5-axis processing machine

Patent metadata

Field	Value
Publication number	US-11801577-B2
Application number	US-202117201352-A
Country	US
Kind code	B2
Filing date	Mar 15, 2021
Priority date	Mar 18, 2020
Publication date	Oct 31, 2023
Grant date	Oct 31, 2023

Abstract

A 5-axis processing machine includes a mounting table on which a tool and a work piece are placed; and a control unit; wherein the mounting table is moved relatively by three linear axes and two rotation axes based on NC data, the two rotation axes include a first axis and a second axis, when the control unit calculates a rotation angle of the two rotation axes, the control unit acquires an axis vector Na that specifies an actual first axis direction and an axis vector Nc that specifies an actual second axis direction, the control unit calculates a posture vector K that specifies a posture at a time of processing the work piece with respect to the tool from the NC data, the control unit calculates, as a solution of a following equation (4), an actual rotation angle θ around the first axis of the tool.

First claim

What is claimed is:

1. A 5-axis processing machine comprising:
a mounting table on which a tool and a work piece are placed; and
a control unit; wherein
the mounting table is moved relatively by three linear axes and two rotation axes based on NC data,
the two rotation axes include a first axis and a second axis,
when the control unit calculates a rotation angle of the two rotation axes,
the control unit acquires an axis vector Na that specifies an actual first axis direction,
the control unit acquires an axis vector Nc that specifies an actual second axis direction, by calculating the axis vector Nc based on positions of a first and a second points of a rod-shaped object standing vertically on the mounting table, and positions of the first and the second points of the rod-shaped object with the mounting table rotated 180 degrees around the actual second axis,
the control unit calculates a posture vector K that specifies a posture at a time of processing the work piece with respect to the tool from the NC data,
the control unit calculates, as a solution of a following equation (4), an actual rotation angle θ around the first axis of the tool and an actual rotation angle Φ around the second axis of the tool when moving the posture from the posture vector K to a posture vector K′ based on the axis vectors Na and Nc, the posture vector K that specifies one posture, and the posture vector K′ that specifies a next posture, and

in the equation (4), following relational expressions (5) to (8) hold:

Ra
⁡
(
θ
)

·

Rc
⁡
(
φ
)

·
K

=

K
′

(
4
)

Ra
⁡
(
θ
)

=

(

n

a
⁢
1

2

(

1
-

cos
⁢

θ

)

+

n

a
⁢
1

⁢

n

a
⁢
2

(

1
-

cos
⁢

θ

)

-

n

a
⁢
1

⁢

n

a
⁢
3

(

1
-

cos
⁢

θ

)

+

cos
⁢

θ

n

a
⁢
3

⁢

sin
⁢

θ

n

a

Assignees

• Sodick Co Ltd

Inventors

• Yokota Shoya
• Kawasaki Michihisa
• Ambai Munetaka

Classifications

• B23Q15/26 Primary

  of angular position · CPC title

• B23C1/027

  with working-spindle movable in a vertical direction · CPC title

• B23Q15/12

  Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion · CPC title

• B23Q16/007

  Positioning by sine tables · CPC title

• B23Q23/00

  Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms (automatic control B23Q15/00) · CPC title