JPS6044239A - Combined-metalcutting machine tool - Google Patents

Abstract

PURPOSE:To simplify the make-up of command data, by dividing a machining section for milling into plural minute sections, while building in a taped program which controls each axis so as to make a travel speed of a tool between these divided sections equal. CONSTITUTION:When milling takes place with a combined-metalcutting machine tool for turning and milling, a machining process and a machining part of a work are inputted into a machining program memory 13 and a machining process control memory 20 from an input operating part 10 as an operator watches a display part. When machining route is set up, these memories make a cutting condition setting operation part 12 and an interpolation speed control operation part 21 calculate a feed rate of each axis based on a subroutine program. This operation takes place after dividing a machining route into plural minute sections and making a travel speed of a tool at each section so as to be equal.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) 6 Technical Field of the Invention The present invention relates to a multi-tasking machine tool capable of performing turning and milling operations.

(b) Background of the Technology Recent machine tools have become more complex in their functions, and some are now capable of turning and milling. As these functions become more complex, the operability of machine tools is also becoming a major issue.

(C), Prior Art and Problems Conventionally, when milling is performed in this type of multitasking machine tool, rotation control of the C-axis, that is, the main shaft that grips and rotates the workpiece is required.

For example, when cutting a groove on the outer periphery of a cylindrical workpiece, in order to maintain constant machining accuracy on the cutting surface, the tool rest is It is necessary to control the X-axis, Z-axis, and C-axis of the These δ1 calculations have conventionally been performed entirely by hand, which is disadvantageous in that it takes a very long time and requires a huge amount of command data to be sent to the numerical control device. Particularly in today's situation of low-volume, high-mix production, the time required to create command data is longer than the time required for actual machining, resulting in the inconvenience that efficient machining cannot be performed.

(d) 0Object of the Invention In order to eliminate the above-mentioned drawbacks, the present invention provides a ξ
- During ring machining, the feed rate of each axis can be automatically determined within the machine tool without manual calculation, and therefore, the amount of command data to the numerical control device can be significantly reduced. The purpose is to sell machinery.

(e) Configuration of the 0 invention, that is, the present invention calculates the length of each single minute section when the machining section is divided into a plurality of minute sections, and divides the moving speed of the tool in the single minute section. A milling machine program memory is provided which stores an interpolation speed control calculation program for controlling each axis so that each axis is controlled equally throughout the critical section.

(r)0 Embodiments of the Invention Hereinafter, embodiments of the present invention will be specifically described based on the drawings.

Fig. 1 is a perspective view showing an embodiment of a multi-tasking machine tool to which the present invention is applied, and Fig. 2 shows a case where a side machining tool is attached to the tool head of the multi-tasking machine tool shown in Fig. 1. FIG. 3 is a block diagram showing the control system of the multi-tasking machine tool in FIG. FIG. 5 is a schematic diagram showing a cotton fabric processing process, (81 is a front view, (b+ is a side view, FIG. 6 is a schematic diagram showing a line left processing process,
(Al is a front view, (b) is a side view, Fig. 7 is a schematic diagram showing the line center machining process, (a) is a front view, (b) is a side view, and Fig. 8 is an in-plane machining process. A schematic diagram showing the process.
(a) is a front view, (b) is a side view, and Figure 9 is a schematic diagram showing the out-of-plane machining process. FIG. 11 is a diagram showing a specific machining aspect in the machining mode, FIG. 12 is a diagram showing a specific machining aspect in the surface machining mode, FIG. 14 shows the milling program main routine, FIGS. 14 to 36 show subroutines used in the E-') milling program main routine, and FIGS. 37 to 49 show the machining program in each subroutine. FIG. 50 is a perspective view showing another example of a multi-tasking machine tool to which the present invention is applied, and FIG.
It is an enlarged view of the tool head part of the multi-tasking machine tool area in the figure.

(Left below) The multi-tasking machine tool area 1 has a machine body 3, as shown in Fig. 1, and a turntable 2 is attached to the machine body 3 at the arrows E and F
It is provided so as to be rotatably driven in the C-axis direction.

A tool head 5 is provided in the upper part of the machine body 3 in the figure so as to be movable in the directions of arrows A, B, C, and D, that is, in the X-axis and Z-axis directions. The tool head 5 is provided with seven turning and milling tools that can be selectively loaded from a tool magazine 7 suspended on the right side in the figure.
(As shown in Figure 2, the workpiece side machining tool b
(Although FIG. 2 shows rotary tools such as drills, turning tools such as cutting tools are also included.)

