in step S3. FIG. 10 is a flowchart showing a more detailed operation in step S4. FIG. 11 is a flowchart showing a more detailed operation in step S5. FIG. 12 is a flowchart showing a more detailed operation in step S6. FIG. 13 is a diagram for explaining a process in which the acceleration / deceleration movement amount of the virtual coordinate axis input to the workpiece position control type virtual Y-axis processing unit is converted into the movement amount of the machine operation axis. FIG. 14 is a diagram illustrating a change in the posture of the workpiece due to the rotation of the turret around the H axis. FIG. 15 is a diagram for explaining rotation of the C axis. FIG. 16 is a diagram showing a schematic operation of the machine tool when machining a workpiece when the Xp axis of the virtual coordinate system is inclined with respect to the X axis of the machine operation axis. FIG. 17 is a diagram illustrating an example of a machining program for machining a workpiece when the Xp axis of the virtual coordinate system is inclined with respect to the X axis of the machine operation axis. FIG. 18 is a diagram illustrating a schematic operation of the machine tool when tapping is performed by linearly moving the workpiece in the Y-axis direction of the real coordinate system. FIG. 19 is a diagram illustrating an example of a machining program in the case where tapping is performed by linearly moving a workpiece in the Y-axis direction of the real coordinate system.

  Hereinafter, embodiments of a numerical control device and a machine tool according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a front view showing a schematic configuration of the machine tool according to the first embodiment of the present invention. FIG. 2 is a side view showing a schematic configuration of the machine tool according to the first embodiment of the present invention. FIG. 3 is a perspective view showing an external configuration of the machine tool according to the first embodiment of the present invention. FIG. 4 is a block diagram showing a schematic configuration (in start-up mode) of the numerical control apparatus according to the first embodiment of the present invention. FIG. 5 is a block diagram showing a schematic configuration of the numerical control apparatus according to the first embodiment of the present invention (in the work position control type virtual Y-axis mode).

  The machine tool 900 according to the first embodiment includes a turret 906, a workpiece support 907, and a tool 908. The work support portion 907 is attached to the side surface of the turret 906. A workpiece W is attached to the workpiece support portion 907.

  The machine tool 900 has an X axis, a Z axis, an H axis, and a C axis. The X axis is a movement axis that linearly moves the turret 906. The H axis is a rotation axis perpendicular to the X axis, and the turret 906 rotates around the H axis. When the turret 906 rotates around the H axis, the workpiece W attached to the workpiece support 907 also rotates around the H axis. The Z axis is a moving axis that linearly moves the turret 906 in a direction parallel to the H axis. The C axis is provided on the workpiece support 907 as a rotation axis parallel to the H axis, and the workpiece W rotates around the C axis.

  The tool 908 is a tool for cutting the workpiece W or the like. The tool 908 rotates when the workpiece W is processed. A tool 908 is provided around the turret 906. More specifically, the tool 908 is provided within a range in which the workpiece W can be moved by the turret 906 performing rotational movement about the H axis and linear movement along the X axis. 1 and 2 show a single tool 908, there may be a case where a plurality of tools 908 are provided in accordance with the purpose of processing as shown in FIG.

  In FIG. 1, the Y axis perpendicular to the X axis and the H axis is indicated by broken lines. The machine tool 900 does not have a moving axis that linearly moves the turret 906 or the workpiece W along the Y axis. However, when the user creates a required machining program, the coordinates of the X axis, the Y axis, and the C axis are used for specifying the position of a virtual coordinate system, which will be described later.

  The machine tool 900 includes X-axis, H-axis, Z-axis, C-axis servomotors 901, 902, 903, 904 and a main shaft motor 905, as shown in FIGS. The X-axis servomotor 901 moves the turret 906 along the X-axis. The H axis servo motor 902 rotates the turret 906 around the H axis. The Z-axis servo motor 903 moves the turret 906 along the Z-axis. The C-axis servo motor 904 rotates the workpiece W supported by the workpiece support unit 907 around the C-axis. The spindle motor 905 rotates the tool 908 to process the workpiece W.

  The numerical control device 1 includes a display unit 10, an input operation unit 20, a control calculation unit 30, and a drive unit 90. For example, an automatic activation signal of the machining program 53 is supplied to the control arithmetic unit 30 in response to the operation of the automatic activation button of the machining program 53 by the user. In response to this, the control calculation unit 30 activates the machining program 53, and in accordance with the machining program 53, the X-axis movement amount command, the H-axis rotation amount command, the Z-axis movement amount command, and the C-axis rotation A quantity command is generated and supplied to the drive unit 90. The drive unit 90 includes an X-axis servo control unit 91, an H-axis servo control unit 92, a Z-axis servo control unit 93, a C-axis servo control unit 94, and a main shaft control unit 95, and is input from the control calculation unit 30. X-axis servo motor 901, H-axis servo motor 902, Z-axis servo motor 903, C-axis servo according to X-axis movement amount command, H-axis rotation amount command, Z-axis movement amount command, and C-axis rotation amount command The motor 904 and the spindle motor 905 are driven.

