FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
NUMERICAL CONTROL DEVICE;
MITSUBISHI ELECTRIC CORPORATION, A
CORPORATION ORGANIZED AND EXISTING
UNDER THE LAWS OF JAPAN, WHOSE ADDRESS
IS 7-3, MARUNOUCHI 2-CHOME, CHIYODA-KU,
TOKYO 1008310, JAPAN
THE FOLLOWING SPECIFICATION
PARTICULARLY DESCRIBES THE INVENTION
AND THE MANNER IN WHICH IT IS TO BE
PERFORMED.
2
DESCRIPTION
NUMERICAL CONTROL DEVICE
5 Field
[0001] The present invention relates to a numerical
control device.
Background
10 [0002] Patent Literature 1 describes an NC turret lathe
not having a Y axis. The NC turret lathe has an Z axis for
performing a feeding operation for work; a C axis for
performing rotation of the work; an X axis, which is an
axis perpendicular to the Z axis, for performing a feeding
15 operation for a tool turret; and a turret rotation axis for
performing rotation of the tool turret, but it does not
have a Y axis perpendicular to the Z axis and the X axis.
In such an NC turret lathe, the rotation of the C axis and
the rotation of the turret rotation axis are performed in
20 combination to cause a feeding operation in the Y-axis
direction of the tool with respect to the work.
Consequently, according to Patent Literature 1, it is
possible to execute, using the NC turret lathe not having
the Y axis, machining action as if the NC turret lathe had
25 the Y axis.
Citation List
Patent Literature
[0003] Patent Literature 1:Japanese Examined Patent
30 Publication No. H3-33441
Summary
Technical Problem
3
[0004] In the technology described in Patent Literature
1, virtual Y-axis control is applied to the NC turret lathe
not having the Y axis by means of the C axis of the work,
the X axis (the work approach axis) of the turret, and the
H axis (the work turning axis). Therefore, 5 the technology
is based on the premise that machining along the Y axis is
applied to the surface perpendicular to the X axis. That
is, in Patent Literature 1, there is no description
concerning the machining along the Y axis applied to an
10 inclined surface that is inclined from the X axis and the Z
axis.
[0005] The present invention has been devised in view of
the above and it is an objective of the present invention
to obtain a numerical control device that can apply, with a
15 machine tool not having a Y axis, machining along the Y
axis to an inclined surface inclined from an X axis and a Z
axis.
Solution to Problem
20 [0006] In order to solve the problem and achieve the
objective, a numerical control device is provided that
controls a machine tool having an X axis for moving a
turret to which a tool is attached, a Z axis for moving
work, and a B axis for rotating the turret around a center
25 line perpendicular to the X axis and the Z axis; having at
least one of an H axis for rotating the turret around a
center line perpendicular to a center line of rotation of
the B axis and a C axis for rotating the work around a
center line parallel to the Z axis; and not having a Y axis
30 orthogonal to the X axis and the Z axis. The numerical
control device includes: a unit that performs, during a
virtual Y-axis inclined surface machining mode for
controlling the tool to move along X-Y-Z axes relatively to
4
the work according to an X-Y-Z axis movement command in a
machining program, virtual Y inclined surface machining for
moving the tool along the Y axis relatively to the inclined
surface in a state in which the tool is inclined such that
a center axis is perpendicular to an 5 inclined surface
inclined from the X axis and the Z axis.
Advantageous Effects of Invention
[0007] According to the present invention, during the
10 virtual Y-axis inclined surface machining mode, in the
state in which the tool is inclined such that the center
axis is perpendicular to the inclined surface inclined from
the X axis and the Z axis, it is possible to perform the
virtual Y inclined surface machining for moving the tool
15 along the Y axis relatively to the inclined surface.
Consequently, it is possible to apply, with the machine
tool not having the Y axis, the machining along the Y axis
to the inclined surface inclined from the X axis and the Z
axis.
20
Brief Description of Drawings
[0008] FIG. 1 is a diagram illustrating the
configuration of a machine tool in a first embodiment.
FIG. 2 is a diagram illustrating the configuration
25 (during a startup mode) of a numerical control device
according to the first embodiment.
FIG. 3 is a diagram illustrating the configuration
(during a virtual Y-axis inclined surface mode) of the
numerical control device according to the first embodiment.
30 FIG. 4 is a flowchart for illustrating the operation
of the numerical control device according to the first
embodiment.
FIG. 5 is a flowchart for illustrating the operation
5
during the startup mode of the numerical control device
according to the first embodiment.
FIG. 6 is a flowchart for illustrating the operation
during the virtual Y-axis inclined surface mode of the
numerical control device according to the 5 first embodiment.
FIG. 7 is a diagram illustrating motions of axes
during the virtual Y-axis inclined surface mode of the
numerical control device according to the first embodiment.
FIG. 8 is a diagram illustrating a machining procedure
10 for work in the first embodiment.
FIG. 9 is a diagram illustrating a machining procedure
for work in a modification of the first embodiment.
FIG. 10 is a diagram illustrating the configuration
(during the virtual Y-axis inclined surface mode) of a
15 numerical control device according to another modification
of the first embodiment.
FIG. 11 is a diagram illustrating a machining
procedure for work in the other modification of the first
embodiment.
20 FIG. 12 is a diagram illustrating the configuration of
a machine tool in a second embodiment.
FIG. 13 is a diagram illustrating the configuration
(during a startup mode) of a numerical control device
according to the second embodiment.
25 FIG. 14 is a diagram illustrating the configuration
(during a virtual Y-axis inclined surface mode) of the
numerical control device according to the second embodiment.
FIG. 15 is a diagram illustrating motions of axes
during the virtual Y-axis inclined surface mode of the
30 numerical control device according to the second embodiment.
FIG. 16 is a diagram illustrating the configuration
(during the virtual Y-axis inclined surface mode) of a
numerical control device according to a modification of the
6
second embodiment.
FIG. 17 is a diagram illustrating the configuration of
a machine tool in a basic embodiment.
FIG. 18 is a diagram illustrating the configuration of
a numerical control device according 5 to the basic
embodiment.
FIG. 19 is a diagram illustrating the operation of the
numerical control device in the basic embodiment.
FIG. 20 is a flowchart for illustrating the operation
10 of the numerical control device in the basic embodiment.
Description of Embodiments
[0009] Exemplary embodiments of a numerical control
device according to the present invention are described in
15 detail below with reference to the drawings. Note that the
present invention is not limited by the embodiments.
[0010] First Embodiment
Before describing a numerical control device 1i
according to a first embodiment, the schematic
20 configuration of a numerical control device 1 according to
a basic embodiment is described with reference to FIG. 17
and FIG. 18. FIG. 17(a) and FIG. 17(b) are respectively a
perspective view and a front view of the external
configuration of a machine tool 900 controlled by the
25 numerical control device 1 according to the basic
embodiment. FIG. 18 is a block diagram illustrating
components of the numerical control device 1 according to
the basic embodiment.
[0011] The machine tool 900 includes, as illustrated in
30 FIGS. 17(a) and 17(b), a turret 906 and a work supporting
section 907. The machine tool 900 has an X axis; a Z axis;
an H axis; a C axis; and a principal axis. The X axis is a
moving axis for moving the turret 906. The Z axis is a
7
moving axis for moving work W. The H axis is a rotation
axis for rotating the turret 906 around a rotation center
line parallel to the Z axis to turn tools 9061 and 9062.
Center axes of the tools 9061 and 9062 radially extend from
the rotation center line of the H axis. 5 The C axis is a
rotation axis for rotating the work W around a rotation
center line parallel to the Z axis. The principal axis is
a rotation axis for rotating the work supporting section
907 around a rotation center line along the Z axis.
10 [0012] Note that, in FIG. 17, a Y axis perpendicular to
the X axis and the Z axis is indicated by a broken line.
The Y axis is a virtual moving axis used in a virtual Yaxis
control mode in a machining program created by a user.
In the virtual Y-axis control mode, the user designates
15 coordinate positions of the X axis, the Y axis, the Z axis,
the H axis, and the C axis and creates a necessary
machining program.
[0013] The machine tool 900 further includes, as
20 illustrated in FIG. 18, servomotors 901, 902, 903, and 904
respectively for X-axis, H-axis, Z-axis, and C-axis as well
as a principal axis motor 905. The X-axis servomotor 901
and the H-axis servomotor 902 perform movement of the X
axis and rotation of the H axis with respect to the turret
25 906. The Z-axis servomotor 903 and the C-axis servomotor
904 perform movement of the Z axis and rotation of the C
axis with respect to the work supporting section 907. The
principal axis motor 905 performs rotation of the principal
axis.
30 [0014] The numerical control device 1 includes a display
unit 10; an input operation unit 20; a control operation
unit 30; and a driving unit 90. For example, according to
operation of an automatic start button of a machining
8
program 53 by the user, a signal for an automatic start of
the machining program 53 is supplied to the control
operation unit 30. In response to the signal, the control
operation unit 30 starts the machining program 53;
generates a movement amount command 5 for the X axis, a
rotation amount command for the H axis, and a movement
amount command for the Z axis, and a rotation amount
command for the C axis according to the machining program
53; and supplies the commands to the driving unit 90. The
10 driving 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 principalaxis
control unit 95. The driving unit 90 drives the Xaxis
servomotor 901, the H-axis servomotor 903, the Z-axis
15 servomotor 903, the C-axis servomotor 904, and the
principal axis motor 905 according to the movement amount
command for the X axis, the rotation amount command for the
H axis, the movement amount command for the Z axis, and the
rotation amount command for the C axis input from the
20 control operation unit 30.
[0015] The control operation unit 30 includes a PLC 36;
a machine-control-signal processing unit 34; a storing unit
50; an analysis processing unit 40; an interpolation
processing unit 70; an virtual Y-axis-control-switching
25 processing unit 38; a switch 35, an
acceleration/deceleration processing unit 37; an virtual Yaxis-
control 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.
30 [0016] The signal for the automatic start of the
machining program 53 is input to the machine-control-signal
processing unit 34 through the PLC 36. The machinecontrol-
signal processing unit 34 commands the analysis
9
processing unit 40 through the storing unit 50 to start the
machining program 53.
[0017] The storing unit 50 stores parameters 51, tool
correction data 52, a machining program 53, and screen
display data 54 and includes a shared area 5 55 functioning
as a work space.
[0018] The analysis processing unit 40 calculates a tool
correction amount and causes the storing unit 50 to store
the tool correction amount as tool correction data 52. The
10 analysis processing unit 40 reads out the machining program
53 from the storing unit 50 according to a start command
for the machining program 53 and performs analysis
processing for respective blocks (respective rows) of the
machining program 53. If an M code (e.g., an M code "M111"
15 or "M101") is included in the analyzed blocks (rows), the
analysis processing unit 40 passes a result of the analysis
to the PLC 36 through the storing unit 50 and the machinecontrol-
signal processing unit 34. If a code (e.g., a G
code "G0" or "G1") other than the M code is included in the
20 analyzed rows, the analysis processing unit 40 adds a tool
correction amount to the analysis result and passes the
analysis result to the interpolation processing unit 70.
[0019] When the PLC 36 receives an analysis result of
virtual Y-axis control mode ON (e.g., the M mode "M111"),
25 the PLC 36 changes an virtual Y-axis control mode signal of
an virtual Y-axis control mode-signal processing unit 34a
in the machine-control-signal processing unit 34 into an ON
state and causes the storing unit 50 to temporarily store
the virtual Y-axis control mode signal in the shared area
30 55. Consequently, in the numerical control device 1, the
virtual Y-axis control mode starts. The units of the
numerical control device 1 refer to the virtual Y-axis
control mode signal (in the ON state) of the shared area 55
10
to thereby recognize that the numerical control device 1 is
in the virtual Y-axis control mode. When the PLC 36
receives an analysis result of virtual Y-axis control mode
OFF (e.g., the M code "M101"), the PLC 36 changes the
virtual Y-axis control mode signal of 5 the virtual Y-axis
control mode-signal processing unit 34a in the machinecontrol-
signal processing unit 34 to an OFF state and
causes the storing unit 50 to temporarily store the virtual
Y-axis control mode signal in the shared area 55.