In addition, the multi-tasking machine tool 1:,t, has a main control section 9 as shown in FIG. , furthermore, a cutting condition determination calculation unit 12, a milling nib program memory 13, a milling nib program memory 14,
Tool set memory 15/execution program buffer memory 16, coordinate value determination calculation unit 17, machining shape calculation unit 19,
Machining process control memory 20, machining shape development memory 36
etc. are connected. An interpolation speed control calculation unit 21 is connected to the cutting condition determination calculation unit 12, and an axis control unit 23 and an auxiliary control unit 25 are connected to the execution program buffer memory 16. The main shaft control section 22 is connected via 26.

The spindle control section 22 includes a spindle drive motor 27, and the axis control section 23 includes an X-axis drive motor 29. X-axis drive motor 30. The C-axis drive motor 31 is connected, and the auxiliary control section 25 can perform auxiliary control such as stopping the rotation of the main shaft and turning off the cutting water. A C-axis calculation unit 32 and an X/Z-axis calculation unit 33 are connected to the coordinate value determination calculation unit 17, and a coordinate transformation calculation unit 35 is connected to the machining shape calculation unit 19.
is connected.

Since the multi-tasking machine tool 1 according to the present invention has the above-described configuration, when turning and milling are performed using the multi-tasking machine tool 1, the operator is required to perform turning as in a normal lathe. , operate the input operation unit 10 while looking at the display unit 11 to input the machining data into the machining process (
The machining data is input sequentially for each series of machining units (a series of time-continuous machining units performed in a t-shaped pattern) using the same tool, and the machining data is stored in the machine program memory 13, and the machining data is input into the machining process control memory 20. Accumulate the execution order of data.

The input of machining data by the operator is now complete.
When the operator commands the start of machining from the input operation unit 10, the cutting condition determination calculation unit 12 determines cutting conditions such as circumferential speed and feed based on the input machining data, and outputs the determined cutting conditions to the execution program buffer memory 16. . Execution program buffer memory] The data output to the main axis/C-axis switching control unit 26.6 is processed according to the type of data. Axis control section 23
．． The data is output to the auxiliary control unit 25, and the spindle/C-axis switching control unit 26 determines whether the data is a spindle control 1I11 command or a C-axis control command. If the data is a spindle control command, the data is sent to the spindle control unit 22. If the data is a C-axis control command, the data is output to the axis control section 23. Tat! If the machining is turning, C-axis control is not performed, so all data is output to the spindle control section 22. Matco, axis control section 2
3 is the X-axis drive motor 29. X-axis drive motor 30. C
The auxiliary control unit 25 controls the motors for each axis of the shaft drive motor 31, and as already mentioned, controls the cutting water to 0N10FF, etc., and executes machining.

Next, when performing milling processing using the multi-tasking machine tool 1, the operator selects the display section 1 as in the case described above.
1, the input operation section 10 is operated while looking at the drawing, and the machining process and the machining section are controlled via the main control section 9 to the program memory 13 and the machining process control memory. 20. When inputting a machining process, the main control unit 9 searches the machining shape development memory 36, displays the machining process based on the final machining shape on the display unit 11, and tells the operator which machining mode the machining content to be machined is to be processed. and which machining process it belongs to, and prompts to input machining data based on the machining mode and machining process corresponding to the machining content.

That is, as shown in FIG. 4, the machining shape development memory 36 contains information such as (1) pre-point emode, end mill, etc. for milling to machine a point on specified coordinates using a drill, end mill, etc.; Perform linear processing using +21
m machining mode, similarly performs planar machining using an end mill, etc. (It is stored classified into 31 machining modes, and each mode is (1) machining mode (1a) Drilling process, (1b) Tapping process, (1c) Polling process 0, (2) Line processing mode is (2a) Cotton fabric processing, (2b) Line left processing, (2c) Line center processing process , (3) Surface machining modes are classified into (3a) in-plane machining process, and (3b) out-of-plane machining process.

(1a) The drilling process is a process of drilling a hole at a predetermined position using a drill, and (1b) the tapping process is a process of tapping a hole at a predetermined position using a tap. ) The poling process is a process in which a boring bar is used to perform poling at a predetermined position.