  The control calculation unit 30 includes a PLC 36, a machine control signal processing unit 34, a storage unit 50, an analysis processing unit 40, an interpolation processing unit 70, a work position control type virtual Y-axis switching processing unit 38, a switch 35, an acceleration / deceleration processing unit 37, A workpiece position control type virtual Y-axis processing unit 60, an axis data output unit 39, an input control unit 32, a screen processing unit 31, and a parameter setting unit 33 are included.

  A signal for automatically starting the machining program 53 is input to the machine control signal processing unit 34 via the PLC 36. The machine control signal processing unit 34 instructs the analysis processing unit 40 via the storage unit 50 to activate the machining program 53.

  The storage unit 50 stores parameters 51, tool correction data 52, machining programs 53, and screen display data 54, and has a shared area 55 as a work space.

  The analysis processing unit 40 calculates the tool correction amount and stores it in the storage unit 50 as the tool correction data 52. The analysis processing unit 40 reads the machining program 53 from the storage unit 50 in response to the activation instruction of the machining program 53 and performs an analysis process on each block (each row) of the machining program 53. If the analysis block 40 includes an M code (for example, M code “M222”) that turns on the work position control type virtual Y-axis mode (virtual Y-axis control mode) in the analyzed block (row), The analysis result is transferred to the PLC 36 via the storage unit 50 and the machine control signal processing unit 34. If the analyzed block includes a code other than the M code (for example, G code “G0”, “G1”, etc.), the analysis processing unit 40 adds the tool correction amount to the analysis result and performs an interpolation processing unit. Pass to 70. When an angle formed by a coordinate axis of a real coordinate system and a coordinate axis of a virtual coordinate system, which will be described later, is specified in the machining program 53, the analysis processing unit 40 rotates the movement command by the angle to perform interpolation processing. Pass to section 70.

  When the PLC 36 receives the analysis result (for example, M code “M222”) of the work position control type virtual Y axis mode ON, the PLC 36 has the work position control type virtual Y axis signal processing unit 34a in the machine control signal processing unit 34. The work position control type virtual Y-axis valid signal is turned on and temporarily stored in the shared area 55 of the storage unit 50. Thereby, in the numerical controller 1, the workpiece position control type virtual Y-axis mode is started, and each part refers to the workpiece position control type virtual Y-axis mode signal (ON state) in the common area 55, thereby enabling the workpiece position control type virtual Y-axis mode. Recognizes that the Y-axis mode is in progress. When the PLC 36 receives the analysis result of the work position control type virtual Y-axis mode OFF (for example, the M code “M223”), the PLC 36 has the work position control type virtual Y-axis signal processing unit 34 a in the machine control signal processing unit 34. The work position control type virtual Y-axis valid signal is turned off and temporarily stored in the common area 55. Thereby, in the numerical controller 1, the workpiece position control type virtual Y-axis mode is canceled, and a control mode other than the workpiece position control type virtual Y-axis mode is set.

  The interpolation processing unit 70 receives the analysis result (position command) from the analysis processing unit 40, performs an interpolation process on the analysis result (position command), and sends the interpolation processing result (movement amount, rotation amount) to the acceleration / deceleration processing unit 37. Output. In the following description, the amount of movement and movement may mean the amount of rotation and rotation.

  The acceleration / deceleration processing unit 37 performs acceleration / deceleration processing on the result of the interpolation processing output from the interpolation processing unit 70. The acceleration / deceleration processing unit 37 outputs the acceleration / deceleration processing results for the X axis, Y axis, C axis, and H axis to the switch 35, and directly outputs the acceleration / deceleration processing results for the Z axis to the axis data output unit 39.

  The switch 35 outputs the acceleration / deceleration processing result to either the workpiece position control type virtual Y-axis processing unit 60 or the axis data output unit 39 based on the switching signal from the workpiece position control type virtual Y-axis switching processing unit 38. The workpiece position control type virtual Y-axis switching processing unit 38 performs acceleration / deceleration processing when the workpiece position control type virtual Y-axis mode signal of the common area 55 is ON and the workpiece position control type virtual Y-axis mode is selected. The switch 35 is switched so as to connect the unit 37 and the workpiece position control type virtual Y-axis processing unit 60. The workpiece position control type virtual Y-axis switching processing unit 38 switches the switch 35 so as to directly connect the acceleration / deceleration processing unit 37 and the axis data output unit 39 in a control mode other than the workpiece position control type virtual Y-axis mode.

