CN101096072B - Moving member movement control apparatus, moving member movement control method and machine tool movement control apparatus - Google Patents
Moving member movement control apparatus, moving member movement control method and machine tool movement control apparatus Download PDFInfo
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- CN101096072B CN101096072B CN2007101260523A CN200710126052A CN101096072B CN 101096072 B CN101096072 B CN 101096072B CN 2007101260523 A CN2007101260523 A CN 2007101260523A CN 200710126052 A CN200710126052 A CN 200710126052A CN 101096072 B CN101096072 B CN 101096072B
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Abstract
A movement control apparatus for a moving member, includes: a drive unit that moves a moving member by rapid traverse on a first axis and a second axis intersecting the first axis, and overlaps the rapid traverse movements in the two axis directions to thereby allow the moving member to move around the periphery of a given area; a reference arc setting unit that sets a reference arc inscribed in the first and second axes; a timing setting unit that sets an overlap movement start timing for the rapid traverse of the moving member based on the reference arc when switching the moving member from the first axis to the second axis; and a control unit that controls the operation of the drive unit to move the moving member at a timing set by the timing setting unit.
Description
Technical field
The present invention relates to a kind of mobile controller of moving body, the control method for movement of moving body and the mobile controller of lathe, for example, on tool rest, be arranged side by side in the lathes such as lathe of a plurality of instruments, making tool rest on 2 direction of principal axis of quadrature, overlap mobile by fast feed as moving body.
Background technology
Routine in lathes such as aforesaid lathe, when instrument that switching is used to process, for example, adopts as Figure 17 and instrument changing method shown in Figure 180.Promptly, in such lathe, be arranged side by side the tool rest 61 of instrument 62A, 62B such as a plurality of lathe tools, 62C, corresponding workpiece W can be that the direction that is arranged side by side of X-direction and instrument 62A～62C is that Y direction moves along the advance and retreat direction of instrument 62A～62C.And, for example, by instrument 62A to workpiece W process finishing after, skip the outstanding instrument 62B of point of a knife and when switching to instrument 62C, at first, shown in Figure 17 (a), tool rest 61 is positioned the 1st position P1, the 1st position P1 is that the point of a knife of instrument 62A is with respect to the outer peripheral face of workpiece W and the position with specific clearance C.
Thereafter, shown in Figure 17 (b), tool rest 61 is moved to X-direction, be positioned on the 2nd position P2 with the point of a knife of this instrument 62B that will be skipped, the 2nd position P2 is a point of a knife with respect to the outer peripheral face of workpiece W and the position with specific clearance C.The 2nd position P2 makes tool rest 61 when Y direction moves, can avoid the most outstanding instrument 62B and workpiece W interference via the position.Then, shown in Figure 17 (c), make tool rest 61 skip instrument 62B one edge Y direction on one side and move, be positioned on the 3rd position P3 with this point of a knife with instrument 62C, the 3rd position P3 is the position on the extended line of the point of a knife X-direction that is positioned at the center by workpiece W.In addition, shown in Figure 17 (d), it is mobile that tool rest 61 is advanced to X-direction, is positioned on the 4th position P4 with this point of a knife with instrument 62C, and the 4th position P4 is a point of a knife with respect to the outer peripheral face of workpiece W and the position with specific clearance C.
Yet, in the conventional control method for movement, tool rest 61 is on the 2nd position P2 and the 3rd position P3, between X-direction and Y direction, stop to change moving direction while being accompanied by, therefore have the elongated problem of traveling time of the tool rest 61 in the instrument change action.Promptly, as Figure 18 and shown in Figure 19, if with the traveling time between the 1st position P1 and the 2nd position P2 as t1, with the traveling time between the 2nd position P2 and the 3rd position P3 as t2, and with the traveling time between the 3rd position P3 and the 4th position P4 as t3, even then the traveling time t0 in order to diverter tool is the shortest, also be t1+t2+t3.
On the other hand, in patent documentation 1, disclosed the control method for movement of following instrument, that is, moved, shortened traveling time by instrument was overlapped on 2 direction of principal axis in the specific period.In addition, in patent documentation 2, disclosed the control method for movement of following instrument, promptly, set the approximated position, with when the diverter tool, in instrument is moved to from current location the instrument switching position during, make instrument by and avoid and other members disturb, on above-mentioned approximated position, do not need to make the fast feed of 2 directions to move to stop to overlap and carry out, thereby shorten traveling time.In addition, in patent documentation 3, disclosed the control method for movement of following moving body, promptly, by the 1st axial brake device moving body is moved in order to till the direction transfer point of avoiding disturbing with other members with fast feed speed, when making this moving body from this moving body arrival direction transfer point, in the traveling time of the 2nd axial brake device, slowly move with the acceleration-deceleration below the maximum acceleration-deceleration of the 1st axial brake device, thereby shorten traveling time.
[patent documentation 1] Japanese patent laid-open 9-262742 communique
[patent documentation 2] Japanese patent laid-open 11-104934 communique
[patent documentation 3] Japan Patent spy opens the 2006-24174 communique
Summary of the invention
[problem that invention institute desire solves]
Yet, in these conventional control method for movement, have following problem.
That is, in patent documentation 1, disclose the method that instrument is overlapped and move simultaneously on 2 direction of principal axis, but disclosed the method that mobile route that instrument is not disturbed with other members such as workpiece moves instrument of setting.Therefore, the method that is disclosed in this patent documentation 1 is applied to instrument shown in Figure 17 when switching, and may cause other members interference such as instrument and workpiece when the selection of instrument is mobile.
In addition, in the method that is disclosed in the patent documentation 2, when overlapping was moved in the fast feed that in fact makes 2 directions, mobile route was crooked near the approximated position, thereby instrument can't correctly pass through the approximated position.For instrument is not disturbed with other members, and correctly by the approximated position, the fast feed of 2 directions is moved stop temporarily to change, the result can't shorten traveling time.
In addition, in the method that is disclosed in the patent documentation 3, moving body moves on 2 direction of principal axis simultaneously, this moving body moves so that the mode of drawing out circular-arc track and protrusion in the exterior lateral area of linearity mobile route is circuitous, therefore the shift motion of moving body increases, thereby broad mobile space must be arranged.
This invention is conceived to existing problem points in this kind routine techniques and finishes.Its purpose is to provide a kind of mobile controller of moving body, the control method of moving body and the mobile controller of lathe, the mobile controller of this moving body can make moving body along the short mobile route that can not disturb with other members, moves with the short time.