(Left below) (2a) In the i-cloth machining process, as shown in Fig. 5, the tool path TP is shifted to the right with respect to the traveling direction of the tool 6 with respect to the program shapes P and R input by the operator, and the tool This is the process of machining the workpiece 4 by moving the tool so that the side surface matches the program shape PR, and (2b) the line left machining process is the process of machining the workpiece 4 so that the side surface matches the program shape PR input by the operator. This is the process of machining the workpiece 4 by shifting the tool path TP to the left with respect to the traveling direction of the tool 6 and moving the tool so that the side surface of the tool matches the programmed shape PR. (2cl line center machining process is , as shown in Fig. 7, is the process of machining the workpiece 4 by moving the tool in a manner that matches the program shape 1) R and the tool trajectory TP, and (3a) the in-plane machining nib four-scess is , as shown in Figure 8, is a process in which the inside of the program shape PR input by the operator is machined in a plane, and (3b) the out-of-plane machining process is a process in which the inside of the program shape PR input by the operator is machined, as shown in Figure 9. This is a process in which the outside of the program shape PR is processed in a two-dimensional manner.

In addition, the machining part is appropriately classified into end face and outer diameter according to each mode and process, and the machining shape is as follows: (11-point machining mode is (1d) point shape, (1e) linear shape, (1f ) in a circular shape,
(2) Line machining mode is (2d) square shape, (2e) circular shape, (2f) linear shape, (2g) CW circular arc shape, (2h) CCW circular shape, (3) Surface machining mode is (3C) It is classified into rectangular shape, (3d) circular shape, (3e) linear shape, (3f) CW circular arc shape, and (3g) CCW circular arc shape.

FIG. 10 shows the machining mode in (1) point addition mode in a form corresponding to the machining part. As can be seen from the figure, (Id) point-shaped machining shape is for machining - holes on the predetermined coordinates of the outer diameter or end face, and (IC) line-shaped machining shape is for machining - holes on the outer diameter or on the specified coordinates of the end face. Alternatively, a plurality of holes are machined on a predetermined straight line of the end face.

FIG. 11 shows the machining mode in (2) line machining mode with t-shapes corresponding to the machining parts. As can be seen from the figure, (2d) square shape is the one in which a rectangular groove is machined on the end face, (2e) circular shape is the one in which a circular groove is machined in the end face, and (2f) linear shape. (2g) CW circular arc shape is a groove formed in a clockwise direction on the outer diameter or end face, (2hl CC)
The W arc shape is one in which an arcuate groove is machined in the opposite direction on the outer diameter or end face.

FIG. 12 shows the machining mode in (3) surface machining mode in a form corresponding to the machining part. As can be seen from the figure, (3C) Quadrilateral shape is one in which a square surface is machined on the end face, (3d) Circular shape is one in which a circular face is machined on the end face, and (3e) Linear shape is one in which a square face is machined on the end face. , a surface area delimited by a predetermined straight line on the end face is machined, (:H) CW circular arc shape is a process that processes a face area delimited by a predetermined circular arc on the end face in a clockwise direction, ( 3g) The c c w circular arc shape is one in which a surface area delimited by a predetermined circular arc on the end face is processed in a counterclockwise direction.

Based on the machining mode and machining process thus displayed on the display unit 11, the operator refers to the final machining shape shown in the drawing and enters the necessary machining data via the input operation unit 10 to perform the machining process. Input data for each machining process in order of power.

The machining data input by the operator is stored in the machine program memory 13, as in the case of turning, and the execution order of the machining data input is stored in the machining process control memory 20.

When the input of machining data by the operator is completed and a command to start machining is output to the main control unit 9 via the input operation unit 10, the main control unit 9 searches the machining process control memory 20 and first performs the process. The machining process to be processed is read out from the machining process control memory 20. The main control unit 9 calls the milling main routine MAIN of the milling nib program for milling from the ξ-ring nib program memory 14, and in steps s1 and S2 according to the flowchart shown in FIG. Determine whether the machining process to be executed first belongs to the machining mode, line machining mode, or surface machining mode based on the machining data for each machining process input by the operator. .

If it is determined that the machining belongs to the machining mode, it is determined in step S3 whether the machining is outer diameter machining or end face machining based on the operator's input data. If the machining is determined to be outside diameter machining, the main control unit 9 executes the machining shape calculation unit 1 based on the outside diameter machining shape calculation subroutine 5UBI.
9 is commanded to calculate the machining shape.