  The workpiece position control type virtual Y-axis processing unit 60 receives an XYC axis movement amount command input from the acceleration / deceleration processing unit 37 in the XHC coordinate system under the workpiece position control type virtual Y-axis mode. Convert to a command in. That is, the workpiece position control type virtual Y-axis processing unit 60 converts the movement amount command of the XYC axis input from the acceleration / deceleration processing unit 37 into the movement position command (X1, Y1, C1), and converts it. The coordinate of the movement position command is converted into an X-axis movement position command, an H-axis rotation position command, and a C-axis rotation position command, which are movement position commands in the machine coordinate system as the actual coordinate system, and the X-axis and H-axis The respective movement positions (Xr, Hr, Cr) of the C axis are obtained. As a result, the workpiece position control type virtual Y-axis processing unit 60 drives the X axis, the H axis, and the C axis in conjunction with each other via the driving unit 90.

  Next, a detailed procedure for machining the workpiece W using the machine tool 900 and the numerical control apparatus 1 described above will be described. FIG. 6 is a flowchart showing the operation of the numerical control apparatus 1. FIG. 7 is a diagram illustrating the operation of the machine tool 900.

  First, the machining program 53 is read into the analysis processing unit 40 (step S1). FIG. 8 is a diagram illustrating an example of the machining program 53 read into the analysis processing unit 40. In block (1) in the machining program 53, a tool for milling the workpiece W is selected in accordance with the “T1010” command (step S2). In block (1), a tool correction amount (tx, ty) corresponding to the selected tool is calculated and stored in the storage unit 50 as tool correction data 52. The tool correction amount is calculated based on the machine configuration parameter 56 stored in the storage unit 50, for example. The machine configuration parameter 56 is a parameter indicating a tool length, for example. Further, as shown in FIGS. 7A and 7B, the workpiece W supported by the workpiece support 907 is moved to the installation position (initial position) of the selected tool 908.

  In block (2) in the machining program 53, the work position control type virtual Y-axis mode is instructed by the “M222” command (step S3). FIG. 9 is a flowchart showing a more detailed operation in step S3.

  When detecting the M command, the analysis processing unit 40 notifies the machine control signal processing unit 34 of the M command and its number (222) (step S301). Here, the workpiece position control side virtual Y-axis signal processing means 34a of the machine control signal processing unit 34 stops the operation of the machining program 53 until the workpiece position control type virtual Y-axis valid signal is turned ON.

  Next, the machine control signal processing unit 34 notifies the PLC 36 of the M command and its number (222) (step S302). The PLC 36 determines that the M command is a command for executing the workpiece position control type Y-axis mode, and turns ON the workpiece position control type virtual Y-axis valid signal included in the workpiece position control type virtual Y-axis signal processing unit 34a. (Step S303).

  The workpiece position control type virtual Y-axis signal processing means 34a confirms that the workpiece position control type virtual Y-axis valid signal has been turned ON, and "work position control type virtual Y-axis mode" information and "startup mode" Information is stored in the shared area 55 of the storage unit 50 (step S304), and the operation of the machine tool 900 is resumed. Here, the numerical control device 1 is in the start-up mode shown in FIG.

  Returning to FIG. 8, the virtual coordinate origin is set in blocks (3) and (4) of the machining program 53 (step S4 in FIG. 6). FIG. 10 is a flowchart showing a more detailed operation in step S4. The analysis processing unit 40 analyzes the character string of the block (3) in which the G52 command of the machining program 53 is described. The analysis processing unit 40 stores the values of X and Y commanded by the axis name in the block (3) as the “virtual coordinate origin” in the shared area 55 (step S401).

  In the block (3), since the virtual coordinate origin is X-200, Y-100, as shown in FIG. 7C, (X, Y) = (− 200, −100) in the real coordinates. Is the origin of the virtual coordinates (Xp, Yp). As shown in FIG. 7C, the virtual coordinate origin is set based on the position of the tool 908. Note that the X axis of the real coordinate system coincides with the X axis of the machine operation axis. The origin of the real coordinate system is an arbitrary point on the X axis of the machine operation axis, and the Y axis of the real coordinate system intersects the X axis at the origin and is an axis perpendicular to the X axis and the H axis (FIG. 1). See also).

  Further, the value of D commanded by the axis name is stored in the common area 55 as “the rotation angle Θ of virtual coordinates” (step S402). Since the block (3) is D0, as shown in FIG. 7C, the virtual coordinates (Xp, Yp) are not rotated, and the Xp axis of the virtual coordinate system is the X axis of the machine motion axis. Set to parallel. This indicates that the tool 908 is provided without being inclined with respect to the X axis of the machine operation axis.

  Next, the analysis processing unit 40 analyzes the character string of the block (4) for which the G92 command of the machining program 53 is given. The analysis processing unit 40 presets with the value of C commanded by the axis name in the block (4), and stores this preset amount in the shared area 55 as the “virtual coordinate origin” of the C axis (step S403). In the block (4), since it is C0, the angle of the C axis at the present time is set as the virtual coordinate origin of the C axis.

  In the subsequent processing, for each block of the machining program 53, based on the X, Y, and C command positions described in that block and the virtual coordinate origin set in steps S4 (S401 to S403), the virtual coordinates The end point position (xp, yp, cp) at is calculated by the analysis processing unit 40.