[technological means of dealing with problems]
In order to reach above purpose, the 1st invention of the mobile controller of moving body is characterised in that and comprises: driving mechanism, make moving body on the 1st and with the 1st the 2nd of intersecting on, move by fast feed, and make to the fast feed of this two direction of principal axis and move overlapping, this moving body is moved around the specific region; Benchmark circular arc set mechanism is set the benchmark circular arc with above-mentioned the 1st and the 2nd inscribe; Time set mechanism when mobile, sets the mobile time started of overlapping of the fast feed of moving body at moving body on from above-mentioned the 1st according to the said reference circular arc on the 2nd; And controlling organization, move with the time that above-mentioned time set mechanism sets in order to make moving body, control the action of above-mentioned driving mechanism.
Therefore, according to this invention, when the 1st direction of principal axis moved, this moving body moved in the 2nd direction of principal axis according to the mobile time started that sets at moving body, while and draw approximate arc track fast feed based on the benchmark circular arc.Thus, can make moving body along can not coming to move by fast feed with the mobile route that other members disturb with the short time.Therefore, when the present invention is applicable to lathe, can makes the moving bodys such as tool rest on the lathe just not move and be positioned this ad-hoc location with the short time to ad-hoc location, thereby can improve the productivity of lathe by fast feed with the workpiece interference.
In addition, in the present invention, moving of moving body not only comprises the independent situation that moves of moving body, but also comprises following situation, promptly, under the stationary state of moving body, can move separately with respect to other moving bodys that moving body relatively moves, perhaps, two moving bodys move simultaneously, in a word, be meant that moving body relatively moves with respect to other members.In addition, in the present invention, overlapping is meant that moving body moves simultaneously to the 1st and the 2nd both direction.
The 2nd invention is according to the 1st described invention, it is characterized in that comprising: the 1st calculation mechanism, and it calculates many tangent lines to the said reference circular arc, and the intersection point of each tangent line; And the 2nd calculation mechanism, it calculates above-mentioned moving body and overlaps from it and move, up to arrive respectively pass through above-mentioned intersection point with above-mentioned the 1st the 1st parallel direction of principal axis line and the 2nd direction of principal axis line parallel with the 2nd till the 1st time and the 2nd time; And above-mentioned time set mechanism, above-mentioned the 1st time of the 2nd time ratio in short-term, in the mode that two times are equated, postponed the mobile time started of overlapping of above-mentioned moving body.
If form aforesaid formation, then can be by setting the mobile time started of overlapping of moving body, and result of calculation according to the 1st, the 2nd calculation mechanism, whether the motion track of judging moving body the inboard of the intersection point by being positioned at the benchmark circular arc outside, when by intersection point inboard, mechanism is revised by time set, so that the motion track of this moving body is positioned at the outside of intersection point.As mentioned above,, then have nothing to do, suitably set the mobile time started that overlaps with the speed of fast feed and the speed of acceleration and deceleration if set the mobile time started that overlaps.Therefore, even the different device of the speed of the speed of fast feed and acceleration and deceleration also can be tackled neatly.
The 3rd invention is according to the 2nd invention, it is characterized in that the equal angles compartment of terrain sets above-mentioned many tangent lines.
Therefore, the benchmark circular arc is equated with interval between a plurality of each intersection point.
The 4th invention is according to the 1st invention, it is characterized in that above-mentioned time set mechanism possesses form, this form is to set the mobile time started that overlaps according to the 1st axial amount of movement of moving body with the related of diameter of benchmark circular arc, and above-mentioned controlling organization is the action of controlling driving mechanism according to the data of above table.
If form aforesaid formation, then only with reference to form, can set the mobile time started that overlaps, and can promptly carry out this setting action.
The 5th invention is according to the 4th invention, it is characterized in that above table is according to being set in the continuous allowed line of specified quantitative inboard and allowing circular arc with respect to above-mentioned the 1st, above-mentioned the 2nd and benchmark circular arc, setting the mobile time started that overlaps.
If form aforesaid formation, the motion track that then can make moving body does not disturb with other members such as workpiece and is more approaching, thereby can shorten the traveling time of this moving body, when being applicable to lathe, can help to improve productivity.
6th invention relevant with the control method for movement of moving body is characterised in that, make moving body on the 1st and with the 1st the 2nd of intersecting on move by fast feed, and make to the fast feed of this two direction of principal axis and move overlapping, this moving body is moved around the specific region with this; Setting is inscribed within above-mentioned the 1st and the 2nd benchmark circular arc; On the 2nd, when mobile, set the mobile time started of overlapping of the fast feed of moving body according to the said reference circular arc at moving body on from above-mentioned the 1st.
Therefore, can obtain and the identical effect of above-mentioned the 1st invention.
In the 7th invention relevant with the mobile controller of lathe, the mobile controller of this lathe comprises: tool rest is being arranged side by side a plurality of instruments; And driving mechanism, between tool rest and workpiece and in the 1st direction of principal axis and with the 1st the 2nd direction of principal axis that intersects, generation is by relatively moving that fast feed is carried out, and the fast feed to this two direction of principal axis is overlapped, make tool rest center on moving of workpiece on every side thus with carrying out relativity; And the switching at above-mentioned instrument is in the lathe of carrying out by the action of above-mentioned driving mechanism, possess the described formation of the 1st～the 5th invention, and the moving body in the above-mentioned formation is above-mentioned tool rest.
Therefore, in lathe, can obtain and the identical effect of the 1st invention.
The 8th invention is characterised in that to possess distance setting mechanism, the point of a knife of this distance setting mechanism setting means and be arranged side by side the distance of leaving of direction with instrument between the outer peripheral face of the instrument of this point of a knife adjacency, and said reference circular arc set mechanism is with the above-mentioned radius of setting the said reference circular arc apart from following distance that leaves.If form aforesaid formation, can prevent suitably that then lathe tool etc. from disturbing instrument and the workpiece that the side of workpiece processes.
In addition, the 9th invention is characterised in that to possess distance setting mechanism, the point of a knife of this distance setting mechanism setting means and and the outer peripheral face of the instrument of this point of a knife adjacency between instrument be arranged side by side the distance of leaving of direction, and instrument is to the displacement of instrument advance and retreat direction, and said reference circular arc set mechanism, with with the above-mentioned distance of leaving apart from the short side after comparing with displacement, set the radius of said reference circular arc.If form aforesaid formation, then can prevent that suitably lathe tool etc. from disturbing instrument and the workpiece that the side of workpiece processes with more rational circular arc.