(Left below) In other words, the machining shape calculation section 19 inputs the machining position input by the operator into the coordinate transformation calculation section 35 based on the coordinate system transformation subroutine SUB 10 according to the outer diameter fish machining shape calculation subroutine SUB 1 shown in FIG. Convert the data from the x-Y orthogonal coordinate system to the R-θ polar coordinate system. No. 5UBIO, as shown in FIG.
In step 101, it is determined whether the machining position is x=y=o, that is, the origin, and if it is not the origin, step 51
02 to convert the machining position into polar coordinates.

After the coordinate conversion calculation unit 35 converts the machining position into polar coordinates, the process returns to subroutine SLI B 1, and the main control unit 9 executes the process (1d) in step Sll.
(1e) Judge whether it is a point shape or not; (1d) If it is a point shape, point processing outer diameter point shape coordinate value calculation subroutine 5UBII; (le) If it is a linear shape, point processing Entering the outer diameter line shape coordinate value calculation subroutine 5UB12,
The coordinate value determination calculation unit 17 calculates axis movement coordinate values for machining.

In the point machining outer diameter point shape coordinate value calculation subroutine 5UBII, as shown in FIGS. 24 and 37, the axis movement coordinate values C5, X9 . Z6, CE
, X, and Z are attached to the C, X, and Z axes. The coordinate values Cg and C6 are calculated by the C-axis calculation unit 32 as the rotational angular position during machining of the C-axis based on the command 1 of the coordinate value determination calculation unit 17, and are calculated as xs, zS, x, z.
, is calculated by the X/Z axis calculation unit 33 as the position to which the tool should be moved during machining.

In addition, in the fish machining lA radius shape coordinates (+fl calculation subroutine 5UB12, as shown in FIGS. 25 and 38, the axis movement coordinate values of the start and end points of the N-th hole to be machined CNS T XNG # ZIIs , CNE, xNE.

Put on ZN6. The coordinate values CN sN CN E are determined by the C-axis calculation unit 32 according to the command from the coordinate value determination calculation unit 17.
Calculated as the rotation angle position during C-axis machining, x
Ns, ZNSlXNE, ZN! is the X/Z axis calculation unit 33
is calculated as the moving position of the tool in the X1Z axis direction during machining.

In this way, when the point (hole) or point sequence (multiple holes) to be machined based on the outer diameter fish machining shape subroutine 5UB1 is determined as the movement position of the tool, etc., the main control unit 9
returns to the milling main routine MAIN and enters the fish processing cycle determination subroutine 5UB6.

In the Temae cycle determination subroutine 5tJB6, the first
As shown in FIG. 9, step 561 and step S62
, it is determined whether the hole to be machined is drilled using a drill, tapped using a tap, or polled using a boring bar based on the machining process name input by the operator. Then, a machining cycle to be executed is determined in steps 363, S64, and S65.

Next, to explain the case where the machining is determined to be end face machining in step S3 of the milling machining main routine MATN, the main control section 9 sends the machining shape calculation section 19 to the machining shape calculation section 19 based on the end point machining shape calculation subroutine 5UB2. Commands shape calculations. That is, as shown in FIG. 15, the end point machining shape calculation subroutine 5UB2 first uses the coordinate system conversion subroutine 5UBIO to convert machining position data input by the operator from the X-Y orthogonal coordinate system to R-θ. (In the case of end face processing, step 510 of the coordinate system conversion subroutine SUB10
The case where X=y=Q in 1 also exists, such as when drilling a hole at the t position on the end face, coinciding with the main axis. ), in that case, step 5103 is entered.

In step S21 and step S22, processing on the end face is performed on (1d) point shape, (1e) linear shape, (i
r) Determine which of the circular shapes it belongs to, and (Id) If it is a point shape, the point shape coordinate value calculation subroutine 5UB13 is sent to (Ie) If it is a linear shape, the point machining end surface glandular shape. In the coordinate value calculation subroutine 5UB14, (1
f) In the case of a circular shape, enter the circular shape coordinate value calculation subroutine 5IJB15 of the fish processing end face, and execute the coordinate value determination calculation section 1.
7 to calculate the axis movement coordinate values for machining.

In the point machining end face point shape coordinate value calculation subroutine 5UB13, as shown in FIGS. 26 and 39, the axis movement coordinate values c, , x, z, of the starting point and end point of the hole to be machined are calculated.
, C,, Zl:l:
t, X/Z axis calculation unit 33 Calculated as the position to which the tool should be moved during machining.
The "machining depth" in Fig. 26 represents the total amount of tool movement required for machining from the machining reference point such as the program origin.
"Machining allowance" refers to the actual machining amount of the workpiece.