  Returning to FIG. 8, in the block (5) of the machining program 53, the workpiece W is positioned at the machining start position as a start-up operation (step S5 in FIG. 6). The start-up operation is performed when the “work position control type virtual Y-axis mode” information and the “start-up mode” information are stored in the common area 55 and when the first movement command block is analyzed. That is, when the block (5) of the machining program 53 is analyzed, the command is a movement command (G command), and the work area control type virtual Y-axis mode information and “startup mode” information are stored in the shared area 55. Is stored, so a startup operation is performed.

  FIG. 11 is a flowchart showing a more detailed operation in step S5. First, the analysis processing unit 40 adds the tool correction amount (tx, ty) stored as the tool correction data 52 in step S1 to the coordinates commanded in the block (5), and the end point position on the virtual coordinates ( Processing start position) (Xpe, Ype, cp) is calculated (step S501). Specifically, it is calculated by (Xpe, Ype, cp) = (xp + tx, yp + ty, cp).

  Next, the analysis processing unit 40 uses the workpiece position control type virtual Y-axis coordinate system rotation unit 40a to calculate the end point position calculated in step S501 from the rotation angle Θ of the virtual coordinate stored in the common area 55 in step S402. The coordinates are rotated to calculate (Xpe ′, Ype ′) (step S502). Specifically, the coordinates are rotated by (Xpe ′, Ype ′) = G (Xpe, Ype, Θ).

Next, the analysis processing unit 40 calculates the machine position (Xe, He, Ce) by using the work position control type virtual Y-axis start-up means 40b to perform the reverse polar coordinate conversion of the end point position rotated in step S502 (step S502). S503). Specifically, the inverse polar coordinate transformation is performed using (Xe, He, Ce) = f ⁻¹ (Xpe ′, Ype ′, cp). Thus, the workpiece position control type virtual Y-axis startup means 40b calculates the end point position on the machine operation axis (X, H, C) in response to the movement command described in the block. Further, the calculated end point position is output to the interpolation processing unit 70.

  Next, the interpolation processing unit 70 determines each machine operation axis (X axis, H per control cycle) from the end point position and the commanded feed speed on the machine operation axis (X, H, C) calculated in step S503. The movement amount of the axis and the C axis is calculated (step S504). With the G0 command described in the block (5) of the machining program 53, the movement amount of each machine operation axis (X axis, H axis, C axis) is calculated at the rapid feed speed. Therefore, the movement amount is calculated without considering the cooperation between the machine operation axes (X axis, H axis, C axis). The calculated movement amount is output to the acceleration / deceleration processing unit 37.

  Next, the acceleration / deceleration processing unit 37 performs a filter process on the movement amount calculated as a step by the interpolation processing unit 70 so that the servo motors 901 to 904 can follow each machine motion axis (X axis). , H axis, C axis) are converted into smooth acceleration / deceleration movement amounts (step S505).

  Here, when the “work position control type virtual Y-axis mode” information and the “start-up mode” information are stored in the common area 55, that is, during the start-up mode operation, the acceleration / deceleration processing unit 37 and the axis data output unit 39. The switch 35 is switched so as to connect the two. Therefore, the acceleration / deceleration movement amount output from the acceleration / deceleration processing unit 37 is input to the axis data output unit 39 without passing through the work position control type virtual Y-axis processing unit 60.

  The axis data output unit 39 outputs the input acceleration / deceleration movement amounts of the machine operation axes (X axis, H axis, C axis) to the servo motors 901 to 904 (step S506). Thereby, as shown in FIG.7 (d), the workpiece | work W is moved to an end point position (machining start position).

  The workpiece position control type virtual Y-axis signal processing unit 34a deletes the “startup mode” information from the shared area 55 of the storage unit 50 after the movement of the workpiece W to the machining start position is completed (step S507). As a result, the shared area 55 stores only the “work position control type virtual Y-axis mode” information among the “work position control type virtual Y axis mode” information and the “startup mode” information. In this state, the switch 35 is switched by the workpiece position control type virtual Y axis switching processing unit 38 so that the acceleration / deceleration processing unit 37 and the workpiece position control type virtual Y axis processing unit 60 are connected. Is a state in the workpiece position control type virtual Y-axis mode shown in FIG.

  Returning to FIG. 8, in the block (6) of the machining program 53, the workpiece W is machined (step S6 in FIG. 6). FIG. 12 is a flowchart showing a more detailed operation in step S6. First, the analysis processing unit 40 adds the tool correction amount (tx, ty) stored as the tool correction data 52 in step S1 to the coordinates commanded in the block (6), and the end point position ( Xpe, Ype, cp) is calculated (step S601). Specifically, it is calculated by (Xpe, Ype, cp) = (xp + tx, yp + ty, cp).