The 10th invention is characterised in that to possess distance setting mechanism, this distance setting mechanism set workpiece and and the point of a knife of the instrument of this workpiece adjacency between instrument be arranged side by side the distance of leaving of direction, and said reference circular arc set mechanism is with the above-mentioned radius of setting the said reference circular arc apart from following distance that leaves.If form aforesaid formation, then can suitably prevent front machining tool and workpiece interference such as drill bit and reamer.
In addition, the 11st invention is characterised in that to possess distance setting mechanism, this distance setting mechanism set workpiece and and the point of a knife of the instrument of workpiece adjacency between instrument be arranged side by side the distance of leaving of direction, and the instrument in the above-mentioned change action is to the displacement of above-mentioned instrument advance and retreat direction, and said reference circular arc set mechanism, with with the above-mentioned distance of leaving apart from the short side after comparing with displacement, set the radius of said reference circular arc.Can suitably prevent front machining tool and workpiece interference such as drill bit and reamer with more rational circular arc.
[effect of invention]
As mentioned above,, can make moving body, can improve productive effect thereby bring into play along not moving with fast feed with the path that other members disturb according to this invention.
Description of drawings
Fig. 1 represents to possess the major part stereogram of lathe of the mobile controller of an example.
The calcspar that the circuit of the mobile controller of Fig. 2 presentation graphs 1 constitutes.
Fig. 3 represents the chart of the mobile route of tool rest.
Fig. 4 represent to overlap chart of relation of mobile time started and approximate arc track.
Fig. 5 (a)～(d) is the partial front figure of the switching shift action of the instrument of the lathe of presentation graphs 1 successively.
Fig. 6 represents the local amplification view of switching shift action of the instrument of the 1st example.
Fig. 7 represents the flow chart of setting program of the mobile time started of overlapping of the 1st example.
Fig. 8 represents the chart of the relation of benchmark circular arc and approximate arc track.
The chart of the relation of benchmark circular arc when overlapping mobile time started and approximate circular arc is set in Fig. 9 (a)～(d) expression.
Figure 10 (a) is the 1st time when representing set to overlap mobile time started and the chart of the 2nd time relation (b).
The flow chart of the program when Figure 11 represents to set mobile time started of the overlapping of the 2nd example.
Figure 12 represents the matrix of setting form of the mobile time started of overlapping of the 1st corner portion.
Figure 13 represents the matrix of setting form of the mobile time started of overlapping of the 2nd corner portion.
The benchmark circular arc of Figure 14 (a) expression the 3rd example, approximate arc track and the chart of allowing the relation of circular arc etc., (b) the benchmark circular arc of expression the 3rd example, approximate arc track, allow the chart of the relation of circular arc and allowed line etc.
Figure 15 represents the matrix of setting form of mobile time started of overlapping of the 1st corner portion of the 3rd example.
Figure 16 represents the matrix of setting form of mobile time started of overlapping of the 2nd corner portion of the 3rd example.
Figure 17 (a)～(d) represents the partial front figure of selection shift action of the instrument of conventional lathe successively.
Figure 18 represents the chart of mobile route of the instrument of Figure 17.
The chart of the velocity variations when Figure 19 represents instrument mobile of Figure 18.
[explanation of symbol]
21 frames
22 fast headstocks
23 main shafts
The 23a chuck
24 back side fast headstocks
25 back side main shafts
26 tool rests
27,27A～27C, 29～31,30A～30D instrument
35 control device
36 central processing units
37 read-only storages
38 random access memory
39 input parts
40 display parts
41 main axis rotation control circuits
42 axis feeding control circuits
43 tool feeding control circuits
44 back side main axis rotation control circuits
45 back side axis feeding control circuits
46 main axis rotation drive units
47 axis feeding drive units
48 tool feeding drive units
49 back side main axis rotation drive units
50 back side axis feeding drive units
The C gap
C1 the 1st bight
C2 the 2nd bight
D1, D3 leaves distance
The D2 retreat distance
D4 is near distance
E1 benchmark circular arc
E2 is similar to arc track
The F intersecting point coordinate
K overlaps the mobile time started
The L1 tangent line
L1, L2 handle of a knife width
P1 the 1st position
P2 the 2nd position
P3 the 3rd position
P4 the 4th position
Pt1, Pt2 Tool Room distance
The W workpiece
The θ angle
The 1st time of t1
The 2nd time of t2
The specific embodiment
Below, the example that the present invention is specialized is described.
(the 1st example)
At first, based on Fig. 1～Figure 10 the 1st example is described.
As shown in Figure 1, in the lathe of the 1st example, on frame 21, can fast headstock 22 be set movably, and this fast headstock 22 is rotatably being supported the main shaft 23 that extends on Z-direction to Z-direction.To be positioned at the mode with the position of fast headstock 22 subtends, on frame 21, can back side fast headstock 24 be set movably, and rotatably support the back side main shaft 25 that on Z-direction, extends on this back side fast headstock 24 to Z-direction.And, but the chuck 23a (chucks of not shown back side main shaft 25 sides) of holding workpiece W is installed on main shaft 23 and back side main shaft 25.
As shown in Figure 1, between above-mentioned fast headstock 22 and back side fast headstock 24, on mechanical frame 21, can be that the X-direction of Z-direction quadrature and Y direction are being provided with the tool rest 26 as moving body movably to moving direction with fast headstock 22.On tool rest 26, on Y direction, separate specific interval and be arranged side by side instrument 27, this instrument 27 comprises implements a plurality of lathe tools machining, that extend in X-direction to the workpiece W on the main shaft 23 from its outer circumferential side.With above-mentioned instrument 27 adjacency, and on above-mentioned tool rest 26, separate specific interval and be arranged side by side instrument 29～31 on Y direction or X-direction, this instrument 29～31 comprises the drill bit the workpiece W on the main shaft 23 being processed or the workpiece W on the back side main shaft 25 is processed from its end face side from its end face side, extend in Z-direction or Y direction or reamer etc.In addition, with the 1st example is representative, in following each example, moving of fast headstock 22 and back side fast headstock 24, be moving of workpiece W and moving of above-mentioned tool rest 26, can relatively move respectively at producing between fast headstock 22 and back side fast headstock 24 and the workpiece W, also can be workpiece W and tool rest 26 and move separately, also can be both and move simultaneously.In each example, moving separately with workpiece W or tool rest 26 is that example describes.
Secondly, to the formation of control device 35 grades of the action of the lathe of formation describes in order to control as mentioned above.