Point machining end face ply shape coordinate value calculation subroutine 5tJB14
Now, as shown in FIGS. 27 and 40, the axis movement coordinate values C, of the starting point and ending point of the N-th hole IN, with reference to the first hole 1]1 to be machined. ,x,16,ZNt,,c-
,X,,,,zNE. Coordinate value C115, C1IE
is calculated by the C-axis calculation unit 32 as the rotation angle position during machining of the C-axis, and xN9. Z~5,XNl:,
Otsu□5 is calculated by the x/Z-axis calculating section 33 as the moving position of the tool in the X1Z-axis direction during machining. At this time, the coordinate value Xl of the first hole.

y, the pitch P of the point sequence, and the angle Q between the point sequence and the X axis are input by the operator as processing data.

(Left below) In the subroutine 5UB15 for calculating the circular shape coordinates of the fish processing end face, as shown in FIGS. 28 and 41,
The axis movement coordinate values C,,5,XN5,ZllS,N, of the start point and end point of the Nth 6HN,
,,,xl,? ,,Z1. Billing melody. Coordinates (”CNs
, C1+5 are calculated by the C-axis calculation unit 32 as rotation angle positions during machining of the C-axis, and XN, Zl15
, x, , zN are calculated by the X/Z-axis calculating section 33 as the movement position of the tool in the X- and Z-axis directions during machining. At this time, the coordinate values xj, y of the first 6H1
l, the number of holes n, and the center coordinates of the reference circle 1y.

The radius r of the J1 reference circle is input by the operator as processing data. X, , +V++ in step 5151 are N
Displays the coordinates of each hole.

In this way, the end face processing shape calculation subroutine S tJ
The point (hole 1jl) to be machined on the end face by 132 is the point sequence (
A plurality of holes) are determined as the movement position of the tool, etc. At this point, the main control section 9 executes the milling processing main routine M.
Return to AIN and fish processing nicle determination subroutine 5tJ
Enter B6.

In the fish processing cycle determination subroutine 5UB6, the 19th
As shown in the figure, in steps S61 and S62, the operator determines whether the hole to be machined is to be drilled using a drill, tapped using a tap, or polled using a boring bar. Based on the input machining process name, step S
63. The machining cycle to be executed is determined in steps S64 and S65.

Next, if only the operator's input indicates that the machining is in the fish machining mode and is in the line machining mode, the process proceeds from step S2 to step S4, and in step S4 whether the machining is outside diameter machining or not
Determine whether it is end face machining based on the data input by the operator. When the machining is determined to be outer diameter machining, the main control section 9 instructs the machining shape calculation section 19 to calculate the machining shape based on the outer diameter wire machining shape calculation subroutine 5tJB3.

That is, the machining shape calculation unit 19 executes the coordinate system transformation subroutine SUB1 by the coordinate transformation calculation unit 35 according to the outer diameter line machining shape calculation subroutine 5UB3 shown in FIG.
．． Based on O, the first operator inputs and converts the machining position data from the X-Y orthogonal coordinate system to the R-θ polar coordinate system. Once the processing position has been converted into polar coordinates by the coordinate conversion calculation unit 35, the process returns to subroutine 5UB3, and the main control unit 9 executes step 331 and step S32.
It is determined whether the machining is (2f) linear shape, (2gl CW circular arc shape, (2hl CCW circular arc shape), and (2f)
) In the case of a straight line shape, go to the line machining outer diameter straight line shape coordinate value calculation subroutine 5UB16, (2g) In the case of a CW circular arc shape, go to the line machining outer diameter CW arc shape coordinate value calculation subroutine SUB 17, (2h) In the case of a CCW circular arc shape, the line machining outer diameter CCW circular arc shape coordinate value calculation→J Brugen 5UB18 is entered, and the axis movement coordinate value for machining is calculated by the coordinate value determination calculation unit]7.

Line machining outer diameter linear shape coordinate value calculation subroutine 5UB16
Now, as shown in FIGS. 29 and 42, the axis movement coordinate values C,,X,, Z,,C□ of the start point ST, intermediate point MP, and end point EP of WI8 to be machined.