  Next, the analysis processing unit 40 uses the workpiece position control type virtual Y-axis coordinate system rotation unit 40a to calculate the end point position calculated in step S601 from the rotation angle Θ of the virtual coordinate stored in the common area 55 in step S402. The end point position (Xpe ′, Ype ′) on the virtual coordinates is calculated by rotating the coordinates (step S602). Specifically, it is calculated by (Xpe ′, Ype ′) = G (Xpe, Ype, Θ). In this way, the analysis processing unit 40 functions as a coordinate rotation unit that rotates the movement command on the machining program 53.

  Here, among the “work position control type virtual Y axis mode” information and the “startup mode” information, only the “work position control type virtual Y axis mode” information is stored in the common area 55. In the axis mode, the workpiece position control type virtual Y-axis startup means 40b is not executed. Therefore, unlike the start-up mode operation, the end point position of the machine operation axis is not calculated by the analysis processing unit 40, and the end point position on the virtual coordinates obtained in step S602 is output to the interpolation processing unit 70.

The interpolation processing unit 70 determines the end point position (Xpe ′, Ype ′, cp) on the virtual coordinates obtained in step S602 and the commanded feed speed (F command because the block (6) is a G1 command) per control cycle. (Xp ′ _i Fdt, Yp ′ _i Fdt, cp ′ _i Fdt), which is the amount of movement of each virtual coordinate axis (Xp axis, Yp axis, Cp axis), is calculated (step S603). The calculated movement amount is output to the acceleration / deceleration processing unit 37.

Next, the acceleration / deceleration processing unit 37 performs a filtering process on the movement amount calculated as a step by the interpolation processing unit 70, and smooth acceleration / deceleration of each virtual coordinate axis (Xp axis, Yp axis, Cp axis). The movement amount (Xp _i Fdt, Yp _i Fdt, Cp _i Fdt) is converted (step S604). More specifically, (Xp _i Fdt, Yp _i Fdt, Cp _i Fdt) = h (xp ′ _i Fdt, Yp ′ _i Fdt, cp ′ _i Fdt).

  Here, in the workpiece position control type virtual Y-axis mode, as shown in FIG. 5, the switch 35 is switched so that the acceleration / deceleration processing unit 37 and the workpiece position control type virtual Y-axis processing unit 60 are connected. Therefore, the acceleration / deceleration movement amount of the virtual coordinate axis obtained in step S604 is output to the workpiece position control type virtual Y-axis processing unit 60.

  The work position control type virtual Y-axis processing unit 60 includes virtual coordinates → machine position coordinate conversion means 60a, work position control means 60b, and work position correction means 60c. The work position control type virtual Y-axis processing unit 60 performs coordinate conversion from the input acceleration / deceleration movement amount of the virtual coordinate axis by using each means 60a to 60c, and calculates the movement amount of the machine operation axis. To the axis data output unit 39. The operation of the work position control type virtual Y-axis processing unit 60 will be described in detail below.

FIG. 13 is a diagram for explaining a process in which the acceleration / deceleration movement amount of the virtual coordinate axis input to the workpiece position control type virtual Y-axis processing unit 60 is converted into the movement amount of the machine operation axis. First, in the virtual coordinate → machine position coordinate conversion means 60a, of the acceleration / deceleration movement amounts (Xp _i Fdt, Yp _i Fdt, Cp _i Fdt) of the virtual coordinate axis input to the work position control type virtual Y axis processing unit 60, The acceleration / deceleration movement amounts (Xp _i Fdt, Yp _i Fdt) of the Xp axis and Yp axis are accumulated to calculate the virtual coordinate position (Xp _i , Yp _i ) in the current control cycle (step S605) (FIG. 12). See also).

Then, the machine position (X _i , H _i ) is calculated by polar coordinate conversion from the obtained virtual coordinate position (Xp _i , Yp _i ) (step S606). Specifically, polar coordinate conversion is performed with (X _i , H _i ) = f (Xp _i , Yp _i ). Then, by using the calculated current machine position (X _i , H _i ) and the previous machine position (X _i−1 , H _i−1 ), the current machine position movement amount (X _i Fdt, H _i). Fdt) is calculated (step S607). Specifically, (X _i Fdt, H _i Fdt) = (X _i , H _i ) − (X _i−1 , H _i−1 ) is calculated.

Next, in the workpiece position control means 60b, as indicated by the addition point 80 in FIG. 13, the C-axis movement amount Cp _i Fdt obtained in step S604 and the H-axis movement amount H _i Fdt calculated in step S607. with _bets, -H i Fdt ₊ Cp i Fdt is calculated (step S608).

  This corrects the change in the posture of the workpiece W due to the rotation of the H axis, and maintains the posture of the workpiece W. FIG. 14 is a diagram showing a change in the posture of the workpiece W due to the rotation of the turret 906 around the H axis. For example, as shown in FIGS. 14A to 14B, when the turret 906 rotates 120 degrees in the CCW direction around the H axis, the posture changes as if the workpiece W is also rotated 120 degrees in the CCW direction. (The reference point P has moved to a position rotated by 120 degrees).