10 Consequently, in the numerical control device 1, the
virtual Y-axis control mode is cancelled. The numerical
control device 1 changes to a control mode other than the
virtual Y-axis control mode.
[0020] The interpolation processing unit 70 receives the
15 analysis result (a position command) from the analysis
processing unit 40, performs interpolation processing for
the analysis result (the position command), and supplies a
result of the interpolation processing (a movement amount
and a rotation amount) to the acceleration/deceleration
20 processing unit 37.
[0021] The acceleration/deceleration processing unit 37
applies acceleration/deceleration processing to the result
of the interpolation processing supplied from the
interpolation processing unit 70. The
25 acceleration/deceleration processing unit 37 outputs an
acceleration/deceleration processing result concerning the
X axis, the Y axis, the C axis, the H axis, and the
principal axis to the switch 35 and directly outputs an
acceleration/deceleration processing result concerning the
30 Z axis to the axis-data output unit 39.
[0022] The switch 35 outputs, on the basis of a
switching signal from the virtual Y-axis-control-switching
processing 38, the acceleration/deceleration processing
11
result to any one of the virtual Y-axis-control processing
unit 60 and the axis-data output unit 39. In the virtual
Y-axis control mode in which the virtual Y-axis control
mode signal in the shared area 55 is ON, the virtual Yaxis-
control-switching processing unit 5 38 switches the
switch 35 to connect the acceleration/deceleration
processing unit 37 and the virtual Y-axis-control
processing unit 60. In the control mode other than the
virtual Y-axis control mode in which the virtual Y-axis
10 control mode signal in the shared area 55 is OFF, the
virtual Y-axis-control-switching processing unit 38
switches the switch 35 to connect the
acceleration/deceleration processing unit 37 and the axisdata
output unit 39.
15 [0023] In the virtual Y-axis control mode, the virtual
Y-axis-control processing unit 60 transforms a movement
amount command for the X-Y axes input from the
acceleration/deceleration processing unit 37 into a command
in an X-H-C coordinate system. That is, the virtual Y20
axis-control processing unit 60 transforms the movement
amount command for the X-Y axes input from the
acceleration/deceleration processing unit 37 into a moving
position command (X1, Y1);performs coordinatetransformation
of the transformed moving position command
25 into a moving position command for the X axis, a rotating
position command for the H axis, and a rotating position
command for the C axis, which are moving position commands
for a machine coordinate system serving as a real
coordinate system; and calculates moving positions (Xr, Hr,
30 Cr) of the X axis, the H axis, and the C axis.
Consequently, the virtual Y-axis-control processing unit 60
drives the X axis, the H axis, and the C axis in
association with one another via the driving unit 90.
12
[0024] For example, the numerical control device 1
controls machining of the work W illustrated in FIG. 19 and
FIG. 20. FIG. 19 is a diagram illustrating the operation
of the numerical control device 1. FIG. 20 is a flowchart
for illustrating the operation of the 5 numerical control
device 1.
[0025] At step S901 illustrated in FIG. 20, the
numerical control device 1 selects the tool 9061 for
milling as a tool that should be used for machining and
10 replaces a machining tool with the tool 9061.
[0026] At step S902, the numerical control device 1
selects a C-axis mode.
[0027] At step S903, the numerical control device 1
positions the turret 906 and the work W at a position where
15 the center axis of the tool 9061 and the X-axis direction
on an virtual plane are parallel to each other (see (1)
illustrated in FIG. 19). The virtual plane is a plane
formed by the X-axis and the virtual Y-axis and is a plane
corresponding to an XY plane in a program coordinate system.
20 [0028] At step S904, the numerical control device 1
enables the virtual Y-axis control mode according to a
description of the M code (e.g., the M code "M111") in the
machining program 53.
[0029] At step S905, the numerical control device 1
25 moves the tool 9061 toward a machining start position
according to a description of the machining program 53
(e.g., the G code "G0") (see (2) illustrated in FIG. 19).
[0030] At step S906, the numerical control device 1
drives the X axis, the H axis, and the C axis in
30 association with one another to thereby move the tool 9061
in a direction along the Y axis (e.g., a direction parallel
to the Y axis) from the machining start position to a
machining end position and causes the tool 9061 to perform
13
milling according to a description of the machining program
53 (e.g., the G code "G1") (see (3) illustrated in FIG. 19).
[0031] At step S907, the numerical control device 1
cancels the virtual Y-axis control mode according to a
description of the M code (e.g., the M mode 5 "M101") in the
machining program 53.
[0032] In the basic embodiment, as illustrated in FIG.
19 and FIG. 20, the virtual Y-axis control is applied to
the machine tool 900 not having the Y axis by means of the
10 C axis of the work, the X axis of the turret, and the H
axis of the turret. Therefore, the basic embodiment is
based on the premise that machining along the Y axis is
applied to a surface perpendicular to the X axis. That is,
in the basic embodiment, it is difficult to apply the
15 machining along the Y axis to an inclined surface inclined
from the X axis and the Z axis.
[0033] Therefore, in the first embodiment, the numerical
control device 1i is devised as described below to apply
the machining along the Y axis onto an inclined surface Wa
20 (see FIG. 1(a)) inclined from the X axis and the Z axis.
FIG. 1(a) and FIG. 1(b) are diagrams of external
configurations of a machine tool 900i, which is controlled
by the numerical control device 1i according to the first
embodiment, respectively viewed from directions
25 perpendicular to a ZX plane and an XY plane. FIG. 2 is a
block diagram illustrating components related to the
operation during a startup mode of the numerical control
device 1i according to the first embodiment. FIG. 3 is a
block diagram illustrating components related to an
30 operation in a virtual Y-axis inclined surface mode of the
numerical control device 1i according to the first
embodiment. In the following description, differences from
the basic embodiment are mainly described.
14
[0034] The machine tool 900i includes, as illustrated in
FIGS. 1(a) and 1(b), a turret 906i and a work supporting
section 907i. The machine tool 900i does not have the C
axis and further has a B axis. The B axis is a rotation
axis for rotating the turret 906i around 5 a rotation center
line perpendicular to the X axis and the Z axis, that is,
around a rotation center line parallel to the Y axis so as
to set the center axis of a tool 9061 inclined with respect
to the X axis and the Z axis. The center axes of the tool
10 9061i and a tool 9062i extend in parallel to the rotation
center line of the H axis.
[0035] Note that the rotation center line of the H axis
tilts according to the rotation of the B axis while being
maintained in a state in which the rotation center line is
15 parallel to the center axes of the tools 9061i and 9062i
and perpendicular to the rotation center line of the B axis.
That is, the H axis is a rotation axis for rotating the
turret 906i around a rotation center line perpendicular to
the rotation center line of the B axis.
20 [0036] As illustrated in FIG. 2 and FIG. 3, the machine
tool 900i does not include the C-axis servomotor 904 (see
FIG. 18) but further includes a B-axis servomotor 908i.
The B-axis servomotor 908i performs the rotation of the B
axis with respect to the turret 906i. Consequently, the
25 machine tool 900i can change the tool 9061i to an inclined
state such that the center axis is perpendicular to the
inclined surface Wa inclined from the X axis and the Z axis.
[0037] Note that, accordingly, a driving unit 90i does
not include the C-axis-servo control unit 94 (see FIG. 18)
30 but further includes a B-axis-servo control unit 96i.
[0038] The numerical control device 1i has an virtual Yaxis
inclined surface machining mode, as a control mode for
applying the machining along the Y axis to the inclined
15
surface Wa (see FIG. 1(a)) inclined from the X axis and the
Z axis. The virtual Y-axis inclined surface machining mode
includes the startup mode and the virtual Y-axis inclined
surface mode. In the virtual Y-axis inclined surface
machining mode, the startup mode and 5 the virtual Y-axis
inclined surface mode are sequentially and selectively
changed to an ON state.
[0039] For example, the numerical control device 1i
includes a control operation unit 30i instead of the
10 control operation unit 30 (see FIG. 18). The control
operation unit 30i includes a machine-control-signal
processing unit 34i, a storing unit 50i, an analysis
processing unit 40i, an virtual Y-axis-inclined-surfacemachining-
switching processing unit 38i, a switch 35i, and
15 an virtual Y-axis-inclined-surface-machining processing
unit 60i respectively instead of the machine-control-signal
processing unit 34, the storing unit 50, the analysis
processing unit 40, the virtual Y-axis-control-switching
processing unit 38, the switch 35, and the virtual Y-axis20
control processing unit 60.
[0040] The storing unit 50i further stores machine
configuration parameters 56i. The machine configuration
parameters 56i include, for example, tool length t of the
tool 9061i and parameters (R, L) indicating a distance from
25 a base position of the tool 9061i to the B axis rotation
center and the like (see FIG. 5).
[0041] The analysis processing unit 40i includes a
virtual Y-axis-inclined-surface-machining commanding unit
41i and a virtual Y-axis-inclined-surface-machining startup
30 unit 42i (see FIG. 2). If an M code (e.g., an M code "M37"
illustrated in FIG. 8(b)) indicating enabling of virtual Y
inclined surface machining in the machining program 53 is
included, the virtual Y-axis-inclined surface-machining
16
commanding unit 41i passes an analysis result of the M code
to the PLC 36 through the storing unit 50i and a virtual Yaxis-
inclined-surface-machining-mode-signal processing unit
34ai of the machine-control-signal processing unit 34i.
The virtual Y-axis-inclined-surface-machining 5 commanding
unit 41i causes the storing unit 50i to temporarily store,
in the shared area 55, information concerning an inclined
surface angle and an inclined surface rotation center
coordinate (e.g., "B45. X0. Z0.") included in the M code
10 indicating the enabling of the virtual Y inclined surface
machining in the machining program 53.
[0042] When the PLC 36 receives an analysis result of
virtual Y-axis inclined surface machining mode ON (e.g.,
the M code "M37" illustrated in FIG. 8(b)), the PLC 36
15 changes a startup mode signal of the virtual Y-axisinclined-
surface-machining-mode-signal processing unit 34ai
in the machine-control-signal processing unit 34i into an
ON state and causes the storing unit 50i to temporarily
store the startup mode signal in the shared area 55.
20 Consequently, in the numerical control device 1i, a startup
mode in the virtual Y-axis inclined surface machining mode
starts; and the units refer to the startup mode signal (in
the ON state) in the shared area 55 so as to thereby
recognize that the numerical control device 1i is in the
25 startup mode.
[0043] Because the numerical control device 1i is in the
startup mode, the virtual Y-axis-inclined-surfacemachining-
switching processing unit 38i switches the switch
35i to connect the acceleration/deceleration processing
30 unit 37 and the axis-data output unit 39 (see FIG. 2).
[0044] Because the numerical control device 1i is being
in the startup mode, the virtual Y-axis-inclined-surfacemachining
startup unit 42i transforms a movement start
17
position corresponding to an X-Y-Z axis movement command in
the machining program 53 into a command in an X-Z-H-B
coordinate system; drives the X axis, the Z axis, the H
axis, and the B axis in association with one another
according to the transformed command; 5 and performs a
startup operation. The startup operation is an operation
for changing the tool 9061i into an inclined state such
that the center axis is perpendicular to the inclined
surface Wa of the work W and is an operation for moving the
10 tool 9061i to a machining start position of the work W (see
FIG. 5). Note that the startup operation is performed in a
non-interpolated manner.
[0045] For example, the virtual Y-axis-inclined-surfacemachining
startup unit 42i performs a virtual-plane-polar15
coordinate transforming unit 42i1, a tool-length processing
unit 42i2, and an inclined-surface-coordinate-rotation
transforming unit 42i3. The virtual-plane-polar-coordinate
transforming unit 42i1 calculates a polar coordinate of the
H axis in the program coordinate system according to the
20 movement start position corresponding to the X-Y-Z axis
movement command in the machining program 53. The polar
coordinate of the H axis includes a rotation center
coordinate of the H axis and a rotation angle of the H axis.