As shown in Figure 2, this control device 35 comprises CPU (central processing unit, central processing unit) 36 ROM (read-only memory,, read-only storage) 37, RAM (random access memory, random access memory) 38, input part 39, display part 40, main axis rotation control circuit 41, axis feeding control circuit 42, constitute tool feeding control circuit 43, back side main axis rotation control circuit 44 and the back side axis feeding control circuit 45 of drive division.In this example, constitute benchmark circular arc set mechanism, time set mechanism, the 1st calculation mechanism, the 2nd calculation mechanism and controlling organization by above-mentioned CPU36, ROM37, RAM38.
Above-mentioned CPU36 outputs to main axis rotation control circuit 41, axis feeding control circuit 42, tool feeding control circuit 43, back side main axis rotation control circuit 44 and back side axis feeding control circuit 45 with the start instruction, utilize main axis rotation drive unit 46, axis feeding drive unit 47, tool feeding drive unit 48, back side main axis rotation drive unit 49 and the back side axis feeding drive unit 50 that constitutes by drive motor etc. with this, make starts such as above-mentioned main shaft 23, fast headstock 22, tool rest 26, back side main shaft 25 and back side fast headstock 24.
Above-mentioned tool feeding drive unit 48, when the following change action that carries out instrument 27 on the tool rest 26 of workpiece W or the instrument on the tool rest 26 27,30, by this tool rest 26 is moved to X-direction or Y direction, make tool rest 26 along to 2 direction of principal axis that are arranged side by side direction of the advance and retreat direction of the instrument 27 of workpiece W and instrument 27 and move.Therefore, tool feeding drive unit 48 constitutes in order to drive the driving mechanism that tool rest 26 moves to X-axis and Y direction.In addition, when carrying out the change action of other instruments 29,30, utilize the driving of tool feeding drive unit 48, tool rest 26 is moved to Y direction along the direction that is arranged side by side of instrument 29,30, and utilize axis feeding drive unit 47 or back side axis feeding drive unit 50, making fast headstock 22 or back side fast headstock 24 is that Z-direction moves to the axis direction of workpiece W, and instrument 29,30 can be along moving with advancing and retreat the direction relativity thus.
Storing among the above-mentioned ROM37 in order to workpiece W is implemented the various control programs of processing.And, the operation of institute's program stored among the CPU36 control ROM37.Storing procedure among the above-mentioned RAM38 provisionally, and various data manual input or that calculate by the computing of CPU36 etc.For example, storing the various data such as Tool Room distance relevant among the RAM38 with various tool 27,29～31.Promptly, when instrument is the instrument 27A that constitutes of the lathe tool shown in Fig. 5 (a)～(d)～27C, the Tool Room of expression between each instrument 27A～27C manually imported apart from the distance D 2 of the difference of height between the wide L1 of handle, the L2 of Pt1, Pt2, each instrument 27A～27C, the point of a knife that leaves distance D 1, D3, each instrument 27A～27C between each instrument 27A～27C, D4, position of tool tip etc., the data relevant with various processing, or in addition computing and be stored in the specific region of RAM 38.
In addition, storing the fast feed of tool rest 26, fast headstock 22 and back side fast headstock 24 on X, Y, each direction of principal axis of Z, the maximum speed data and acceleration (the containing deceleration) data of each feeding translational speed such as cutting feeding etc. in other zones of RAM38.
In addition, have among the RAM38 in order to preserving the interim storage area of the operation result in the following program shown in Figure 7 provisionally, and preserve the working region of operation result in advance for the action control usefulness that is used in tool rest 26.
Secondly, illustrate relevant in the lathe of aforesaid formation, the action when switching the setting tool 27 of lathe tool formation of the processing that is used in workpiece W.Carry out this change action with fast feed.And, as aftermentioned,, in corner portion C1, C2, set by the workpiece W that forms the specific region and isolate for example as Fig. 3, Fig. 5 and shown in Figure 8, and around the benchmark circular arc E1 of workpiece W radius D1～D4 on every side.The point of a knife of instrument 27A～27C (tip) is by tool rest 26 moving, in a corner portion C1, according to the mobile time started K of overlapping in the outside of setting this benchmark circular arc E1 according to said reference circular arc E1 overlap (in the time of X-axis and Y-axis) move, one side is described circular-arc track shown in Figure 4 (to call approximate circle arc or approximate arc track in the following text) E2, one side moves, then, one side is described straight path, one side moves, among this external another corner portion C2, one side is described the approximate arc track E2 according to benchmark circular arc E1, and one side is in the outer side shifting of benchmark circular arc E1.In addition, in Fig. 5, what move along the benchmark circular arc E1 in the outside of workpiece W is the point of a knife (tip) of instrument 27B, but following, this point of a knife (tip) mobile is called moving of tool rest 26 and is illustrated.
Herein, the approximate arc track E2 of tool rest 26 shown in Figure 4 is that the result who moves to the fast feed of X, Y direction is carried out in overlapping.That is, follow the approximate circular arc of the tool rest 26 of said reference circular arc E1 to move and can obtain in the following manner: promptly, at the special time that tool rest 26 moves to X-direction or Y direction, overlapping respectively to carry out moving to the Y direction of other directions or X-direction obtains.For example, as shown in Figure 4, begin to move in advance to the moving when reaching specific time of X-direction,, overlap and carry out, and implement and describe moving of approximate arc track E2 to the moving of Y direction by beginning to the moving of X, Y two direction of principal axis.Form the reasons are as follows of approximate arc track E2.That is,,, in Fig. 4, just can not form approximate arc track E2, and form the straight path of inclination as long as 26 moments of this tool rest reach top speed and keep this speed in the moving of the tool rest 26 of X, Y direction.Yet, in fact, can form accelerating region and deceleration area, so can form approximate arc track E2 at the two ends of velocity band.And can brightly be known by Fig. 4: when the mobile time started K that overlaps was fast more, the overlapping time was long more, and the radius of curvature of approximate arc track E2 is big more, and when the mobile time started K that overlaps was slow more, the radius of curvature of approximate arc track E2 was more little.
Then, as Fig. 5 (a) (b) shown in, instrument 27A～27C is (in this figure, for simplification is represented with rectangle) for example be to be arranged side by side along Y direction, switch when mobile along this Y direction, interfere for fear of the most outstanding instrument 27 (being 27B in this figure) and workpiece W, guarantee the mode of clearance C with the alignment error of consideration instrument 27 etc., tool rest 26 is kept out of the way to X-direction.Instrument 27A～the 27C of this moment and the X-direction position of tool rest 26 are retreating position, are the moving range end of X-direction with this retreating position.Therefore, decide amount of movement according to the overhang of the most outstanding instrument 27B to X-direction.In addition, the distance of 27 of instruments that switches according to desire decides the amount of movement to Y direction.