  Here, if the workpiece W is changed by 120 degrees in the CW direction around the C axis, the posture of the workpiece W is maintained as shown in FIG. 14C (the reference point P is not moved). In this way, the workpiece position control means 60b maintains the posture of the workpiece W by rotating the C axis in the reverse direction by the amount of rotation of the H axis.

Thus, a work position control means 60b is a movement command in the C-axis obtained from the block (6) of a machining program 53, a -H i _Fdt as a first C-axis corrected command synthesized, the first synthetic Directive It functions as a first C-axis corrected movement command unit that calculates (−H _i Fdt + Cp _i Fdt).

  Further, depending on the mechanism of the turret 906 and the work support portion 907, the C axis itself may rotate (hereinafter referred to as “rotation”) although it is smaller than the rotation amount of the H axis in conjunction with the rotation of the H axis. . FIG. 15 is a diagram for explaining rotation of the C axis. In FIG. 15A, the rotation amount is 0 degree for both the H axis and the C axis. In FIG. 15B, the H axis is rotated 90 degrees in the CW direction. At this time, the C axis itself is rotated 10 degrees in the CW direction due to the accompanying rotation accompanying the rotation of the H axis. In this example, although the H-axis is rotated only 90 degrees, the workpiece W is rotated 100 degrees in the CW direction (the reference point P is moved to a position rotated 100 degrees).

The workpiece position correcting means 60c corrects the amount of rotation of the C axis caused by the accompanying rotation, and maintains the posture of the workpiece W. In the parameter 51 of the storage unit 50, the amount of rotation when the H-axis rotates 360 degrees is stored in advance as CmpRate. The workpiece position correction unit 60c refers to the parameter 51 of the storage unit 50 and calculates the C axis rotation amount CmFdt. Specifically, it is calculated by _{CmpFdt = -H i Fdt × CmpRate /} 360. Then, the work position correcting unit 60c adds the calculated CmFdt to the −H _i Fdt + Cp _i Fdt calculated in step S608 as indicated by the addition point 81 in FIG. C _i Fdt is calculated (step S609). Specifically, C _i Fdt = −H _i Fdt + Cp _i Fdt + CmpFdt.

As described above, the workpiece position correcting unit 60c combines the first synthesis command (−H _i Fdt + Cp _i Fdt) and CmpFdt as the second C-axis correction command, and the second synthesis command (C _i Fdt = −H _i Fdt + Cp _i Fdt + CmpFdt) functions as a second C-axis correction movement command unit. That is, C _i Fdt is the amount of movement of the C axis obtained from the block (6) of the machining program 53, the amount of correction of the amount of rotation of the workpiece W accompanying the rotation of the H axis, and the amount of rotation of the workpiece W accompanying the rotation. This is a value obtained by superimposing the correction amount.

The workpiece position control type virtual Y-axis processing unit 60 then moves the machine operation axis X-axis and the H-axis (X _i Fdt, H _i Fdt) calculated in step S607 and the machine operation calculated in step S609. The movement amount (C _i Fdt) of the axis C axis is output to the axis data output unit 39.

  The axis data output unit 39 outputs the input acceleration / deceleration movement amounts of the machine operation axes (X axis, H axis, C axis) to the servo motors 901 to 904 (step S610). Thereby, as shown to FIG.7 (e), (f), the workpiece | work W is cut in a Y-axis (-) direction. Here, the machine tool 900 does not have a moving axis for linearly moving the workpiece W along the Y axis, but the linear movement of the turret 906 along the X axis and the rotation of the turret 906 around the H axis. In cooperation, the workpiece W is linearly moved along the Y axis from the machining start position to the machining end position, and milling is performed. Further, while the workpiece W is linearly moved along the Y axis, the workpiece W is rotated around the C axis so as to maintain the orientation of the milling surface. One side of the workpiece W is D-cut by the linear movement and rotation of the workpiece W.

  Also for the blocks (7) and (8) of the machining program 53, the movement amount on the machine operation axis is calculated by the procedure along the steps S601 to S610, and the workpiece W is moved. Although a detailed description of the operation is omitted, in the block (7), the work W having the D cut on one side is rotated (inverted) 180 degrees around the C axis as shown in FIG. 7 (g). Thereby, the opposite side of the D-cut surface of the workpiece W is directed to the tool 908 side.

  In the block (8), as shown in FIGS. 7 (h) and (i), the opposite side of the D-cut surface of the workpiece W is circularly cut in the Y-axis (+) direction by the G3 command.

  Returning to FIG. 8, in the block (9) of the machining program 53, the workpiece position control type virtual Y-axis mode is instructed by the “M223” command (step S7 in FIG. 6). Thereby, the operation in the workpiece position control type virtual Y-axis mode is completed.