The rotation center coordinate of the H axis indicates a
25 coordinate of the rotation center of the H axis in the
program coordinate system. The rotation angle of the H
axis is a rotation coordinate indicating a rotation angle
from a reference rotating position of the H axis centering
on the rotation center of the H axis. For example, the
30 virtual-plane-polar-coordinate transforming unit 42i1
transforms X-Y-Z axis command positions into a polar
coordinate of the H axis in the program coordinate system
(see FIG. 5).
18
[0046] The tool-length processing unit 42i2 corrects the
calculated rotation center coordinate of the H axis taking
into account the tool length of the tool 9061i and supplies
parameters corresponding to the corrected rotation center
coordinate of the H axis to the inclined-5 plane-coordinaterotation
transforming unit 42i3.
[0047] The inclined-surface-coordinate-rotation
transforming unit 42i3 refers to the shared area 55 of the
storing unit 50i and acquires a commanded inclined surface
10 angle and a commanded inclined surface rotation center.
The inclined-surface-coordinate-rotation transforming unit
42i3 calculates, using the parameters corresponding to the
corrected rotation center coordinate of the H axis in the
program coordinate system, a moving position command for
15 the X axis and a moving position command for the Z axis for
moving the X axis and the Z axis when the B axis is rotated
according to the commanded inclined surface angle and the
commanded inclined surface rotation center. That is, the
inclined-surface-coordinate-rotation transforming unit 42i3
20 calculates the moving position command for the X axis, the
moving position command for the Z axis, a rotating position
command for the H axis, and a rotating position command for
the B axis, which are moving position commands for the
machine coordinate system serving as a real coordinate
25 system, according to the corrected rotation center
coordinate of the H axis in the program coordinate system
and the commanded inclined surface angle and the commanded
inclined surface rotation center; and calculates moving
positions (Xr, Zr, Hr, Br) of the X axis, the Z axis, the H
30 axis, and the B axis. Consequently, the analysis
processing unit 40i drives the X axis, the Z axis, the H
axis, and the B axis in association with one another via
the driving unit 90i.
19
[0048] When the virtual Y-axis-inclined-surfacemachining-
switching processing unit 38i recognizes that the
associated driving (the startup operation) is completed,
the virtual Y-axis-inclined-surface-machining-switching
processing unit 38i changes the startup 5 signal of the
virtual Y-axis-inclined-surface-machining-mode-signal
processing unit 34ai in the machine-control-signal
processing unit 34i into an OFF state; changes an virtual
Y-axis inclined surface mode signal into an ON state; and
10 causes the storing unit 50i to temporarily store the
virtual Y-axis inclined surface mode signal in the shared
area 55. In the numerical control device 1i, consequently,
stars the virtual Y-axis inclined surface mode in the
virtual Y-axis inclined surface machining mode. The units
15 refer to the virtual Y-axis inclined surface mode signal
(the ON state) in the shared area 55 so as to thereby
recognize that the numerical control device 1i is in the
virtual Y-axis inclined surface mode.
[0049] Because the numerical control device 1i is in the
20 virtual Y-axis inclined surface mode, the virtual Y-axisinclined-
surface-machining-switching processing unit 38i
switches the switch 35i to connect the
acceleration/deceleration processing unit 37 and the
virtual Y-axis-inclined-surface-machining processing unit
25 60i (see FIG. 3).
[0050] Because the numerical control device 1i is in the
virtual Y-axis inclined surface mode, the analysis
processing unit 40i and the virtual Y-axis-inclinedsurface-
machining processing unit 60i transform the X-Y-Z
30 axis movement command in the machining program into a
command in an X-Z-H coordinate system and performs,
according to the transformed command, virtual Y inclined
surface interpolation for driving the X axis, the Z axis,
20
and the H axis in association with one another.
[0051] For example, the analysis processing unit 40i
further includes virtual Y-axis-inclined-surface-commandposition
creating unit 43i (see FIG. 3). The virtual Yaxis-
inclined-surface-command-position 5 creating unit 43i
controls the interpolation processing unit 70 such that it
interpolates the X-Y-Z axis positions in the program
coordinate system according to the X-Y-Z axis movement
command in the machining program 53. The interpolated X-Y10
Z axis positions in the program coordinate system are
supplied to the virtual Y-axis-inclined-surface-machining
processing unit 60i through the acceleration/deceleration
processing unit 37.
[0052] For example, the virtual Y-axis-inclined-surface15
machining processing unit 60i includes a virtual-planepolar-
coordinate transforming unit 61i, a tool-length
processing unit 62i, and an inclined-surface-coordinaterotation
transforming unit 63i. The virtual-plane-polarcoordinate
transforming unit 61i receives the interpolated
20 X-Y-Z axis positions in the program coordinate system. The
virtual-plane-polar-coordinate transforming unit 61i
calculates a polar coordinate of the H axis in the program
coordinate system according to the interpolated X-Y-Z axis
positions in the program coordinate system. The polar
25 coordinate of the H axis includes a rotation center
coordinate of the H axis and a rotation angle of the H axis.
The rotation center coordinate of the H axis indicates a
coordinate of the rotation center of the H axis. The
rotation angle of the H axis is a rotation coordinate
30 indicating a rotation angle from a reference rotating
position of the H axis centering on the rotation center of
the H axis. For example, the virtual-plane-polarcoordinate
transforming unit 61i transforms the
21
interpolated X-Y-Z axis positions into a polar coordinate
of the H axis in the program coordinate system (see FIG. 6).
[0053] The tool-length processing unit 62i corrects the
calculated rotation center coordinate of the H axis taking
into account the tool length of the 5 tool 9061i. For
example, the tool-length processing unit 62i includes a
“tool distal end to B-axis-rotation-center-vector
calculating unit" 62i1. The tool-length processing unit
62i applies tool length correction to the rotation center
10 coordinate of the H axis using the "tool distal end to Baxis-
rotation-center-vector calculating unit" 62i1 and
supplies parameters corresponding to the corrected rotation
center coordinate of the H axis to the inclined-surfacecoordinate-
rotation transforming unit 63i.
15 [0054] The inclined-surface-coordinate-rotation
transforming unit 63i refers to the shared area 55 of the
storing unit 50i and acquires the commanded inclined
surface angle and the commanded inclined surface rotation
center. The inclined-surface-coordinate-rotation
20 transforming unit 63i calculates, using the parameters
corresponding to the corrected rotation center coordinate
of the H axis in the program coordinate system, a moving
position command for the X axis and a moving position
command for the Z axis for moving the X axis and the Z axis
25 when the B axis is rotated according to the commanded
inclined surface angle and the commanded inclined surface
rotation center. That is, the inclined-surface-coordinaterotation
transforming unit 63i calculates the moving
position command for the X axis, the moving position
30 command for the Z axis, and a rotating position command for
the H axis, which are moving position commands for the
machine coordinate system serving as a real coordinate
system, according to the corrected rotation center
22
coordinate of the H axis in the program coordinate system
and the commanded inclined surface angle and the commanded
inclined surface rotation center; and the inclined-surfacecoordinate-
rotation transforming unit 63i calculates moving
positions (Xr, Zr, Hr) of the X axis, the 5 Z axis, and the H
axis. For example, the inclined-surface-coordinaterotation
transforming unit 63i includes a virtualcoordinate-
command-position-coordinate-rotation
transforming unit 63i1;a "tool distal end to B-axis10
rotation-center-coordinate-rotation transforming unit"
63i2; and a combining unit 63i3. The inclined-surfacecoordinate-
rotation transforming unit 63i calculates the
moving positions (Xr, Zr, Hr) of the X axis, the Z axis,
and the H axis by using the "tool distal end to B-axis15
rotation-center-coordinate-rotation transforming unit" 63i2
and the combining unit 63i3. Consequently, the analysis
processing unit 40i drives the X axis, the Z axis, and the
H axis in association with one another via the driving unit
90i.
20 [0055] When the PLC 36 receives an analysis result of
virtual Y-axis inclined surface machining mode OFF (e.g.,
an M code "M38" illustrated in FIG. 8(b)), the PLC 36
changes the virtual Y-axis inclined surface mode signal of
the virtual Y-axis control mode-signal processing unit 351
25 in the machine-control-signal processing unit 34i to an OFF
state and causes the storing unit 50i to temporarily store
the virtual Y-axis inclined surface mode signal in the
shared area 55. Consequently, in the numerical control
device 1i, the virtual Y-axis inclined surface machining
30 mode is cancelled. The numerical control device 1i changes
into a control mode other than the virtual Y-axis inclined
surface machining mode.
[0056] The operation of the numerical control device 1i
23
according to the first embodiment is described with
reference to FIG. 4 and FIG. 8(b). FIG. 4 is a flowchart
for illustrating the operation of the numerical control
device 1i according to the first embodiment. FIG. 8(b) is
a diagram illustrating description 5 contents in the
machining program 53 stored in the storing unit 50i of the
numerical control device 1i.
[0057] At step S1, the numerical control device 1i
selects, for example, the tool 9061i for milling as the
10 tool that should be used for machining and replaces the
tool used for machining with the tool 9061i. For example,
the numerical control device 1i replaces the tool used for
machining with the tool 9061i for milling according to a
description of "T1010" in the machining program 53
15 illustrated in FIG. 8(b).
[0058] At step S2, the numerical control device 1i
commands an inclined surface angle and a rotation center of
an inclined surface so as to enable the virtual Y-axis
inclined surface machining mode. For example, the
20 numerical control device 1i commands a rotation angle of 45
degrees of the B axis as the inclined surface angle;
commands a position (Xp, Zp)=(0, 0) in the program
coordinate system as the rotation center of the inclined
surface; and changes the startup mode in the virtual Y-axis
25 inclined surface machining mode into ON according to a
description of "M37 B45. X0. Z0." in the machining program
53 illustrated in FIG. 8(b).
[0059] At step S3, because the numerical control device
1i is in the startup mode, the numerical control device 1i
30 performs a startup operation. Details of the startup
operation are described below. When the startup operation
is completed, the numerical control device 1i changes the
startup mode in the virtual Y-axis inclined surface
24
machining mode into OFF and changes the virtual Y-axis
inclined surface mode in the virtual Y-axis inclined
surface machining mode into ON.
[0060] At step S4, because the numerical control device
1i is in the virtual Y-axis inclined 5 surface mode, the
numerical control device 1i performs an virtual Y inclined
surface machining operation(e.g., milling). Details of the
virtual Y inclined surface machining operation are
described below.
10 [0061] At step S5, the numerical control device 1i
cancels the virtual Y-axis inclined surface machining mode.
For example, the numerical control device 1i changes the
virtual Y-axis inclined surface mode in the virtual Y-axis
inclined surface machining mode into OFF according to a
15 description of "M38" in the machining program 53
illustrated in FIG. 8(b).
[0062] Details of the startup operation (step S3) are
described with reference to FIG. 5 and FIG. 8(b). FIG. 5
is a flowchart for illustrating the details of the startup
20 operation (step S3).
[0063] At step S31, the numerical control device 1i
calculates an virtual coordinate position of a block end
point, that is, a machining start position (Xp, Yp, Zp)=(xp,
yp, zp) in the program coordinate system. For example, the
25 numerical control device 1i calculates a machining start
position (Xp, Yp, Zp)=(50, 50, 0) according to a
description of "G0 X50. Y50. Z0." in the machining program
53 illustrated in FIG. 8(b).
[0064] At step S32, the virtual-plane-polar-coordinate
30 transforming unit 42i1 (see FIG. 2) in the numerical
control device 1i calculates a polar coordinate (xh, h) of
the H axis in the program coordinate system according to a
movement start position (xp, yp, zp) corresponding to the
25
X-Y-Z axis movement command in the machining program 53.