Fig. 5 (a) (b) in, move by the left of tool rest 26, carry out instrument is switched to instrument 27B or the 27C that is switched to the right side by the instrument 27A in left side.Herein, the point of a knife of the instrument that uses before compare tool switches be the point of a knife of instrument 27A and the outer peripheral face that is adjacent to the instrument of moving direction rear side be above-mentioned instrument 27B outer peripheral face between leave distance D 1, with by keeping out of the way the retreat distance D2 of mobile starting position to retreating position, set than weak point one side's distance D 1 or the benchmark circular arc E1 (the benchmark circular arc on Fig. 3 right side) that D2 is radius.In addition, leaving distance D 1 is to be deducted the wide L2 of handle of instrument 27B and calculate apart from Pt1 by the Tool Room between instrument 27A, 27B.And tool rest 26 is that one side is described the approximate arc track E2 according to benchmark circular arc E1, and one side is in the outer side shifting of benchmark circular arc E1.But, shown in Fig. 5 (b), when the radius of benchmark circular arc E1 is D1, because this radius D1 is shorter than retreat distance D2, therefore at first, after tool rest 26 was kept out of the way the roughly difference of leaving distance D 1 and retreat distance D2 point-blank to X-direction, E1 moved according to the benchmark circular arc.
Secondly, Fig. 5 (c) is that the instrument 27 that is switched is from the action of retreating position near workpiece W when representing cutter 27 along the Y direction diverter tool (d).
That is, tool rest 26 moves to retreating position.And, the outer peripheral face of instrument of moving direction front side that relatively is adjacent to the instrument of new use be the point of a knife of the outer peripheral face of instrument 27B and the new instrument that uses be instrument 27C point of a knife leave distance D 3, with the point of a knife of instrument and workpiece W from retreating position to new use can guarantee clearance C the position near distance D 4, set with than weak point one side's distance D 3 or the benchmark circular arc E1 that D4 is radius.In addition, in the example of Fig. 5, it is identical apart from Pt2 with Tool Room to leave distance D 3, therefore can directly use the Tool Room that is stored among the RAM 38 apart from Pt2.And tool rest 26 one sides are described the approximate arc track E2 according to benchmark circular arc E1, and one side is in the outer side shifting of benchmark circular arc E1.But when mobile radius was D3, mobile radius was less than near distance D 4, and therefore at first tool rest 26-face is described approximate arc track E2 according to benchmark circular arc E1, one side near after, to X-direction point-blank near near distance D 4 and the roughly difference of leaving distance D 3.
The computational methods of D1～D4 when herein, also explanation is about the mobile front of switching machining tool.
Fig. 6 is illustrated in the lathe shown in Figure 1, is arranged side by side the instrument change action of the instrument 30 that constitutes in instrument 30A～30D of the drill bit of tool rest 26 and reamer etc.Instrument 30A～the 30D of this drill bit and reamer etc. is that its front end lateral surface or front end face all become point of a knife, is used for the end face of workpiece W is implemented processing.And, in Fig. 6, having nothing in common with each other as the overhang of the instrument 30A～30D of above-mentioned instrument 30, at least one side of instrument 30B, the 30C of central portion is more more outstanding than instrument 30A, the 30D of both end sides.When front such as drill bit and reamer machining tool for this reason, instrument 27 grades that only following aspect and lathe tool constitute are different to the situation of the instrument that the side of workpiece W processes, that is, leave distance D 1, D3 (Y direction) be altered to the outer peripheral face of workpiece W and be adjacent to this workpiece W outer peripheral face instrument 30A～30D outer peripheral face between leave distance D 1, D3.
When the position of the instrument 30D that workpiece W is moved to the right side by the position of the instrument 30A in left side for diverter tool, leave distance D 1 as what instrument switch to move the beginning side, adopt the moving direction front side of workpiece W, promptly leave distance between the outer peripheral face of the outer peripheral face of the workpiece W of the moving direction rear side of tool rest 26 and instrument 30B.In addition, leave distance D 3, adopt the moving direction rear side of workpiece W, promptly leave distance between the outer peripheral face of the outer peripheral face of the workpiece W of the moving direction front side of tool rest 26 and instrument 30C as what instrument switched the mobile end side.
As shown above, when carrying out the instrument switching, relatively leave distance D 1 and retreat distance D2 respectively, leave distance D 3 and obtain benchmark circular arc E1 near distance D 4, can instrument 30A～30D be moved with fast feed with interfering in the outside of benchmark circular arc E1 with workpiece W.
Secondly, the order of the change action of specification tool 27.Fig. 7 is the overlap setting subprogram of mobile time started K of expression, and this subprogram is the program that is stored under the control of CPU 36 among the ROM37 of Fig. 2.
That is, in input part shown in Figure 2 39, when the specific operation that carries out in order to diverter tool, in step S1 shown in Figure 7 (following omission " step "), calculate radius D1～D4, the data of this radius D1～D4 are stored in the working region of RAM 38.And, by the comparison of above-mentioned D1 and D2 or D3 and D4, determine the radius of the benchmark circular arc E1 in each bight.This benchmark circular arc E1 sets the 1st and the 2nd of the mobile route that is inscribed within tool rest 26 for.After the setting of benchmark circular arc E1 finishes, secondly,, carry out the processing that is used for setting the mobile time started K of overlapping in the mode of setting the approximate arc track E2 of tool rest 26 in the outside of benchmark circular arc E1 according to this benchmark circular arc E1.
That is, in S2, at each corner portion C1, C2, the X-axis or the Y-axis that move with tool rest 26 are the 1st in advance, and Y-axis of Yi Donging or X-axis are the 2nd subsequently, are set in the value of decision to the 2nd axial action time started.For example, in Fig. 3, in the 1st corner portion C1 on right side, X-axis is the 1st, and Y-axis is the 2nd, and in the 2nd corner portion in left side, Y-axis is the 1st, and X-axis is the 2nd.The 2nd action time started for example is that or the mode that relative the 1st action time started of action time started of the 2nd is postponed a little is set among the ROM37 so that the 2nd action time started is consistent with the 1st action time started.In a word, in this stage, as long as the 2nd the action time started of action time started unlike the 1st in advance.In addition, because X-axis is the 1st, Y-axis is the 2nd, so Fig. 4 is the illustration of corner portion C1 on the right side of presentation graphs 3.