XM, ZM, C,,XI:, Z,. Coordinate value C5
, CI, , CE are calculated by the C-axis calculation unit 32 as rotation angle positions during machining of the C-axis, and X5°ZS
, X, , Z, , X, , Z are the x/Z axis calculation section 33
It is calculated as the position to which the tool should move during machining. The equation (]) in step 8161 is the equation for the straight line LIN to be machined in FIG.

Line machining outer diameter CW circular arc shape coordinate value calculation subroutine 5UB
17, as shown in FIGS. 30 and 43, axis movement coordinate values C,,X,, Z,,C,,x,, of the start point ST, intermediate point MP, and end point EP of the groove 8 to be machined are determined. zM, cE,
Set xεlZ in the same manner as for subnodotin 5UB16. In order to properly form the groove 8 on the outer diameter of the workpiece, each glaze is controlled so that equation (2) shown in step 5171 is satisfied. Note that the processing at this time is performed in the CW force direction, that is, in the clockwise direction.

Next, the line machining outer diameter CCW arc shape coordinate value calculation subroutine SUB 18 is exactly the same as the line machining outer diameter CW arc shape coordinate value calculation subroutine 5UB17, as shown in FIG. is performed in the CCW direction, that is, in the counterclockwise δ1 direction.

After the axis movement coordinate values for machining have been calculated in this way, the process returns to the milling machining main routine MAIN.
The line machining cycle determination subroutine 5UB7 is entered.

The line processing cycle determination subroutine 5UB7, as shown in FIG.
It is judged based on the processing process name input by the operator whether it is the BL line left processing process or the (2CIP11 center processing process), and in the case of the cotton right processing process, in step 573, the program input by the operator is A correction is made to shift the tool path to the right side with respect to the tool advancing direction for the shape, and in the case of a line left machining process,
In step 374, a correction is made to the program shape input by the operator to shift the tool trajectory to the left with respect to the tool advancing direction, and in the case of a ball-centered machining process, any correction is made as shown in step 375. No tool diameter correction is performed.

(Left below) Next, to explain the case where the machining is determined to be end face machining in step S4 of the milling machining main routine MAIN, the main control unit 9 operates the machining shape calculation unit based on the end face line machining shape calculation subroutine 5UB4. 19 to calculate the machining shape. That is, the end face line machining shape calculation subroutine 5UB4 is the 17th TI! As shown in J, first, the coordinate system conversion subroutine 5UBIO converts R-θ from the X-Y orthogonal coordinate system, which is the machining position data input by the operator.
Convert to polar coordinate system.

Then, in steps S41, S42, S43.
) circular shape, (2f) straight line shape, (2gl Cw arc shape, (2h) determine whether it is CCW arc shape, (2d)
(2e) In the case of a rectangular shape, the end face machining rectangular shape coordinate value calculation subroutine 5UB19, (2e) In the case of a circular shape, the end face machining circular shape coordinate value calculation subroutine 5UB20 (
2f) In the case of a straight line shape, the end face machining straight line shape coordinate value calculation subroutine S [JB21, (2g) In the case of a CW circular arc shape, the end face machining CW circular arc shape coordinate value calculation subroutine 5UB22, (2h) CCW In the case of an arc shape, the end face machining CCW arc shape coordinate value calculation subroutine 5UB23 is entered, and the coordinate value determination calculation unit 17 calculates the axis movement coordinate values for machining.

In the end face machining rectangle coordinate value calculation subroutine 5UB19, as shown in FIGS. 32 and 44, the operator inputs the coordinates of a pair of vertices on the diagonal of the rectangle to be machined, for example, vertices SA1 and SA3. The coordinates of other vertices SA2 and SA4 are determined in step 5191 from the coordinates of
Convert to polar coordinates. Next, in step 5192, for the four sides of the quadrilateral, the starting points STI, ST2, ST3 of each side are
, ST4 Set the end points EPI, EP2, EP3, EP4, define the formulas (4), (51, (61, (7)) to express each side, and move the tool between the corresponding start point and end point of each side. The axis movement coordinate values are calculated so that the

In the end face machining circular coordinate value calculation subroutine 5UB20, as shown in FIGS. 33 and 45, the operator inputs the coordinate values of the starting point ST, the radius of the circle, and the coordinates of the center of the circle CR2 to be machined! 8, J, etc., the formula of circle CR2 (8
), and calculate the axis movement coordinate value to move the tool based on equation (8).

In the end face machining linear shape coordinate value calculation subroutine 5UB21, as shown in FIGS. 34 and 46, the start point ST, intermediate point MP, and Axis movement coordinate values cS, xG, zs of end point EP.