For example, the virtual-plane-polar-coordinate
transforming unit 42i1 transforms, according to the
following Expression 1, X-Y axis positions (xp, yp) of a
movement start in the program coordinate 5 system into the
polar coordinate (xh, h) of the H axis in the program
coordinate system. That is, the virtual-plane-polarcoordinate
transforming unit 42i1 performs virtual polar
coordinate transformation according to the following
10 Expression 1:
(xh, h)=fr(xp, yp) Expression 1
[0065] In Expression 1, fr indicates a function used in
coordinate transformation. The polar coordinate (xh, h) of
the H axis includes a rotation center coordinate xh of the
15 H axis and a rotation angle h of the H axis. The rotation
center coordinate xh of the H axis indicates a coordinate
(xh, 0, zh) of the rotation center of the H axis in the
program coordinate system. The rotation angle h of the H
axis is a rotation coordinate indicating a rotation angle
20 from a reference rotating position (a position from the
rotation center to the origin) of the H axis centering on
the rotation center (xh, 0, zh) of the H axis. The
virtual-plane-polar-coordinate transforming unit 42i1
supplies the calculated polar coordinate (xh, h) of the H
25 axis to the tool-length processing unit 42i2 (see FIG. 2).
[0066] At step S33, the tool-length processing unit 42i2
calculates a B-axis rotation center position (Xp, Zp)=(xb,
zb) in the program coordinate system taking into account a
tool length correction amount on an virtual coordinate.
30 For example, the tool-length processing unit 42i2
calculates, according to the following Expression 2, the Baxis
rotation center position (xb, zb) taking into account
the tool length correction amount with respect to the
26
rotation center coordinate xh of the H axis and a Z-axis
position (zp) of a movement start.
[0067]
(xb, zb)=(xh, zp)+(R-r, L+t) Expression 2
[0068] In Expression 2, t represents 5 tool length of a
tool; r represents a rotation radius of the H axis in the
turret 906i; R represents a distance in the X-axis
direction from the base of the tool to the B-axis rotation
center in the turret 906i; and L represents a distance in
10 the Z-axis direction from the base of the tool to the Baxis
rotation center in the turret 906i. The tool-length
processing unit 42i2 supplies the B-axis rotation center
position (xb, zb) calculated taking into account the tool
length correction amount to the inclined-surface15
coordinate-rotation transforming unit 42i3 as a parameter
corresponding to the corrected rotation center coordinate
of the H axis.
[0069] At step S34, the inclined-surface-coordinaterotation
transforming unit 42i3 coordinate-transforms,
20 according to the commanded inclined surface angle and the
commanded inclined surface rotation center, the B-axis
rotation center position in the program coordinate system
into a B-axis rotation center position in the machine
coordinate system. For example, the inclined-surface25
coordinate-rotation transforming unit 42i3 coordinatetransforms
the B-axis rotation center position (Xp, Zp)=(xb,
zb) calculated taking into account the tool length
correction amount in the program coordinate system into a
B-axis rotation center position fb (xb, zb) in the machine
30 coordinate system. In the B-axis rotation center position
fb (xb, zb), fb indicates a function used in the coordinate
transformation.
[0070] At step S35, the inclined-surface-coordinate27
rotation transforming unit 42i3 calculates coordinates of
real axes (Xr, Zr, Hr) using the machine configuration
parameters (R, L). For example, the inclined-surfacecoordinate-
rotation transforming unit 42i3 calculates,
according to the following Expression 3, 5 coordinates (xr,
zr) of the X-Z axes in the machine coordinate system from
the B-axis rotation center position fb (xb, zb) in the
machine coordinate system.
[0071]
10 (xr, zr)=fb(xb, zb)-(R, L) Expression 3
[0072] The inclined-surface-coordinate-rotation
transforming unit 42i3 calculates a movement start position
(Xr, Zr, Hr, Br)=(xr, zr, h, br) in the machine coordinate
system using the coordinates (xr, zr) of the X-Z axes; the
15 rotation coordinate (h) of the H axis calculated at step
S32; and the commanded inclined surface angle calculated at
step S34, that is, the rotation coordinate (br) of the B
axis. The analysis processing unit 40i supplies a command
of the movement start position (xr, zr, h, br) to the
20 driving unit 90i via the interpolation processing unit 70
and the acceleration/deceleration processing unit 37.
Consequently, the driving unit 90i drives the X axis, the Z
axis, the H axis, and the B axis in association with one
another according to the command of the movement start
25 position (xr, zr, h, br).
[0073] Details of the virtual Y inclined surface
machining operation (step S4) are described with reference
to FIG. 6, FIG. 7, and FIG. 8(b). FIG. 6 is a flowchart
for illustrating the details of the virtual Y inclined
30 surface machining operation (step S4). FIG. 7 is a diagram
illustrating motions of the axes during the virtual Y-axis
inclined surface mode of the numerical control device 1i.
[0074] At step S41, the virtual Y-axis-inclined-surface28
command-position creating unit 43i (see FIG. 3) in the
numerical control device 1i calculates, for example,
positions of a start point and an end point of a present
processing target block in the machining program 53 and
calculates an X-Y-Z axis movement command 5 in the machining
program 53. The interpolation processing unit 70
interpolates X-Y-Z axis positions in the program coordinate
system at every interpolation cycle according to the X-Y-Z
axis movement command in the machining program 53.
10 [0075] For example, it is assumed that a start point P1
and an end point P3 are calculated by the virtual Y-axisinclined-
surface-command-position creating unit 43i, that
is, the X-Y-Z axis movement command in the machining
program 53 is a movement command of P1 to P3 illustrated in
15 FIGS. 7(c) to 7(e). In this case, the interpolation
processing unit 70 performs interpolation processing at
every interpolation cycle and calculates command positions
P1, P11, P12, P2, P21, P22, and P3 of the X-Y-Z axes in the
program coordinate system. The command positions P1 to P3
20 are positions along the Y axis, which is the virtual axis,
as illustrated in FIGS. 7(a) and 7(b).
[0076] Note that FIG. 7(a) illustrates the operation of
the machine tool 900i conforming to the command positions
P1, P2, and P3 when viewed from a direction perpendicular
25 to the ZX plane. FIG. 7(b) illustrates the operation of
the machine tool 900i conforming to the command positions
P1, P2, and P3 when viewed from a direction perpendicular
to the XY plane. FIG. 7(c) illustrates a route commanded
in the program coordinate system on an YZ plane and an
30 actual movement route in the machine coordinate system. In
FIG. 7(c), the ordinate indicates a coordinate of the Y
axis and an abscissa indicates a coordinate of the Z axis.
FIG. 7(d) illustrates a route commanded in the program
29
coordinate system on the XY plane and a movement route of
the machine tool in the machine coordinate system. In FIG.
7(d), the ordinate indicates a coordinate of the X axis and
the abscissa indicates a coordinate of the Y axis. FIG.
7(e) illustrates a route commanded 5 in the program
coordinate system on an HY plane and a movement route of
the machine tool in the machine coordinate system. In FIG.
7(e), the ordinate indicates a rotation coordinate (h) of
the H axis and the abscissa indicates a coordinate of the Y
10 axis.
[0077] For example, the numerical control device 1i
calculates, according to a description of "G1 X50. Y-50.
F100" in the machining program 53 (see FIG. 8(b)), an
interpolation position at every interpolation cycle from a
15 machining start position (Xp, Yp, Zp)=(50, 50,0) to a
machining end position (Xp, Yp, Zp)=(50, -50, 0) of the
tool 9061i in the program coordinate system; applies
acceleration/deceleration processing to the interpolation
position; and calculates, for example, a command position
20 (Xp, Yp, Zp)=(xp, yp, zp) in the program coordinate system.
For example, in this case, the interpolation processing
unit 70 performs interpolation processing in the case of
P1=(50, 50, 0) and P2=(50, -50, 0) in FIGS. 7(c) to 7(e)
and calculates the command positions P1, P11, P12, P2, P21,
25 P22, and P3 of the X-Y-Z axes in the program coordinate
system.
[0078] At step S42, the virtual-plane-polar-coordinate
transforming unit 61i (see FIG. 3) in the numerical control
device 1i calculates the polar coordinate (xh, h) of the H
30 axis in the program coordinate system according to the
command position (xp, yp, zp) corresponding to the X-Y axis
movement command in the machining program 53. For example,
the virtual-plane-polar-coordinate transforming unit 61i
30
transforms, according to the above Expression 1, the
command position (xp, yp) in the program coordinate system
into the polar coordinate (xh, h) of the H axis in the
program coordinate system. That is, the virtual-planepolar-
coordinate transforming unit 61i 5 performs virtual
polar coordinate transformation according to the above
Expression 1. The virtual-plane-polar-coordinate
transforming unit 61i supplies the calculated rotation
center coordinate (xh) of the H axis to the tool-length
10 processing unit 62i (see FIG. 3).
[0079] At step S43, the tool distal end to B-axisrotation-
center-vector calculating unit 62i1 (see FIG. 3)
in the tool-length processing unit 62i calculates a vector
from a tool distal end to the B-axis rotation center
15 position in the program coordinate system taking into
account a tool length correction amount on the virtual
coordinate. For example, the tool distal end to B-axisrotation-
center-vector calculating unit 62i1 calculates a
B-axis rotation center position (xb, zb) in the program
20 coordinate system according to the above Expression 2 and
calculates a vector (Vx, Vz) from a tool distal end (xp,
zp) to the B-axis rotation center position (xb, zb) in the
program coordinate system according to the following
Expression 4.
25 [0080]
(Vx, Vz)=(xb, zb)-(xp, zp) Expression 4
[0081] The tool distal end to B-axis-rotation-centervector
calculating unit 62i1 supplies the calculated vector
(Vx, Vz) to the inclined-surface-coordinate-rotation
30 transforming unit 63i as a parameter corresponding to the
corrected rotation center coordinate of the H axis.
[0082] At step S44, the virtual-coordinate-commandposition-
coordinate-rotation transforming unit 63i1 in the
31
inclined-surface-coordinate-rotation transforming unit 63i
coordinate-transforms, according to the commanded inclined
surface angle and the commanded inclined surface rotation
center, the command position (xp, yp) in the program
coordinate system into a command position 5 (xr', yr') in the
machine coordinate system. For example, the virtualcoordinate-
command-position-coordinate-rotation
transforming unit 63i1 coordinate-transforms the command
position (xp, yp) in the program coordinate system into the
10 command position (xr', yr') in the machine coordinate
system according to the following Expression 5:
(xr', yr')=fb(xp, yp) Expression 5
[0083] At step S45, the tool distal end to B-axisrotation-
center-coordinate-rotation transforming unit 63i2
15 in the inclined-surface-coordinate-rotation transforming
unit 63i coordinate-transforms, according to the commanded
inclined surface angle and the commanded inclined surface
rotation center, the parameter corresponding to the
corrected rotation center coordinate of the H axis in the
20 program into a parameter in the machine coordinate system.
For example, the tool distal end to B-axis-rotation-centercoordinate-
rotation transforming unit 63i2 rotates the
vector (Vx, Vz) calculated at step S43 by the commanded
inclined surface angle (an angle after
25 acceleration/deceleration of the B axis) and coordinatetransforms
the vector (Vx, Vz) into a vector fb'(Vx, Vz) in
the machine coordinate system. Here, fb' indicates a
function used in coordinate transformation for a vector.
[0084] At step S46, the combining unit 63i3 in the
30 inclined-surface-coordinate-rotation transforming unit 63i
combines the command position (xr', yr') in the machine
coordinate system calculated at step S44 and the parameter
in the machine coordinate system calculated at step S45.
32
For example, the combining unit 63i3 adds the vector fb'(Vx,
Vz) in the machine coordinate system calculated at step S45
with the command position (xr', yr') in the machine
coordinate system calculated at step S44 and calculates a
B-axis rotation center coordinate fb'(Vx, 5 Vz)+(xr', yr') in
the machine coordinate system.
[0085] At step S47, the inclined-surface-coordinaterotation
transforming unit 63i calculates coordinates of
the real axes (Xr, Zr, Hr) from the machine configuration
10 parameters (R, L). For example, the inclined-surfacecoordinate-
rotation transforming unit 63i calculates the
coordinates (xr, zr) of the X-Z axes in the machine
coordinate system according to the following Expression 6.