  According to the numerical control apparatus described above, the workpiece W is supported by the turret 906, and even if it is a machine tool that does not have a moving axis that linearly moves the workpiece W in the Y-axis direction, the X-axis, H-axis, C By linking the axes, the workpiece W can be moved linearly in the Y-axis direction for processing. Further, by rotating the C axis while the workpiece W is moving, it is possible to perform processing while maintaining the posture of the workpiece W.

  Further, the change in the posture of the workpiece W caused by the rotation of the turret 906 around the H axis can be corrected by the workpiece position control means 60b by the rotation amount of the C axis (step S608 in FIG. 12). Therefore, machining can be performed while maintaining the posture of the workpiece W regardless of the rotation of the turret 906.

  Even if the workpiece W is rotated by the rotation of the turret 906 around the H axis, the workpiece position correction means 60c included in the workpiece position control type virtual Y-axis processing unit 60 causes the rotation. The amount of rotation of the C axis is corrected (step S609 in FIG. 12). Therefore, even if the workpiece W is rotated, the machining can be performed while maintaining the posture of the workpiece W.

Further, during the operation in the workpiece position control type virtual Y-axis mode, the C-axis movement amount C _i Fdt output to the axis data output unit 39 becomes the C-axis movement amount Cp _i Fdt obtained from the machining program 53. The first correction movement amount and the second correction movement amount are superimposed and calculated. If the C-axis movement amount C _i Fdt does not include the C-axis movement amount Cp _i Fdt obtained from the machining program 53, the C-axis movement is independent of the first correction movement amount and the second correction movement amount. When it is desired to rotate the workpiece, it is necessary to temporarily disable the workpiece position control type virtual Y-axis mode.

On the other hand, in the numerical control apparatus 1 according to the present embodiment, since the C axis movement amount C _i Fdt includes the C axis movement amount Cp _i Fdt obtained from the machining program 53, the workpiece position control type virtual Y axis One block of the machining program 53 in the mode can include a movement command for the workpiece W in the Y-axis direction and a movement command for the C-axis. This eliminates the need to invalidate the work position control type virtual Y-axis mode in order to issue a movement command to the C-axis. Therefore, the movement of the workpiece W to the machining start position and the positioning of the machining surface can be performed at the same time, or the machining surface can be positioned by rotating the workpiece W only by giving a movement command to the C axis. Can be reduced.

  Next, a schematic procedure of the machining operation of the workpiece W when the Xp axis of the virtual coordinate system is inclined with respect to the X axis of the machine operation axis will be described. FIG. 16 is a diagram illustrating a schematic operation of the machine tool 900 when machining the workpiece W when the Xp axis of the virtual coordinate system is inclined with respect to the X axis of the machine operation axis. FIG. 17 is a diagram illustrating an example of a machining program 53 for machining the workpiece W when the Xp axis of the virtual coordinate system is inclined with respect to the X axis of the machine operation axis.

  In block (1) of the machining program 53, a tool 908 for milling is selected. Further, the turret 906 is rotated around the H axis, and the workpiece W is moved to the installation position of the tool 908. In the block (2) of the machining program 53, the workpiece position control type virtual Y-axis mode valid is commanded. The work position control type virtual Y-axis valid signal is turned on by the PLC (see FIGS. 16A and 16B).

  In block (3) of the machining program 53, the origin of the virtual coordinate system is set. Further, the inclination angle of the tool 908 is commanded by the D command. Here, since D = 45 is described, the virtual coordinate system is a coordinate system obtained by rotating the Xp axis by 45 degrees with respect to the X axis of the machine operation axis. In the block (4) of the machining program 53, the current C-axis position is preset to 0 degrees by the description of G92 C0 (see FIG. 16C).

  In block (5) of the machining program 53, the workpiece W is positioned at the (X, Y, C) position (machining start position) of the commanded virtual coordinates (see FIG. 16 (d)).

  In the block (6) of the machining program 53, the workpiece W is cut in the Yp-axis (−) direction while the D-cut is performed while controlling the rotation amount of the C-axis so as to maintain the posture of the workpiece W (FIG. 16). (See (e) and (f)).

  In block (7) of the machining program 53, the workpiece position control type virtual Y-axis mode invalidation is instructed. The work position control type virtual Y-axis valid signal is turned off by the PLC.

  Thus, even when the tool 908 is installed with an inclination with respect to the X axis of the machine operation axis, the inclination (angle formed by the X axis and the Xp axis) is commanded as a D command. Thus, the virtual coordinates are rotated, and the workpiece W can be machined with the X, H, and C axes interlocked. Thereby, the user can create a machining program without considering the inclination of the tool, and the machining program can be easily created.

  Next, an outline procedure of the machining operation when the workpiece W is linearly moved in the Y-axis direction of the real coordinate system and the tap machining is performed will be described. FIG. 18 is a diagram illustrating a schematic operation of the machine tool 900 when tapping is performed by linearly moving the workpiece W in the Y-axis direction of the real coordinate system. FIG. 19 is a diagram illustrating an example of a machining program 53 in the case where tapping is performed by linearly moving the workpiece W in the Y-axis direction of the real coordinate system.