Let CIl, Xll, Z, , C, , X, , Z, be combined with the equation (9) of the direct 1lLIN between the start point ST and the end point EP.

End face machining CW arc shape coordinate value calculation subroutine S U
In B22, as shown in FIGS. 35 and 47, the start point ST, intermediate point MP, and end point EP of the groove to be machined are determined from the coordinate values of the start point ST and end point EP input by the operator.
Axis movement coordinate value C:,,X,.

Zs, C,,X,, Z,,C,,XE,Z,,
Combined with equation (10) of the circle between the starting point ST and the ending point EP.

End face machining CCW arc shape coordinate value calculation subroutine 5UB
23, as shown in FIG. 36, is the same as the end face machining CW circular arc shape coordinate value calculation subroutine 5UB22, except that the positions of the starting point ST and ending point EP shown in FIG. It just becomes.

After the axis movement coordinate values for machining have been calculated in this way, the process returns to the milling machining main routine MAIN.
The line machining cycle determination subroutine 5UB7 is entered, and tool diameter correction is performed in accordance with each machining process in the same manner as described above.

Next, if the machining input by the operator is determined to be in the surface machining mode in step S2 shown in FIG.
As shown in Figure 8, the coordinate system conversion subroutine S U B
1.0, the machining position data input by the operator is converted from the X-Y orthogonal coordinate system to the R-θ polar coordinate system. Next, steps 351, S52, S53.35
4, the processing is (3C) square shape, (3d) circular shape, (
3e) Straight line shape, (3f) CW arc shape, (3gl
Judge the CCW arc shape, and if it is a square shape (3C), enter the end face processing square shape subroutine 5UB19,
(3d1 In the case of a circular shape, the end face machining circular shape coordinate value calculation subroutine 5UB20, (3e) In the case of a linear shape, the end face machining linear shape coordinate value calculation subroutine 5UB2
1, (in case of 3fJ CW circular arc shape, end face processing C
In the W arc shape coordinate value calculation subroutine 5UB22, (3
g) In the case of a CCW arc shape, the end face processing CCW arc shape coordinate value calculation subroutine 5UB23 is entered, and the coordinate value determination calculation section 17 calculates the axis movement coordinate values for machining.

Each "j FUK-CHINSU B 19.5UB20.
5UB21.5UB22.5UB23 was explained in the edge straight line machining shape calculation subroutine 5UB4, so the explanation thereof will be omitted here.

(The following is a blank space) Once the axis movement coordinate values in the surface machining mode have been calculated, the surface machining cycle determination subroutine 5UB8 is entered, as shown in FIG. 13. As shown in FIG. 21, the surface machining cycle legal subroutine 5UB8 determines that the machining process input by the sub-pellator in step S81 is (
3a) In-plane machining process, (3b1) Determine whether it is an out-of-plane machining process, and in the case of (3a) in-plane machining process, step S82 for the area defined by the axis movement coordinate values determined in subroutines 5UB19 to 5UB23. Process the inside (or right side, or upper side) of (3
b) In the case of an out-of-plane machining process, a program for machining the outside (also 1 to the left side, and 1 to the bottom side) of the area defined by the axis movement coordinate values determined in subroutines 5UB19 to 5UB23 is executed in step S82. It is determined.

In this way, as shown in FIG. 13, subroutine 5UB
6.5UB7.5UB8 specifies that the machining mode for any machining mode is specifically determined as the movement of the tool. The section 21 calculates the feed speed of each axis based on the interpolation speed control calculation routine 5U139.

That is, the interpolation speed control calculation subroutine SUB9 (as shown in FIGS. 22, 48, and 49, each axis is Determine the feed rate of.For more details,
In step S91, the entire machining length, that is, the length of the n-th minute section Δl1 when the machining section directly involved in the machining is divided into m minute sections is determined. That is, the length of the In the case of simultaneous control of the Z-axis and the C-axis, the minute interval Δ1. not shown in FIG. The minute interval shown is △1.

In the case of simultaneous control of the X-axis and Z-axis, the minute interval Δ(, is determined by equation (14), and further, based on equation (15),
The feed rate of each axis is calculated and determined so that the moving speed of the tool is equal throughout each minute section divided into m.