[0086]
15 (xr, zr)= fb'(Vx, Vz)+(xr', yr')-(R, L)
Expression 6
[0087] The inclined-surface-coordinate-rotation
transforming unit 63i calculates a command position (Xr, Zr,
Hr)=(xr, zr, h) in the machine coordinate system using the
20 coordinates (xr, zr) of the X-Z axes and the coordinate (h)
of the H axis calculated at step S42. That is, the virtual
Y-axis-inclined-surface-machining processing unit 60i
transforms the command position on the program coordinate
system analyzed by the analysis processing unit 40i,
25 interpolated by the interpolation processing unit 70, and
subjected to the acceleration/deceleration processing by
the acceleration/deceleration processing unit 37 into a
command position on the machine coordinate system. The
command position on the machine coordinate system is
30 supplied to the driving unit 90i. Consequently, the
driving unit 90i drives the X axis, the Z axis, and the H
axis in association with one another according to the
command position on the machine coordinate system.
33
[0088] For example, it is assumed that the X-Y-Z axis
movement command in the machining program 53 is a movement
command of P1 to P3 illustrated in FIGS. 7(c) to 7(e). In
this case, the inclined-surface-coordinate-rotation
transforming unit 63i calculates command 5 positions P1r,
P11r, P12r, P2r, P21r, P22r, and P3r of the X-Z-H axes in
the machine coordinate system. The command positions P1r,
P11r, P12r, P2r, P21r, P22r, and P3r of the X-Z-H axes in
the machine coordinate system respectively correspond to
10 the command positions P1, P11, P12, P2, P21, P22, and P3 of
the X-Y-Z axes in the program coordinate system. The
command positions P1r to P3r are realized by the associated
driving of the X axis, the Z axis, and the H axis by the
driving unit 90i as illustrated in FIGS. 7(a) and 7(b).
15 [0089] A machining procedure for the work W by the
numerical control device 1i according to the first
embodiment is described with reference to FIG. 8. FIG.
8(a) is a diagram illustrating motions of the turret 906i
and the work W conforming to the machining procedure for
20 the work W by the numerical control device 1i. FIG. 8(b)
is a diagram illustrating description contents in the
machining program 53 stored in the storing unit 50i of the
numerical control device 1i. FIG. 8(c) is a diagram
illustrating the machining procedure for the work W.
25 [0090] In a process (1), the numerical control device 1i
moves the turret 906i to a reference position according to
a description of "G0 Z30. C0" in the machining program 53.
[0091] In a process (2), the numerical control device 1i
replaces the tool that should be used for machining with
30 the tool 9061i for milling according to a description of
"T1010" in the machining program 53.
[0092] In a process (3), the numerical control device 1i
commands a rotation angle 45 degrees of B-axis as an
34
inclined surface angle; commands a position (Xp, Zp)=(0, 0)
in the program coordinate system as the rotation center of
the inclined surface; and changes the startup mode in the
virtual Y-axis inclined surface machining mode into ON
according to a description of "M37 B45. 5 X0. Z0." in the
machining program 53.
[0093] In a process (4), the numerical control device 1i
performs a startup operation according to a description of
"G0 X50. Y50. Z0." in the machining program 53. For
10 example, the numerical control device 1i changes the tool
9061i to a state in which the tool 9061i is inclined such
that the center axis is perpendicular to the inclined
surface Wa of the work W and moves the tool 9061i to the
machining start position (Xp, Yp, Zp)=(50, 50, 0). When
15 the movement of the tool 9061i is completed, the numerical
control device 1i changes the startup mode in the virtual
Y-axis inclined surface machining mode into OFF and changes
the virtual Y-axis inclined surface mode into ON.
[0094] In a process (5), the numerical control device 1i
20 performs the virtual Y inclined surface machining operation
according to a description of "G1 X50. Y-50. F100" in the
machining program 53. For example, the numerical control
device 1i moves the tool 9061i in the Y-axis (-) direction
relatively to the inclined surface Wa of the work W and
25 performs cutting. For example, the numerical control
device 1i transforms an X-Y axis movement command "X50. Y-
50." in the machining program 53 into a command in the X-ZH
coordinate system and drives the X axis, the Z axis, and
the H axis in association with one another according to the
30 transformed command.
[0095] In a process (6), the numerical control device 1i
performs the virtual Y inclined surface machining operation
according to a description of "G1 X-50. Y-50." in the
35
machining program 53. For example, the numerical control
device 1i moves the tool 9061i in the X-axis (-) direction
relatively to the inclined surface Wa of the work W and
performs cutting. For example, the numerical control
device 1i transforms an X-Y axis movement 5 command "X-50. Y-
50." in the machining program 53 into a command in the X-ZH
coordinate system and drives the X axis and the Z axis in
association with each other according to the transformed
command.
10 [0096] In a process (7), the numerical control device 1i
performs the virtual Y inclined surface machining operation
according to a description of "G1 X-50. Y50." in the
machining program 53. For example, the numerical control
device 1i moves the tool 9061i in the Y-axis (+) direction
15 relatively to the inclined surface Wa of the work W and
performs cutting. For example, the numerical control
device 1i transforms an X-Y axis movement command "X-50.
Y50." in the machining program 53 into a command in the ZZ-
H coordinate system and drives the X axis, the Z axis,
20 and the H axis in association with one another according to
the transformed command.
[0097] In a process (8), the numerical control device 1i
performs the virtual Y inclined surface machining operation
according to a description of "G1 X50. Y50." in the
25 machining program 53. For example, the numerical control
device 1i moves the tool 9061i in the X-axis (-) direction
relatively to the inclined surface Wa of the work W and
performs cutting. For example, the numerical control
device 1i transforms an X-Y axis movement command "X50.
30 Y50." in the machining program 53 into a command in the XZ-
Y coordinate system and drives the X axis and the Y axis
in association with each other according to the transformed
command.
36
[0098] In a process (9), the numerical control device 1i
retracts the tool 9061i according to a description of "G0
Z30." in the machining program 53. For example, the
numerical control device 1i moves the tool 9061i in the Zaxis
direction relatively to the inclined 5 surface Wa of the
work W and retracts the tool 9061i from the inclined
surface Wa.
[0099] In a process (10), the numerical control device
1i cancels the virtual Y-axis inclined surface machining
10 mode according to a description of "M38" in the machining
program 53. For example, the numerical control device 1i
changes the virtual Y-axis inclined surface mode in the
virtual Y-axis inclined surface machining mode to OFF.
[0100] As described above, in the first embodiment, in
15 the numerical control device 1i, the virtual Y-axisinclined-
surface-machining processing unit 60i performs,
during the virtual Y-axis inclined surface machining mode,
the virtual Y inclined surface machining for moving the
tool 9061i along the Y axis relatively to the inclined
20 surface Wa in the state in which the tool 9061i is inclined
such that the center axis is perpendicular to the inclined
surface Wa inclined from the X axis and the Z axis. For
example, the virtual Y-axis-inclined-surface-machining
processing unit 60i performs the virtual Y inclined surface
25 interpolation for transforming the X-Y-Z axis movement
command in the machining program into a command in the X-ZH
coordinate system and driving the X axis, the Z axis, and
the H axis in association with one another according to the
transformed command. Consequently, it is possible to apply,
30 with the machine tool 900i not having the Y axis, the
machining along the Y axis to the inclined surface Wa
inclined from the X axis and the Z axis.
[0101] In the first embodiment, in the numerical control
37
device 1i, the virtual Y-axis-inclined-surface-commandposition
creating unit 43i calculates a start point and an
end point of the X-Y-Z axis movement command in the
machining program 53. The interpolation processing unit 70
interpolates the X-Y-Z axis positions 5 in the program
coordinate system on the basis of the X-Y-Z axis movement
command in the machining program 53. The virtual-planepolar-
coordinate transforming unit 61i calculates a polar
coordinate including the rotation center coordinate of the
10 H axis and the rotation angle of the H axis in the program
coordinate system according to the interpolated X-Y-Z axis
positions in the program coordinate system. The inclinedsurface-
coordinate-rotation transforming unit 63i
interpolates the X-Z-H axis positions in the machine
15 coordinate system according to the calculated polar
coordinate in the program coordinate system. Consequently,
it is possible to transform the X-Y-Z axis movement command
in the machining program 53 into the X-Z-H axis movement
command in the machine coordinate system.
20 [0102] In the first embodiment, in the numerical control
device 1i, the virtual Y-axis-inclined-surface-machining
startup unit 42i performs the startup operation for
transforming a movement start position corresponding to the
X-Y-Z axis movement command in the machining program 53
25 into a command in the X-Z-H-B coordinate system; driving
the X axis, the Z axis, the H axis, and the B axis in
association with one another according to the transformed
command; changing the tool 9061i to an inclined state such
that the center axis is perpendicular to the inclined
30 surface Wa; and moving the tool 9061i to the machining
start position of the work W. Consequently, the numerical
control device 1i can be changed into a state in which it
is possible to apply, with the machine tool 900i not having
38
the Y axis, the machining along the Y axis to the inclined
surface Wa inclined from the X axis and the Z axis.
[0103] Note that, in the example described in the first
embodiment, information concerning the inclination angel
and the inclined surface rotation center 5 coordinate is
commanded from the machining program. However, the
information can be commanded from the PLC 36.
[0104] Alternatively, during the virtual Y-axis inclined
surface machining mode, the information can be commanded to
10 the B axis. For example, the machining program illustrated
in FIG. 8(b) can be changed as described below.
G0 Z30. C0
T1010
M37 B45. X0. Z0.
15 G0 X50. Y50. Z0.
G1 X50. Y-50. F100
G1 X-25. Y-50. F75
M37 B55. X0. Z0.
G0 X-25. Y-50. Z0.
20 G1 X-50. Y-50. F25
G1 X-50. Y50. F100
G1 X-25. Y50. F25
M37 B45. X0. Z0.
G1 X50. Y50. F75
25 G0 Z30.
M38
[0105] In this case, for example, in the flowchart
illustrated in FIG. 4, the processing of the startup
operation (step S3) and the virtual Y inclined surface
30 machining operation (step S4) are set into one routine.
This one routine is repeated a plurality of times (in the
case described above, three times) and then processing for
cancellation of the virtual Y-axis inclined surface
39
machining mode (step S5) is performed. In this case, as
described above, when the startup operation (step S3) is
performed every time, a different angle can be commanded as
a rotation angle of the B axis.
[0106] By repeatedly giving commands 5 to the B axis in
this way, the turret can continuously machine inclined
surfaces having different inclination angles of a machining
surface with the tool distal end position being set as a
center.
10 [0107] Alternatively, in the first embodiment, the
milling is illustrated as the virtual Y inclined surface
machining. However, the virtual Y inclined surface
machining can be perforating, synchronous tap, and the like.
For example, when the virtual Y inclined surface machining
15 is the perforating, a machining procedure for the work W by
the numerical control device 1i is, for example, as
illustrated in FIG. 9. FIG. 9(a) is a diagram illustrating
motions of the turret 906i and the work W conforming to the
machining procedure for the work W by the numerical control
20 device 1i. FIG. 9(b) is a diagram illustrating description
contents in the machining program 53 stored in the storing
unit 50i of the numerical control device 1i. FIG. 9(c) is
a diagram illustrating the machining procedure for the work
W.
25 [0108] In a modification of the first embodiment
illustrated in FIG. 9, processes (11), (12), and (13) are
performed instead of the processes (2) and (4) to (9).
[0109] In the process (11), the numerical control device
1i replaces the tool that should be used for machining with
30 the tool 9062i for perforating according to a description
of "T1111" in the machining program 53.
[0110] In the process (12), the numerical control device
1i performs the startup operation according to a
40
description of "G0 X30. Y15. Z30." in the machining program
53. For example, the numerical control device 1i changes
the tool 9062i to an inclined state such that the center
axis is perpendicular to the inclined surface Wa of the
work W and moves the tool 9062i to 5 a machining start
position (Xp, Yp, Zp)=(30, 15, 30) of the work W. When the
movement of the tool 9062i is completed, the numerical
control device 1i changes the startup mode in the virtual
Y-axis inclined surface machining mode into OFF and changes
10 the virtual Y-axis inclined surface mode into ON.
[0111] In the process (13), the numerical control device
1i performs the virtual Y inclined surface machining
operation according to a description of "G84 Z-10. S100 F1.