In S3, shown in Fig. 9 (a), to benchmark circular arc E1, calculate many tangent line L1, and calculate intersection point coordinate F as the intersection point of these tangent lines L1 according to each specific uniformly-spaced angle θ.So, because tangent line L1 presents equal angles at interval, therefore can make between each intersection point coordinate F and the benchmark circular arc E1 each apart from equating.In Fig. 9 (a), tangent line L1 comprises as the 1st X-axis and as 4 tangent lines of the 2nd Y-axis, and therefore, this intersection point coordinate F separates uniformly-spaced to be set in 3 places.Above-mentioned special angle θ is preestablished by manual input etc., therefore, can preestablish the number of tangent line L1 and the number of intersection point coordinate F.
In S4, suppose that above-mentioned tool rest 26 is to move with the approximate arc track E2 that makes according to the mobile time started K of above-mentioned overlapping, shown in Fig. 9 (b) and Figure 10 (a), calculate this tool rest 26 arrive Y direction line L3 respectively by conduct the 2nd direction of principal axis line of above-mentioned intersection point coordinate F, and as the 1st time t1, the 2nd time t2 of the X-direction line L2 of the 1st direction of principal axis line.
Then, in S5, compare time t1 and time t2.If t1=t2 represents that above-mentioned approximate arc track E2 is by on this intersection point coordinate F.If t1＜t2, shown in the solid line of Fig. 9 (b), the approximate arc track E2 of expression is positioned at the outside that isolates with benchmark circular arc E1 in the outside of benchmark circular arc E1 and via intersection point coordinate F.If t1＞t2, shown in 2 chain lines of Fig. 9 (b), the approximate arc track E2 of expression is positioned at the side than the more close benchmark circular arc of intersection point coordinate F E1.Therefore, if satisfy t1≤t2, approximate arc track E2 just can not enter the inboard of benchmark circular arc E1, but, when t1＞t2, shown in 2 chain lines of Fig. 9 (c), tool rest 26 might be in the medial movement of benchmark circular arc E1, and instrument 27A～27C has the misgivings of interfering with workpiece W.That is, above-mentioned intersection point coordinate F and benchmark circular arc E1 are approaching, if therefore t1＞t2, near intersection point coordinate F (the 1st direction of principal axis extended line position of intersection point coordinate F), approximate arc track E2 very likely enters the inboard of benchmark circular arc E1.In addition, even approximate arc track E2 is positioned at the outside of benchmark circular arc E1 near intersection point coordinate F, between till arriving next intersection point coordinate F, still have the misgivings of the inboard that enters benchmark circular arc E1.This reason is, when the motion track between intersection point approaches linearity, if enter the inboard at the intersection point coordinate F at 1 place, then and intersection point coordinate F before and after it between approximate arc track E2 very likely enter the inboard of benchmark circular arc E1.In addition, as the action of this example, at the 1st in advance or begin simultaneously to move relative to the 2nd, and two axles overlap and move, thereafter the 1st relative the 2nd in advance or under the condition that stops simultaneously, the circular-arc track that motion track presents linearity usually or protrudes laterally can not become the track that protrudes to the inside.Therefore, in all intersection point coordinate F,, then in all movings range, can not enter the inboard of benchmark circular arc E1 if motion track is present in the outside.
Therefore, when t1＞t2, in S6, shown in Figure 10 (b), for making t1=t2, and postpone to the 2nd axial action time started.
And, will represent that the data of the mobile time started K of overlapping of t1=t2 or t1＜t2 are stored in the interim storage area of RAM 38.
When satisfying t1=t2 or t1＜t2, divide a word with a hyphen at the end of a line to S7.
In S7, in all intersection point coordinate F, judge whether the processing of S3～S6 finishes, if finish, program is carried out to S8, if do not finish, returns S3.
In S8, for example to all corner portion C1, the C2 in path shown in Figure 3, whether the processing of judging S2～S7 finishes, if finish, if promptly finished the setting of the mobile time started K of overlapping of relevant all corner portion, then program is divided a word with a hyphen at the end of a line to S9, if do not finish, return S2, divide a word with a hyphen at the end of a line the processing of the mobile time started K of the overlapping of next corner portion.
So, calculate the route of representational tool 27A～27C in the outside of benchmark circular arc E1, in other words, calculate not the mobile time started K of overlapping of the approximate arc track E2 that interferes with workpiece W, in S9, the data of this mobile time started K that overlaps are passed on from the interim storage area of RAM 38 and store the working region into.
Therefore, thereafter, when carrying out the action of diverter tool, tool rest 26 one sides are described approximate arc track E2, and one side moves with fast feed in the outside of benchmark circular arc E1, and prevents the outer peripheral face interference of instrument 27A～27C and workpiece W.Therefore, the switching of instrument 27A～27C can be carried out, and the running efficiency of lathe can be improved in the short time.
In addition, shown in Fig. 9 (d), the bar number that is set at equal angles tangent line L1 at interval is many more, and therefore intersection point coordinate F can make approximate arc track E2 more near benchmark circular arc E1 more near benchmark circular arc E1.Fig. 9 (a) (b) in, for the purpose of simplified illustration, disclose uniformly-spaced that the value of angle θ is set at the illustrations of 30 degree, but be actually 1～18 degree degree that is set in, so intersection point coordinate F is positioned at very and approaches on the position of benchmark circular arc E1.Therefore, at this moment, can shorten the path of approximate arc track E2, further shorten instrument switching time.
In this example, can obtain following effect.
(1) tool rest 26 moves by utilizing the overlapping of carrying out to the fast feed of X-direction and Y direction when carrying out the instrument switching, and next one side is described the approximate arc track E2 based on benchmark circular arc E1, and one side is mobile.Therefore, compare with the situation of the instrument changing method of the routine of Figure 17～shown in Figure 19, can brightly know from the double dot dash line of Figure 19: can the shortening instrument switch required time t＜SUB 0＜/SUB 〉.Therefore, can improve the productivity of lathe.