  In block (1) of the machining program 53, a tapping tool 908 is selected. Further, the turret 906 is rotated around the H axis, and the workpiece W is moved to the installation position of the tool 908. In the block (2) of the machining program 53, the workpiece position control type virtual Y-axis mode valid is commanded. The work position control type virtual Y-axis valid signal is turned on by the PLC.

  In block (3) of the machining program 53, the origin of the virtual coordinate system is set. Since no D command is described, it is determined that the value is the same as D = 0, and there is no rotation of virtual coordinates. In the block (4) of the machining program 53, the current C-axis position is preset to 0 degree by the description of G92 C0 (see FIGS. 18A and 18B).

  In block (5) of the machining program 53, the workpiece W is positioned at the (X, Y, C) position (machining start position) of the commanded virtual coordinates (see FIG. 18C).

  In block (6) of the machining program 53, the workpiece W is moved in the Y-axis (−) direction while tapping is performed while controlling the amount of rotation of the C-axis so as to maintain the posture of the workpiece W. When the tip of the tool 908 reaches the hole bottom position, the workpiece W is moved in the Y-axis (+) direction while controlling the amount of rotation of the C-axis so as to maintain the posture of the workpiece W (FIG. 18D). (See (e)).

  In block (7) of the machining program 53, the workpiece position control type virtual Y-axis mode is instructed invalid. The work position control type virtual Y-axis valid signal is turned off by the PLC.

  In this way, the X-axis, H-axis, and C-axis of the machine operation axis operate in conjunction with each other, so that tapping can be performed by linearly moving along the Y-axis while maintaining the posture of the workpiece W.

  As described above, the numerical control device according to the present invention is useful for a machine tool that does not have a Y-axis.

  DESCRIPTION OF SYMBOLS 1 Numerical control apparatus, 10 Display part, 20 Input operation part, 30 Control calculating part, 31 Screen processing part, 32 Input control part, 33 Parameter setting part, 34 Machine control signal processing part, 34a Work position control type virtual Y-axis signal Processing unit, 35 switch, 37 Acceleration / deceleration processing unit, 38 Work position control type virtual Y axis switching processing unit, 39 Axis data output unit, 40 Analysis processing unit, 40a Work position control type virtual Y axis coordinate system rotation unit, 40b Work piece Position control type virtual Y axis start-up means, 50 storage unit, 51 parameter, 52 tool correction data, 53 machining program, 54 screen display data, 55 common area, 56 machine configuration parameter, 60 workpiece position control type virtual Y axis processing unit, 60a Machine position coordinate conversion means, 60b Work position control means, 60c Work position correction means 70 interpolation processing unit, 80, 81 addition point, 90 drive unit, 91 X-axis servo control unit, 92 H-axis servo control unit, 93 Z-axis servo control unit, 94 C-axis servo control unit, 95 spindle control unit, 900 work Machine, 901 X-axis servo motor, 902 H-axis servo motor, 903 Z-axis servo motor, 904 C-axis servo motor, 905 spindle motor, 906 turret, 907 work support, 908 tool.

Claims (4)

A workpiece support having a C-axis for rotating the workpiece;
A turret mounted with the workpiece support, rotating about an H axis parallel to the C axis, and moving along an X axis perpendicular to the H axis;
A numerical control device for controlling a machine tool having a Y axis perpendicular to the X axis,
Converting a movement command in virtual coordinates defined by a machining program into a movement command of the X axis, the H axis, and the C axis;
In accordance with the converted command, the X-axis, the H-axis, and the C-axis are linked and driven, and a virtual Y-axis control mode is performed in which machining in the Y-axis direction is performed while maintaining the posture of the workpiece. Control device. In the virtual Y-axis control mode,
A movement command having the same rotation amount in the direction opposite to the rotation direction of the H axis is generated as a first C axis correction movement command,
The generated first C-axis corrected movement command is combined with the C-axis movement command to obtain a first combined movement command,
The numerical controller according to claim 1, wherein the C-axis is driven in accordance with the first combined movement command. In the virtual Y-axis control mode,
Wherein said virtual coordinates inclination angle of the tool relative to the X axis coordinate rotation, and generates a movement command after the coordinate rotation,
The movement command after the coordinate rotation is converted into a movement command for the X axis and the H axis, and the X axis and the H axis are driven in conjunction with each other according to the converted command. Numerical control unit. In the virtual Y-axis control mode,
When the C-axis rotates in conjunction with the rotation of the H-axis, the rotation direction of the C-axis corresponds to the direction opposite to the rotation direction of the C-axis according to the rotation of the H-axis and the rotation of the H-axis. Generating a movement command having the same rotation amount as the second C-axis correction movement command,
The generated second C-axis correction movement command is combined with the first combined movement command to form a second combined movement command,
The numerical controller according to claim 2, wherein the C-axis is driven in accordance with the second combined movement command.

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