D5" in the machining program 53. For example, the
15 numerical control device 1i moves the tool 9062i in the Zaxis
(-) direction relatively to the inclined surface Wa of
the work W and performs perforating. For example, the
numerical control device 1i transforms a Z-axis movement
command "Z-10." in the machining program 53 into a command
20 in the X-Z-H coordinate system and moves the X axis, the Z
axis, and the H axis in association with one another
according to the transformed command.
[0112] Alternatively, a numerical control device 1j
illustrated in FIG. 10 may simultaneously perform, in
25 parallel, during the virtual Y-axis inclined surface
machining mode, both a first operation for moving a tool to
the machining start position of the work W and a second
operation for replacing the tool with another tool among a
plurality of tools.
30 [0113] Specifically, in the numerical control device 1j,
as illustrated in FIG. 10, an virtual Y-axis-inclinedsurface-
machining processing unit 60j further includes a
command-axis determining unit 64j and a command combining
41
unit 65j.
[0114] During the virtual Y-axis inclined surface
machining mode, the command-axis determining unit 64j
refers to, for each one block (one row), the machining
program 53 stored in the storing unit 5 50i and determines
whether a command of each block (each row) is a movement
amount command for the X-Y-Z axes or an independent
rotation amount command for the H axis. When the command
by the machining program 53 is the movement amount command
10 for the X-Y-Z axes (e.g., a movement amount command by "G0
X-50. Y50. Z0." illustrated in FIG. 11), the command-axis
determining unit 64j supplies a movement amount command
(i.e., a position command at every interpolation cycle) for
the X-Y-Z axes input from the acceleration/deceleration
15 processing unit 37 to the virtual-plane-polar-coordinate
transforming unit 61i. When the command by the machining
program 53 is the independent rotation amount command for
the H axis (e.g., "T0202" illustrated in FIG. 11), the
command-axis determining unit 64j supplies an independent
20 rotation amount command for the H axis input from the
acceleration/deceleration processing unit 37 to the command
combining unit 65j. In other words, the command-axis
determining unit 64j separates, for each one block, a
command of the machining program 53 created in the program
25 coordinate system into a first movement amount command
(i.e., a position command at every interpolation cycle)
including the movement amount command for the X-Y-Z axes
and a second movement amount command including the H-axis
independent movement amount command; supplies the first
30 movement amount command to the virtual-plane-polarcoordinate
transforming unit 61i; and supplies the second
movement amount command to the command combining unit 65j.
[0115] As indicated by the following Expression 7, the
42
command combining unit 65j combines an independent rotation
command Hr2 (=H2) for the H axis with a rotation amount
command Hr1 for the H axis generated by the inclinedsurface-
coordinate-rotation transforming unit 63i and
generates a rotation amount command 5 Hr for the H axis.
Hr=Hr1+Hr2 Expression 7
[0116] The command combining unit 65j supplies the
combined rotation amount command Hr for the H axis to the
axis-data output unit 39.
10 [0117] In this case, a machining procedure for the work
W by the numerical control device 1j is, for example, as
illustrated in FIG. 11. FIG. 11(a) is a diagram
illustrating motions of the turret 906i and the work W
conforming to the machining procedure for the work W by the
15 numerical control device 1j. FIG. 11(b) is a diagram
illustrating description contents in the machining program
53 stored in the storing unit 50i of the numerical control
device 1j. FIG. 11(c) is a diagram illustrating the
machining procedure for the work W.
20 [0118] In a modification of the first embodiment
illustrated in FIG. 11, processes (21) to (23) are
performed instead of the processes (6) to (8).
[0119] In the process (21), the numerical control device
1j retracts the tool 9061i according to a description of
25 "G0 Z30." in the machining program 53. For example, the
numerical control device 1j moves the tool 9061i in the Zaxis
direction relatively to the inclined surface Wa of the
work W and retracts the tool 9061i from the inclined
surface Wa.
30 [0120] In the process (22), the numerical control device
1j replaces the tool that should be used for machining with
the tool 9062i for perforating and moves the tool 9062i to
43
the machining start position according to a description of
"G0 X-50. Y50. Z0. T0202" in the machining program 53.
[0121] In the process (23), the numerical control device
1j performs the virtual Y inclined surface machining
operation according to a description 5 of "G1 X50. Y-50.
F100" in the machining program 53. For example, the
numerical control device 1j moves the tool 9061i in the Yaxis
(-) direction relatively to the inclined surface Wa of
the work W and performs cutting. For example, the
10 numerical control device 1j transforms the X-Y axis
movement command "X50. Y-50." in the machining program 53
into a command in the X-Z-H coordinate system and moves the
X axis, the Z axis, and the H axis in association with one
another according to the transformed command.
15 [0122] By simultaneously performing the machining start
position determination and the tool replacement in this way,
it is possible to reduce a machining time.
[0123] Second Embodiment
A numerical control device 1k according to a second
20 embodiment is described with reference to FIG. 12 to FIG.
15. FIG. 12(a) and FIG. 12(b) are respectively diagrams of
the external configuration of a machine tool 900k, which is
controlled by the numerical control device 1k according to
the second embodiment, viewed from directions perpendicular
25 to a ZX plane and an XY plane. FIG. 13 is a block diagram
illustrating a configuration related to the operation
during a startup mode of the numerical control device 1k
according to the second embodiment. FIG. 14 is a block
diagram illustrating components related to the operation
30 during a virtual Y-axis inclined surface mode of the
numerical control device 1k according to the second
embodiment. FIG. 15 is a diagram illustrating motions of
axes during the virtual Y-axis inclined surface mode of the
44
numerical control device according to the second embodiment.
In the following description, differences from the first
embodiment are mainly described.
[0124] In the first embodiment, the X axis, the Z axis,
and the H axis are driven in association 5 with one another
to realize movement in the virtual Y-axis direction.
However, in the second embodiment, the X axis, the Z axis,
and the C axis are driven in association with one another
to realize movement in the virtual Y-axis direction.
10 [0125] The machine tool 900k includes, as illustrated in
FIGS. 12(a) and 12(b), a turret 906k and a work supporting
section 907k. The machine tool 900k does not have the H
axis and further has the C axis. The C axis is a rotation
axis for rotating the work W around a rotation center line
15 parallel to the Z axis. For example, one tool 9061i is
attached to the turret 906k.
[0126] As illustrated in FIGS. 13 and 14, the machine
tool 900k does not include the H-axis servomotor 902 and
further includes the C-axis servomotor 904. The C-axis
20 servomotor 904 rotates the C axis with respect to the work
W. Accordingly, a driving unit 90k does not include the Haxis-
servo control unit 92 and further includes the C-axisservo
control unit 94.
[0127] In the numerical control device 1k, as
25 illustrated in FIG. 13, during the startup mode, because
the numerical control device 1k is in the startup mode, a
virtual Y-axis-inclined-surface-machining startup unit 42k
of an analysis processing unit 40k transforms a movement
start position corresponding to the X-Y-Z axis movement
30 command in the machining program 53 into a command in an XZ-
C-B coordinate system, drives the X axis, the Z axis, the
C axis, and the B axis in association with one another
according to the transformed command, and performs a
45
startup operation.
[0128] For example, a virtual-plane-polar-coordinate
transforming unit 42k1 calculates a polar coordinate of the
C axis in the program coordinate system according to a
movement start position corresponding 5 to the X-Y-Z axis
movement command in the machining program 53. The polar
coordinate of the C axis includes a rotation center
coordinate of the C axis and a rotation angle of the C axis.
The rotation center coordinate of the C axis indicates a
10 coordinate of the rotation center of the C axis in the
program coordinate system. The rotation angle of the C
axis is a rotation coordinate indicating a rotation angle
from a reference rotation position of the C axis centering
on the rotation center of the C axis. For example, the
15 virtual-plane-polar-coordinate transforming unit 42k1
transforms an X-Y-Z axis command position into a polar
coordinate of the C axis in the program coordinate system.
[0129] A tool-length processing unit 42k2 corrects the
calculated rotation center coordinate of the C axis taking
20 into account the tool length of the tool 9061i and supplies
a parameter corresponding to the corrected rotation center
coordinate of the C axis to inclined-surface-coordinaterotation
transforming unit 42k3.
[0130] The inclined-surface-coordinate-rotation
25 transforming unit 42k3 refers to the shared area 55 of the
storing unit 50i and acquires a commanded inclined surface
angle and a commanded inclined surface rotation center.
The inclined-surface-coordinate-rotation transforming unit
42k3 calculates, using the parameter corresponding to the
30 corrected rotation center coordinate of the C axis in the
program coordinate system, a movement start position of the
X axis and a movement start position of the Z axis for
moving the X axis and the Z axis when the B axis is rotated
46
according to the commanded inclined surface angle and the
commanded inclined surface rotation center. That is, the
inclined-surface-coordinate-rotation transforming unit 42k3
calculates, according to the corrected rotation center
coordinate of the C axis in the program 5 coordinate system
and the commanded inclined surface angle and the commanded
inclined surface rotation center, a moving position command
for the X axis, a moving position command for the Z axis, a
rotating position command for the C axis, and a rotating
10 position command for the B axis, which are commands for a
movement start position of the machine coordinate system
serving as a real coordinate system; and calculates
movement start positions (Xr, Zr, Cr, Br) of the X axis,
the Z axis, the C axis, and the B axis. The analysis
15 processing unit 40k supplies commands of the movement start
positions (Xr, Zr, Cr, Br) to the driving unit 90k via the
interpolation processing unit 70 and the
acceleration/deceleration processing unit 37. Consequently,
the driving unit 90k drives the X axis, the Z axis, the C
20 axis, and the B axis in association with one another
according to the commands of the movement start positions
(Xr, Zr, Cr, Br).
[0131] In the numerical control device 1k, as
illustrated in FIG. 14, during the virtual Y-axis inclined
25 surface mode, a virtual Y-axis-inclined-surface-commandposition
creating unit 43k of the analysis processing unit
40k calculates, for example, positions of a start point and
an end point of a present processing target block in the
machining program 53 and calculates an X-Y-Z axis movement
30 command in the machining program 53. The interpolation
processing unit 70 interpolates X-Y-Z axis positions in the
program coordinate system at every interpolation cycle,
according to the X-Y-Z axis movement command in the
47
machining program 53.
[0132] For example, the virtual Y-axis-inclined-surfacecommand-
position creating unit 43k calculates the start
point and the end point of the present processing target
block in the machining program 53 and calculates 5 an X-Y-Z
axis movement command in the machining program 53. The
interpolation processing unit 70 interpolates, according to
the X-Y-Z axis movement command in the machining program 53,
the X-Y-Z axis positions in the program coordinate system
10 at every interpolation cycle.
[0133] For example, it is assumed that a start point P1'
and an end point P3' of the block is calculated by the
virtual Y-axis-inclined-surface-command-position creating
unit 43k, that is, the X-Y-Z axis movement command in the
15 machining program 53 is a movement command of P1' to P3'
illustrated in FIGS. 15(c)to 15(e). In this case, the
interpolation processing unit 70 performs interpolation
processing at every interpolation cycle and calculates
command positions P1', P11', P12', P2', P21', P22', and P3'
20 of the X-Y-Z axes in the program coordinate system. The
command positions P1' to P3' are positions along the Y axis,
which is the virtual axis, as illustrated in FIGS. 15(a)
and 15(b).
[0134] Note that FIG. 15(a) illustrates the operation of
25 the machine tool 900k conforming to the command positions
P1', P2', and P3' when viewed from a direction
perpendicular to the ZX plane. FIG. 15(b) illustrates the
operation of the machine tool 900k conforming to the
command positions P1', P2', and P3' when viewed from a
30 direction perpendicular to the XY plane. FIG. 15(c)
illustrates a route commanded in the program coordinate
system on the YZ plane and a moving route of the machine
tool in the machine coordinate system. In FIG. 15(c), the
48
ordinate indicates a coordinate of the Y axis and the
abscissa indicates a coordinate of the Z axis. FIG. 15(d)
illustrates a route commanded in the program coordinate
system on the XY plane and a moving route of the machine
tool in the machine coordinate system. In 5 FIG. 15(d), the
ordinate indicates a coordinate of the X axis and the
abscissa indicates a coordinate of the Y axis. FIG. 15(e)
illustrates a route commanded in the program coordinate
system on a CY plane and a moving route of the machine tool
10 in the machine coordinate system. In FIG. 15(e), the
ordinate indicates a rotation coordinate (c) of the C axis
and the abscissa indicates a coordinate of the Y axis.