(2) at instrument 27A～27C when retreating position moves, the point of a knife of the instrument 27A that uses before instrument switched is set at benchmark circular arc E1 with the circular arc of the radius of distance D below 1 of the outer peripheral face of the instrument 27B that is adjacent to instrument 27A at the moving direction rear side.In addition, when move the position of approaching workpiece W, will be set at benchmark circular arc E1 at the circular arc of the radius of distance D below 3 of the outer peripheral face of the instrument 27B of moving direction front side adjacency at instrument 27A～27C with the point of a knife of the relative instrument switching employed instrument 27C in back.As mentioned above, the distance D 1 of the outer peripheral face of the instrument 27B of the point of a knife of instrument 27A, 27C and adjacency, the circular arc of radius below the D3 are set at benchmark circular arc E1.With this, therefore instrument 27A～27C can when the selection of instrument 27A～27C is mobile, can prevent in advance that this instrument 27A～27C and workpiece W from interfering in the outer side shifting of isolating the benchmark circular arc E1 of specific range from workpiece W.This is to be conceived to and the point of a knife and the outer peripheral face that is adjacent to these instruments 27A～27C of the instrument 27A～27C of row arrangement, is to leave not simultaneously that the distance of contact workpiece W disposes, and this position relation is used in sets benchmark circular arc E1 and reach above-mentioned purpose.Promptly, relatively distance D 1, D3, with distance D 2, D4, to be set at the radius of benchmark circular arc than a short side's distance, in other words, the radius of benchmark circular arc is the longest also to be distance D 1 or D3, therefore not simultaneously under the condition of contact workpiece W, can suitably avoid the interference of instrument and workpiece at the outer peripheral face of the point of a knife of instrument 27A～27C and the instrument 27A～27C that is adjacent to it.
(3) as long as set the mobile time started K of overlapping of tool rest 26, therefore can reduce the burden of memory.
(4) tool rest 26 is in corner portion C1, C2, one side is described approximate arc track E2, one side moves in the zone of being divided by X-axis and Y-axis, can not exceed outside this zone, therefore can shorten the mobile route of tool rest 26 and instrument 27A～27C, can seek productive raising by shortening traveling time.
(5) by setting the mobile time started K of overlapping of tool rest 26, the inboard of the intersection point coordinate F in the outside whether approximate arc track E2 that can calculate tool rest 26 can be by being positioned at benchmark circular arc E1.As approximate arc track E2 during at intersection point coordinate F inboard, can be positioned at the mode in the outside of intersection point by making this approximate arc track E2, postpone the mobile time started K that overlaps.Therefore, have nothing to do, all can suitably set the mobile time started K that overlaps with the speed of fast feed and the speed of acceleration and deceleration.Therefore, even in the different device of the speed of the speed of fast feed and acceleration and deceleration, also can flexibly be tackled.
(the 2nd example)
Secondly, according to Fig. 1～Fig. 8, Figure 11～Figure 13, be that the center illustrates the 2nd example of the present invention with the part that is different from above-mentioned the 1st example.
In this 2nd example, as Fig. 4 and shown in Figure 8,, be not to set by computing in order to form not the mobile time started K of overlapping of the approximate arc track E2 that interferes with workpiece W, but according to program shown in Figure 11, and set according to Figure 12 and form shown in Figure 13.These forms are data forms of the mobile time started K of overlapping that calculates to the relation of the radius of the 1st axial amount of movement and benchmark circular arc according to tool rest 26 in advance, correspond respectively to corner portion C1, C2 and are set in the specific region of RAM 38.Figure 12 is the form that is used to set the mobile time started K of overlapping of presentation graphs 3 and Fig. 5 (a) the 1st corner portion C1 shown in (b), and Figure 13 is the form that is used to set the mobile time started K of overlapping of presentation graphs 3 and Fig. 5 (c) the 2nd corner portion C2 shown in (d).
And, when the selection action of instrument, utilize CPU 36, at first, in the S101 of Figure 11, similarly calculate benchmark circular arc E1 with above-mentioned the 1st example.Then, in S102, data form according to RAM shown in Figure 12 38, from at the tool rest 26 of the 1st corner portion C1 to the 1st axial amount of movement, promptly to the amount of movement of X-direction, with the relation of the radius of benchmark circular arc E1 in extract out and overlap mobile time started K and be stored in the working region of RAM 38.For example, when tool rest 26 is 10mm to the amount of movement of X-direction, when the radius of benchmark circular arc was 6mm, the mobile time started K of overlapping that obtains according to data form shown in Figure 12 was 4.1mm.And, in S103, be the place of 4.1mm from the amount of movement of X-direction, beginning is moved to the overlapping of Y direction, and tool rest 26 is in the 1st corner portion C1, and one side is described approximate arc track E2, and one side can not interfered with workpiece W in the outer side shifting of benchmark circular arc E1.
In addition, in the 2nd corner portion C2, after the calculating of benchmark circular arc E1 among the continuous S101, in S102, from the data form of RAM shown in Figure 13 38, according to the amount of movement of the tool rest 26 of the 1st Y direction, with the radius of benchmark circular arc E1 in extract the working region that the mobile time started K that overlaps is stored in RAM 38 out.For example, when the amount of movement of Y direction is 40mm, when the radius of benchmark circular arc E1 was 6mm, the position of obtaining the mobile time started K that overlaps according to data form shown in Figure 13 was the 34.1mm place.And, in S103, be the place of 34.1mm from the amount of movement of Y direction, beginning is moved to the overlapping in the X-direction of the 2nd corner portion C2, and tool rest 26 one sides are described approximate arc track E2, one side is in the outer side shifting of benchmark circular arc E1.
Therefore, in this 2nd example, can obtain following effect.
(6) when when set overlapping mobile time started K, therefore the data of extracting its mobile time started K that overlaps from form out can set the mobile time started K that overlaps apace in the short time.
(the 3rd example)
Secondly, be that the center illustrates the 3rd example of the present invention according to Figure 14～Figure 16 with the part that is different from above-mentioned the 2nd example.
In this 3rd example, shown in Figure 14 (a), between the outer peripheral face of benchmark circular arc E1 and workpiece W, on the zone of contact workpiece W not, set and allow circular arc E3 and allowed line E4 by imagination, and the making form.Allowed line E4 is connected in the end of allowing circular arc E3.That is, this 3rd example is to allow that the two-end part at least of approximate arc track E2 of tool rest 26 is in allowing between circular arc E3 and allowed line E4 and the benchmark circular arc E1.This allows that circular arc E3 and allowed line E4 consider that clearance C shown in Figure 5 sets, for example, in the inboard of the 1st, the 2nd and benchmark circular arc E1, be set in benchmark circular arc E1 side on the position of 20% degree of clearance C.And these data of allowing circular arc E3 and allowed line E4 are to be set among the ROM37 in advance, or by the user with manually by input part 39 input.
Therefore, can brightly know by Figure 15 and Figure 16: the mobile time started K that can overlap ahead of time of the data in the form.
For example, with similarly above-mentioned, in the 1st corner portion C1,, when the radius of benchmark circular arc is 6mm, obtain 3.8mm as the mobile time started K that overlaps according to data form shown in Figure 15 when being 10mm to the amount of movement of X-direction at tool rest 26.And, in S103, be the place of 3.8mm by the amount of movement of X-direction, beginning is moved to the overlapping of Y-axis, and tool rest 26 one sides are described approximate arc track E2, one side is in the outer side shifting of benchmark circular arc E1.