In this way, the feed rate of each axis is calculated and determined. By the way, the main control unit 9 inputs various data DAT necessary for actual machining, such as the axis movement coordinate values obtained so far and the feed rate of each axis.
A is output to the execution program buffer memory 16, and data DATA is accumulated in the execution program buffer memory 16 for each machining process. The data I) ATA output to the execution program buffer memory 16 is sent to the spindle/C-axis switching control section 26. Axis control section 23. The data is output to the auxiliary control unit 25, and the spindle/C-axis switching control unit 26 determines whether the data is a spindle control command or a C-axis control command, and if the data is a spindle control command, the data is output to the spindle control unit 22. If it is a C-axis control command, the data is output to the axis control section 23. In addition, the axis control section 23
is the X-axis drive motor 29. X-axis drive motor 30. The auxiliary control unit 25 controls the motors of each axis of the C-axis drive motor 31, and controls the cutting water ON10FF, etc., as described above, to execute machining.

At this time, each axis moves the tool relative to the workpiece per unit time. Since l1lIdan is controlled to be constant as shown in equation (15) in FIG. 22, the machining accuracy of the cut surface is maintained constant.

In the above embodiment, the multi-tasking machine tool 1 is a so-called vertical type machine as shown in FIG. Of course, a similar type machine as shown in Fig. 51 (a turret type machine is shown in this figure) may also be used.

(g) 1. Effects of the Invention As described above, according to the present invention, as shown in FIG. 22, the machining section l is divided into m minute sections, and the nth minute section Δl. It stores an interpolation speed control calculation program such as interpolation speed control calculation subroutine 5UB9, which controls each axis so that the moving speed of the tool in the minute section is equal throughout each minute section divided into m. Since the milling program memory 14 is provided, the milling machine can perform machining with C-axis control with a constant accuracy by simply inputting the shape to be machined into the complex machining machine 4J [1]. It is now possible to automatically calculate the feed rate of each axis within the machine tool, which was previously all done by hand and nose, and not only can the amount of command data to the numerical control device be significantly reduced. It becomes possible to provide a multi-tasking machine tool 1 suitable for small-volume, high-mix production.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of a multi-tasking machine tool to which the present invention is applied, and Fig. 2 shows a case where a side machining tool is attached to the tool head of the multi-tasking machine tool shown in Fig. 1. FIG. 3 is a block diagram showing the control system of the multi-tasking machine tool in FIG. , Figure 5 is a schematic diagram showing the cotton fabric processing process, (a) is a front view, (bl+
; is a side view, FIG. 6 is a schematic diagram showing the line left machining process, (a) is a front view, (b) is a side view, and FIG. 7 is a schematic diagram showing the line center machining process. fal is a front view, (b
l is a side view, FIG. 8 is a schematic diagram showing the four in-plane machining nib processes, (al is a front view, (b) is a side view, and FIG. 9 is a schematic diagram showing the out-of-plane machining process. (a) is a front view, (bl
is a side view, FIG. 10 is a diagram showing a specific processing mode in the fish processing mode, FIG. 11 is a diagram showing a specific processing mode in the line processing mode, and FIG. 12 is a diagram showing a specific processing mode in the surface processing mode. FIG. 13 is a diagram showing the milling program main routine, and FIGS. 14 to 36 are diagrams showing subroutines used in the milling program main routine. FIG. 49 is a diagram showing a specific aspect of machining in each subroutine, FIG. 50 is a perspective view showing another example of a multi-tasking machine tool to which the present invention is applied, and FIG. FIG. 3 is an enlarged view of the tool head portion of the multitasking machine tool. 1 Composite processing work TL! Area I 14 Milling machining program memory l - Machining section Δl,, minute section 5UB9... - Interpolation speed control calculation program (interpolation speed control calculation subroutine) Applicant Yamazaki Iron Works Co., Ltd. Agent Patent attorney Phase 1) Shinji ( (and 1 other person) Figure 5 (C1) (b) Figure 7 (a) (b) Figure 8 (a) (b) (Q) (b) Figure 20 Figure 21 Figure 23 Figure 24 Fig. 25 9M- Fig. 26 Fig. 34 Fig. 35 Fig. 44 ↑ Fig. 45 Fig. 48 (a) (b) Fig. 50 3 ″>

Claims (1)

[Claims] In a multi-tasking machine tool that can perform turning and milling, when the machining section is divided into multiple micro sections, the length of each single micro section is calculated, and the moving speed of the tool in the single micro section is calculated. A multi-tasking machine tool equipped with a milling program memory that stores an interpolation speed control calculation program that controls each axis equally throughout each divided minute section.