[0135] A virtual-plane-polar-coordinate transforming
unit 61k of an virtual Y-axis-inclined-surface-machining
15 processing unit 60k calculates a polar coordinate of the C
axis in the program coordinate system according to the
interpolated X-Y-Z axis positions in the program coordinate
system. The polar coordinate of the C axis includes a
rotation center coordinate of the C axis and a rotation
20 angle of the C axis. The rotation center coordinate of the
C axis indicates a coordinate of the rotation center of the
C axis in the program coordinate system. The rotation
angle of the C axis is a rotation coordinate indicating a
rotation angle from the reference rotation position of the
25 C axis centering on the rotation center of the C axis. For
example, the virtual-plane-polar-coordinate transforming
unit 61k transforms the interpolated X-Y-Z axis positions
into a polar coordinate of the C axis in the program
coordinate system.
30 [0136] A tool-length processing unit 62k corrects the
calculated rotation center coordinate of the C axis taking
into account the tool length of the tool 9061i. For
example, the tool-length processing unit 62k includes a
49
tool distal end to B-axis-rotation-center-vector
calculating unit 62k1. The tool-length processing unit 62k
applies tool length correction to the rotation center
coordinate of the C axis using the tool distal end to Baxis-
rotation-center-vector calculating 5 unit 62k1 and
supplies a parameter corresponding to the corrected
rotation center coordinate of the C axis to inclinedsurface-
coordinate-rotation transforming unit 63k.
[0137] The inclined-surface-coordinate-rotation
10 transforming unit 63k refers to the shared area 55 of the
storing unit 50i and acquires the commanded inclined
surface angle and the commanded inclined surface rotation
center. The inclined-surface-coordinate-rotation
transforming unit 63k calculates, using the parameter
15 corresponding to the corrected rotation center coordinate
of the C axis in the program coordinate system, a movement
position command for the X axis and a movement position
command for the Z axis for moving the X axis and the Z axis
when the B axis is rotated according to the commanded
20 inclined surface angle and the commanded inclined surface
rotation center. That is, the inclined-surface-coordinaterotation
transforming unit 63k calculates, according to the
corrected rotation center coordinate of the C axis in the
program coordinate system and the commanded inclined
25 surface angle and the commanded inclined surface rotation
center, a moving position command for the X axis, a moving
position command for the Z axis, and a rotating position
command for the C axis, which are moving position commands
for the machine coordinate system serving as a real
30 coordinate system; and calculates moving positions (Xr, Zr,
Cr) of the X axis, the Z axis, and the C axis. For example,
the inclined-surface-coordinate-rotation transforming unit
63k includes a virtual-coordinate-command-position50
coordinate-rotation transforming unit 63k1, a tool distal
end to B-axis-rotation-center-coordinate-rotation
transforming unit 63k2, and a combining unit 63k3. The
inclined-surface-coordinate-rotation transforming unit 63k
calculates the moving positions (Xr, Zr, 5 Cr) of the X axis,
the Z axis, and the C axis using the virtual-coordinatecommand-
position-coordinate-rotation transforming unit 63k1,
the tool distal end to B-axis-rotation-center-coordinaterotation
transforming unit 63k2, and the combining unit
10 63k3. That is, the virtual Y-axis-inclined-surfacemachining
processing unit 60k transforms the command
position on the program coordinate system analyzed by the
analysis processing unit 40k, interpolated by the
interpolation processing unit 70, and subjected to the
15 acceleration/deceleration processing by the
acceleration/deceleration processing unit 37 into a command
position on the machine coordinate system. The command
position on the machine coordinate system is supplied to
the driving unit 90k. Consequently, the driving unit 90k
20 drives the X axis, the Z axis, and the C axis in
association with one another according to the command
position on the machine coordinate system.
[0138] For example, it is assumed that the X-Y-Z axis
movement command in the machining program 53 is a movement
25 command of P1'to P3'illustrated in FIGS. 15(c) to 15(e).
In this case, the inclined-surface-coordinate-rotation
transforming unit 63k calculates command positions P1r',
P11r', P12r', P2r', P21r', P22r', and P3r' of the X-Z-C
axes in the machine coordinate system. The command
30 positions P1r', P11r', P12r', P2r', P21r', P22r', and P3r'
of the X-Z-C axes in the machine coordinate system
respectively correspond to the command positions P1', P11',
P12', P2', P21', P22', and P3' of the X-Y-Z axes in the
51
program coordinate system. The command positions P1r' to
P3r' are realized by the associated driving of the X axis,
the Z axis, and the C axis by the driving unit 90k as
illustrated in FIGS. 15(a) and 15(b).
[0139] As described above, in the second 5 embodiment, in
the numerical control device 1k, the virtual Y-axisinclined-
surface-machining processing unit 60k performs,
during the virtual Y-axis inclined surface machining mode,
the virtual Y inclined surface machining for moving the
10 tool 9061i along the Y axis relatively to the inclined
surface Wa in the state in which the tool 9061i is inclined
such that the center axis is perpendicular to the inclined
surface Wa inclined from the X axis and the Z axis. For
example, the virtual Y-axis-inclined-surface-machining
15 processing unit 60k transforms the X-Y-Z axes moving
command in the processing program into a command in the XZ-
C axes into a command in the X-Z-C axes; and performs the
virtual Y inclined surface interpolation for driving the X
axis, the Z axis, and the C axis in association with one
20 another according to the transformed command. Consequently,
it is possible to apply, with the machine tool 900k not
having the Y axis, the machining along the Y axis to the
inclined surface Wa inclined from the X axis and the Z axis.
[0140] In the second embodiment, in the numerical
25 control device 1k, the virtual Y-axis-inclined-surfacecommand-
position creating unit 43k calculates a start point
and an end point of the X-Y-Z axis movement command in the
machining program 53. The interpolation processing unit 70
interpolates the X-Y-Z axis positions in the program
30 coordinate system on the basis of the X-Y-Z axis movement
command in the machining program 53. The virtual-planepolar-
coordinate transforming unit 61k calculates a polar
coordinate including the rotation center coordinate of the
52
C axis and the rotation angle of the C axis in the program
coordinate system according to the interpolated X-Y-Z axis
positions in the program coordinate system. The inclinedsurface-
coordinate-rotation transforming unit 63k
interpolates the X-Y-C axis positions 5 in the machine
coordinate system according to the calculated polar
coordinate in the program coordinate system. Consequently,
it is possible to transform the X-Y-Z axis movement command
in the machining program 53 into the X-Z-C axis movement
10 command in the machine coordinate system.
[0141] In the second embodiment, in the numerical
control device 1k, the virtual Y-axis-inclined-surfacemachining
startup unit 42k performs the startup operation
for: transforming a movement start position corresponding
15 to the X-Y-Z axis movement command in the machining program
53 into a command in the X-Z-C-B coordinate system; driving
the X axis, the Z axis, C axis, and the B axis in
association with one another according to the transformed
command; changing the tool 9061i to an inclined state such
20 that the center axis is perpendicular to the inclined
surface Wa; and moving the tool 9061i to the machining
start position of the work W. Consequently, the numerical
control device 1k can be changed into a state in which it
is possible to apply, with the machine tool 900i not having
25 the Y axis, the machining along the Y axis to the inclined
surface Wa inclined from the X axis and the Z axis.
[0142] Note that a machine tool 900p can have both of
the H axis and the C axis. In this case, the machine tool
900p includes, as illustrated in FIG. 16, both of the H30
axis servomotor 902 and the C-axis servomotor 904.
Accordingly, a driving unit 90p includes both of the Haxis-
servo control unit 92 and the C-axis-servo control
unit 94. Note that the turret 906k can be the same as the
53
turret 906i in the first embodiment.
[0143] In this case, a numerical control device 1p can
simultaneously perform, in parallel, during the virtual Yaxis
inclined surface machining mode, a first operation for
moving a tool to the machining start position 5 of the work W
and at least one operation of a second operation for
replacing the tool with another tool among a plurality of
tools and a third operation for performing positioning of
the work.
10 [0144] Specifically, in the numerical control device 1p,
as illustrated in FIG. 16, an virtual Y-axis-inclinedsurface-
machining processing unit 60p further includes a
virtual-plane-polar-coordinate transforming unit 61p, a
tool-length processing unit 62p, an inclined-surface15
coordinate-rotation transforming unit 63p, a command-axis
determining unit 64p, and a command combining unit 65p.
[0145] The virtual-plane-polar-coordinate transforming
unit 61p has, for example, both of the function of the
virtual-plane-polar-coordinate transforming unit 61i (see
20 FIG. 3) and the function of the virtual-plane-polarcoordinate
transforming unit 61k (see FIG. 14).
[0146] The tool-length processing unit 62p has, for
example, both of the function of the tool-length processing
unit 62i (see FIG. 3) and the function of the tool-length
25 processing unit 62k (see FIG. 14). The tool-length
processing unit 62p includes a tool distal end to B-axisrotation-
center-vector calculating unit 62p1. The tool
distal end to B-axis-rotation-center-vector calculating
unit 62p1 has, for example, both of the function of the
30 tool distal end to B-axis-rotation-center-vector
calculating unit 62i1 (see FIG. 3) and the function of the
tool distal end to B-axis-rotation-center-vector
calculating unit 62k1 (see FIG. 14).
54
[0147] The inclined-surface-coordinate-rotation
transforming unit 63p has, for example, both of the
function of the inclined-surface-coordinate-rotation
transforming unit 63i (see FIG. 3) and the function of the
inclined-surface-coordinate-rotation transforming 5 unit 63k
(see FIG. 14). The inclined-surface-coordinate-rotation
transforming unit 63p includes a virtual-coordinatecommand-
position-coordinate-rotation transforming unit
63p1; a tool distal end to B-axis-rotation-center10
coordinate-rotation transforming unit 63p2; and a combining
unit 63p3. The virtual-coordinate-command-positioncoordinate-
rotation transforming unit 63p1 has, for example,
both of the function of the virtual-coordinate-commandposition-
coordinate-rotation transforming unit 63i1 (see
15 FIG. 3) and the function of the virtual-coordinate-commandposition-
coordinate-rotation transforming unit 63k1 (see
FIG. 14). The tool distal end to B-axis-rotation-centercoordinate-
rotation transforming unit 63p2 has, for example,
both the function of the tool distal end to B-axis20
rotation-center-coordinate-rotation transforming unit 63i2
(see FIG. 3) and the function of the tool distal end to Baxis-
rotation-center-coordinate-rotation transforming unit
63k2 (see FIG. 14). The combining unit 63p3 has, for
example, both of the function of the combining unit 63i3
25 (see FIG. 3) and the function of the tool distal end to
combining unit 63k3 (see FIG. 14).
[0148] During the virtual Y-axis inclined surface
machining mode, the command-axis determining unit 64p
refers to, for each one block (one row), the machining
30 program 53 stored in the storing unit 50i and determines
whether a command of each block (each row) (e.g., "G0 X-50.
Y50. Z0. T0202 C180") is a movement amount command for the
X-Y-Z axes or an independent rotation amount command for
55
the H axis or the C axis. When the command by the
machining program 53 is the movement amount command for the
X-Y-Z axes (e.g., a movement amount command by "G0 X-50.
Y50. Z0."), the command-axis determining unit 64p supplies
a movement amount command (i.e., a position 5 command at
every interpolation cycle) for the X-Y-Z axes input from
the acceleration/deceleration processing unit 37 to the
virtual-plane-polar-coordinate transforming unit 61p. When
the command by the machining program 53 is the independent
10 rotation amount command for the H axis or the C axis (e.g.,
"T0202" or "C180"), the command-axis determining unit 64p
supplies an independent rotation amount command for the H
axis or the C axis input from the acceleration/deceleration
processing unit 37 to the command combining unit 65p. In
15 other words, the command-axis determining unit 64p
separates a command of the machining program 53 created in
the program coordinate system into a first movement amount
command (i.e., a position command at every interpolation
cycle) including the movement amount command for the X-Y-Z
20 axes and a second movement amount command including any one
of the H-axis independent movement amount command and the
C-axis independent movement amount command or both;
supplies the first movement amount command to the virtualplane-
polar-coordinate transforming unit 61p; and supplies
25 the second movement amount command to the command combining
unit 65p.
[0149] As indicated by the following Expression 8, the
command combining unit 65p combines an independent rotation
command Hr2' (=H2) for the H axis with a rotation amount
30 command Hr1' for the H axis generated by the inclinedsurface-
coordinate-rotation transforming unit 63p and
generates a rotation amount command Hr for the H axis.
56
Hr=Hr1'+Hr2' Expression 8
[0150] Similarly, as indicated by the following
Expression 9, the command combining unit 65p combines an
independent rotation command Cr2 (=C2) for the C axis
with a rotation amount command 5 Cr1 for the C axis
generated by the inclined-surface-coordinate-rotation
transforming unit 63p and generates a rotation amount
command Cr for the C axis.
Cr=Cr1+Cr2 Expression 9
10 [0151] The command combining unit 65p supplies the
combined rotation amount command Hr for the H axis and the
rotation amount command Cr for the C axis to the axis-data
output unit 39.
[0152] In this case, for example, during the virtual Y15
axis inclined surface machining mode, the numerical control
device 1p can replace the tool that should be used for
machining with the tool 9062i for perforating and reverse
the work W 180° while moving the tool 9062i to the
machining start position according to a description of "G0
20 X-50. Y50. Z0. T0202 C180" in the machining program 53.
[0153] By simultaneously performing the machining start
position determination, the tool replacement, and the
positioning of the work in this way, it is possible to
further reduce the machining time.
25 [0154] Alternatively, during the virtual Y-axis inclined
surface machining mode, the information can be commanded to
the B axis. For example, the machining program can be
changed as described below.
G0 Z30. C0
30 T1010
M37 B45. X0. Z0.
G0 X50. Y50. Z0.
57
G1 X50. Y-50. F100
G1 X-25. Y-50. F75
M37 B55. X0. Z0.
G0 X-25. Y-50. Z0.
5 G1 X-50. Y-50. F25
G1 X-50. Y50. F100
G1 X-25. Y50. F25
M37 B45. X0. Z0.
G1 X50. Y50. F75
10 G0 Z30.
M38
[0155] In this case, for example, in the flowchart
illustrated in FIG. 4, the processing of the startup
operation (step S3) and the virtual Y inclined surface
15 machining operation (step S4) are set into one routine.
This one routine is repeated a plurality of times (in the
case described above, three times) and then processing for
cancellation of the virtual Y-axis inclined surface
machining mode (step S5) is performed. In this case, as
20 described above, when the startup operation (step S3) is
performed every time, a different angle can be commanded as
a rotation angle of the B axis.
[0156] By repeatedly commanding the angle to the B axis
in this way, the turret can continuously machine inclined
25 surfaces having different inclination angles of a machining
surface centering on the tool distal end position.
Industrial Applicability
[0157] As described above, the numerical control device
30 according to the present invention is useful for the
machine tool not having the Y axis.
Reference Signs List
58
[0158] 1, 1i, 1j, 1k, 1pNumerical control devices
10 Display unit
20 Input operation unit
30 Control operation unit
31 Screen 5 processing unit
32 Input control unit
33 Parameter setting unit
34, 34i Machine-control-signal processing unit
34a Virtual Y-axis-control-mode-signal processing
10 unit
34ai Virtual Y-axis-inclined-surface-machining-modesignal
processing unit
35, 35i Switch
36 PLC
15 37 Acceleration/deceleration processing unit
38 Virtual Y-axis-control-switching processing unit
38i Virtual Y-axis-inclined-surface-machiningswitching
processing unit
39 Axis-data output unit
20 40, 40i, 40k Analysis processing unit
41i Virtual Y-axis-inclined-surface-machining
commanding unit
42i, 42k Virtual Y-axis-inclined-surface-machining
startup unit
25 42i1, 42k1 Virtual-plane-polar-coordinate
transforming unit
42i2, 42k2 Tool-length processing unit
42i3, 42k3 Inclined-surface-coordinate-rotation
transforming unit
30 43i, 43k Virtual Y-axis-inclined-surface-commandposition
creating unit
50, 50i Storing units
51 Parameter
59
52 Tool correction data
53 Machining program
54 Screen display data
55 Shared area
56i Machine configuration 5 parameter
60 Virtual Y-axis-control processing unit
60i, 60j, 60k, 60p Virtual Y-axis-inclined-surfacemachining
processing unit
61i, 61k, 61p Virtual-plane-polar-coordinate
10 transforming unit
62i, 62k, 62p Tool-length processing unit
62i1, 62k1, 62p1 Tool distal end to B-axis-rotationcenter-
vector calculating unit
63i, 63k, 63p Inclined-surface-coordinate-rotation
15 transforming unit
63i1, 63k1, 63p1 Virtual-coordinate-command-positioncoordinate-
rotation transforming unit
63i2, 63k2, 63p2 Tool distal end to B-axis-rotationcenter-
coordinate-rotation transforming unit
20 63i3, 63k3, 63p3 Combining unit
64j, 64p Command-axis determining units
65j, 65p Command combining units
70 Interpolation processing unit
90, 90i, 90k, 90p Driving units
25 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 Principal-axis control unit
30 900, 900i, 900k Machine tool
901 X-axis servomotor
902 H-axis servomotor
903 Z-axis servomotor
60
904 C-axis servomotor
905 Principal axis motor
906, 906i, 906k Turrets
907, 907i, 907k Work supporting section
5
61
We Claim :
1. A numerical control device that controls a machine
tool
having
an X axis for moving a turret 5 to which a tool is
attached,
a Z axis for moving work, and
a B axis for rotating the turret around a center
line perpendicular to the X axis and the Z axis,
10 having at least one of an H axis for rotating the
turret around a center line perpendicular to a center line
of rotation of the B axis and a C axis for rotating the
work around a center line parallel to the Z axis, and
not having a Y axis orthogonal to the X axis and the Z
15 axis,
the numerical control device comprising:
a unit that performs, during a virtual Y-axis inclined
surface machining mode for controlling the tool to move
along X-Y-Z axes relatively to the work according to an X20
Y-Z axis movement command in a machining program, virtual Y
inclined surface machining for moving the tool along the Y
axis relatively to the inclined surface in a state in which
the tool is inclined such that a center axis is
perpendicular to an inclined surface inclined from the X
25 axis and the Z axis.
2. The numerical control device according to claim 1,
wherein
the machine tool has the H axis, and
30 the unit that performs the virtual Y inclined surface
machining includes
a unit that performs virtual Y inclined surface
interpolation for
62
transforming the X-Y-Z axis movement command
in the machining program into a command in an X-Z-H
coordinate system and
driving the X axis, the Z axis, and the H
axis in association with one another 5 according to the
transformed command.
3. The numerical control device according to claim 1,
wherein
10 the machine tool has the C axis, and
the unit that performs the virtual Y inclined surface
machining includes
a unit that performs virtual Y inclined surface
interpolation for
15 transforming the X-Y-Z axis movement command
in the machining program into a command in an X-Z-C
coordinate system and
driving the X axis, the Z axis, and the C
axis in association with one another according to the
20 transformed command.
4. The numerical control device according to claim 2,
wherein
the unit that performs the virtual Y inclined surface
25 interpolation includes:
an X-Y-Z-axis interpolating unit that
interpolates X-Y-Z axis positions in a program coordinate
system on the basis of the X-Y-Z axis movement command in
the machining program;
30 a polar-coordinate transforming unit that
calculates, according to the interpolated X-Y-Z axis
positions in the program coordinate system, a polar
coordinate including a rotation center coordinate of the H
63
axis and a rotation angle of the H axis in the program
coordinate system; and
an X-Z-H-axis interpolating unit that
interpolates X-Z-H axis positions in a machine coordinate
system according to the calculated polar 5 coordinate in the
program coordinate system.
5. The numerical control device according to claim 3,
wherein
10 the unit that performs the virtual Y inclined surface
interpolation includes:
an X-Y-Z-axis interpolating unit that
interpolates X-Y-Z axis positions in a program coordinate
system on the basis of the X-Y-Z axis movement command in
15 the machining program;
a polar-coordinate transforming unit that
calculates, according to the interpolated X-Y-Z axis
positions in the program coordinate system, a polar
coordinate including a rotation center coordinate of the C
20 axis and a rotation angle of the C axis in the program
coordinate system; and
an X-Z-C-axis interpolating unit that
interpolates X-Z-C axis positions in a machine coordinate
system according to the calculated polar coordinate in the
25 program coordinate system.
6. The numerical control device according to claim 1,
wherein
the machine tool has the H axis, and
30 the unit that performs the virtual Y inclined surface
machining includes
a unit that performs a startup operation for
transforming a movement start position
64
corresponding to the X-Y-Z axis movement command in the
machining program into a command in an X-Z-H-B coordinate
system,
driving the X axis, the Z axis, the H axis,
and the B axis in association with one another 5 according to
the transformed command, and
changing the tool to an inclined state such
that a center axis is perpendicular to the inclined surface
and moving the tool to a machining start position of the
10 work.
7. The numerical control device according to claim 1,
wherein
the machine tool has the C axis, and
15 the unit that performs the virtual Y inclined surface
machining includes
a unit that performs a startup operation for
transforming a movement start position
corresponding to the X-Y-Z axis movement command in the
20 machining program into a command in an X-Z-C-B coordinate
system,
driving the X axis, the Z axis, the C axis,
and the B axis in association with one another according to
the transformed command, and
25 changing the tool to an inclined state such
that a center axis is perpendicular to the inclined surface
and moving the tool to a machining start position of the
work.
30 8. The numerical control device according to claim 1,
wherein
the unit that performs the virtual Y inclined surface
machining simultaneously performs, in parallel, during the
65
virtual Y-axis inclined surface machining mode,
a first operation for moving the tool to a
machining start position of the work and
at least one of a second operation for replacing
the tool and a third operation for performing 5 positioning
of the work.
9. The numerical control device according to claim 6,
wherein
10 the unit that performs the startup operation
repeatedly gives commands to the B axis during the virtual
Y-axis inclined surface machining mode, and
the unit that performs the virtual Y inclined surface
machining continuously machines inclined surfaces having
15 different inclination angles.
10. The numerical control device according to claim 7,
wherein
the unit that performs the startup operation
20 repeatedly gives commands to the B axis during the virtual
Y-axis inclined surface machining mode, and
the unit that performs the virtual Y inclined surface
machining continuously machines inclined surfaces having
different inclination angles.
25
Dated this 19th day of March, 2015
FOR MITSUBISHI ELECTRIC CORPORATION
By their Agent
30 (GIRISH VIJAYANAND SHETH) (IN/PA 1022)
KRISHNA & SAURASTRI ASSOCIATES
66
ABSTRACT
TITLE.: NUMERICAL CONTROL DEVICE
A numerical control device controls 5 a machine tool
having an X axis for moving a turret (906i) to which a
plurality of tools(9061i, 9062i) are attached, a Z axis for
moving work (W), and a B axis for rotating the turret
around a center line perpendicular to the X axis and the Z
10 axis and having at least one of an H axis for rotating the
turret around a center line perpendicular to the center
line of rotation of the B axis and a C axis for rotating
the work around a center line parallel to the Z axis. The
numerical control device includes a unit that performs,
15 during an virtual Y-axis inclined surface machining mode
for controlling the tool to move along X-Y-Z axes
relatively to the work according to an X-Y-Z axis movement
command in a machining program, virtual Y inclined surface
machining for moving the tool along the Y axis relatively
20 to the inclined surface in a state in which the tool is
inclined such that a center axis is perpendicular to an
inclined surface inclined from the X axis and the Z axis.