In addition, in the 2nd corner portion C2,, when the radius of benchmark circular arc E1 is 6mm, obtain 29.6mm as the mobile time started K that overlaps according to form shown in Figure 16 when the amount of movement in Y direction is 40mm.And, in S103, be the place of 29.6mm from the amount of movement of Y direction, beginning is moved to the overlapping of X-axis.
In addition, in this example, also can not set and allow circular arc E3 and only set allowed line E4.At this moment, shown in Figure 14 (b), allowed line E4 is extended to the position of benchmark circular arc E1.Therefore, utilize benchmark circular arc E1 and allowed line E4 to set the zone that is not contacted with workpiece W imaginaryly, and make form.
Therefore, in this 3rd example, has following effect.
(7) owing to can make the medial movement of tool rest 26, therefore can shorten the mobile route of tool rest 26, shorten the required time of diverter tool at benchmark circular arc E1.
(variation)
In addition, this example also can change as follows and specialize.
In this example, the mobile control of the tool rest 26 when the present invention is embodied as the instrument change action of lathe, but also the present invention can be embodied as for example carrying devices such as conveyance robot from a position conveyance to the another location such as holding workpiece.
In above-mentioned example,, also can utilize from the mobile time data that begins of tool rest 26 and set the mobile time started K that overlaps though utilize the position data that reaches on the Y-axis on the X-axis of tool rest 26 to set the mobile time started K that overlaps.
In above-mentioned example,, also the present invention can be embodied as in the formation that makes the diaxon oblique though make the 1st and the 2nd quadrature.
In above-mentioned example,, also the present invention can be embodied as in the switching of other instruments such as throw though the present invention is embodied as in the switching of the instrument 27 that lathe tool constitutes.
Claims (11)
1. the mobile controller of a moving body is characterized in that comprising:
Driving mechanism, by fast feed make moving body on the 1st and with the 1st the 2nd of intersecting on move, and move to the fast feed of this two direction of principal axis by overlapping, make this moving body moving on every side with this around the specific region;
Benchmark circular arc set mechanism is set the benchmark circular arc be inscribed within described the 1st and the 2nd;
Time set mechanism when being varied to along described the 2nd direction mobile along described the 1st direction mobile, sets the mobile time started of overlapping of the fast feed of moving body at moving body based on described benchmark circular arc; And
Controlling organization moves with the time that this time set mechanism sets in order to make moving body, controls the action of described driving mechanism.
2. the mobile controller of moving body according to claim 1 is characterized in that comprising:
The 1st calculates mechanism, calculate many tangent lines to described benchmark circular arc, with the intersection point of each tangent line; And
The 2nd calculates mechanism, calculates described moving body and overlap to move from it and begin to reaching respectively by described intersection point and the 1st time and the 2nd time described the 1st the 1st parallel direction of principal axis line and the 2nd direction of principal axis line parallel with the 2nd;
Described time set mechanism is when described the 2nd time is shorter than the situation of the 1st time, and the mode so that twice were equated postpones the mobile time started of overlapping of above-mentioned moving body.
3. the mobile controller of moving body according to claim 2, it is characterized in that: described many tangent lines are set in the equal angles compartment of terrain.
4. the mobile controller of moving body according to claim 1, it is characterized in that: described time set mechanism comprises the connection according to the diameter of the 1st axial amount of movement of moving body and benchmark circular arc, set the form of the mobile time started that overlaps, above-mentioned controlling organization is the action of controlling driving mechanism according to the data of this form.
5. the mobile controller of moving body according to claim 4, it is characterized in that: described form is the continuous allowed line that is set in the specified quantitative inboard according to described relatively the 1st, described the 2nd and benchmark circular arc and allow circular arc, sets the mobile time started that overlaps.
6. the control method for movement of a moving body is characterized in that:
By fast feed make moving body on the 1st and with the 1st the 2nd of intersecting on move, and overlap and move to the fast feed of this two direction of principal axis, make this moving body moving on every side with this around the specific region;
Setting is inscribed within described the 1st and the 2nd benchmark circular arc;
When being varied to along described the 1st direction mobile, set the mobile time started of overlapping of the fast feed of moving body at moving body according to described benchmark circular arc along described the 2nd direction mobile.
7. the mobile controller of a lathe, described lathe comprises:
Tool rest is being arranged side by side a plurality of instruments;
Driving mechanism, between this tool rest and workpiece, in the 1st direction of principal axis and with the 1st the 2nd direction of principal axis that intersects on produce by relatively moving that fast feed is carried out, and by overlapping to the fast feed of this two direction of principal axis, make tool rest around workpiece relatively around mobile;
Benchmark circular arc set mechanism is set the benchmark circular arc be inscribed within described the 1st and the 2nd;
Time set mechanism when being varied to along described the 2nd direction mobile along described the 1st direction mobile, sets the mobile time started of overlapping of the fast feed of tool rest at described tool rest based on described benchmark circular arc; And
Controlling organization moves with the time that this time set mechanism sets in order to make tool rest, controls the action of described driving mechanism; And
Carry out the switching of described instrument by the action of described driving mechanism.
8. the mobile controller of lathe according to claim 7 is characterized in that comprising distance setting mechanism, the point of a knife of setting means and and the outer peripheral face of the instrument of its point of a knife adjacency between instrument be arranged side by side the distance of leaving of direction,
Said reference circular arc set mechanism is with the above-mentioned radius of setting the said reference circular arc apart from following distance that leaves.
9. the mobile controller of lathe according to claim 7, it is characterized in that comprising distance setting mechanism, the point of a knife of setting means and be arranged side by side the distance of leaving of direction with instrument between the outer peripheral face of the instrument of its point of a knife adjacency, with instrument to the advance and retreat displacement of direction of instrument;
Said reference circular arc set mechanism is that the more described distance of leaving is with displacement and to set the radius of described benchmark circular arc than a short side's distance.
10. the mobile controller of lathe according to claim 7 is characterized in that comprising distance setting mechanism, set workpiece and the point of a knife of the instrument that is adjacent between instrument be arranged side by side the distance of leaving of direction,
Described benchmark circular arc set mechanism is with the described radius of setting described benchmark circular arc apart from following distance that leaves.
11. the mobile controller of lathe according to claim 7, it is characterized in that comprising distance setting mechanism, instrument between the point of a knife of the instrument of setting workpiece and being adjacent is arranged side by side the distance of leaving of direction, with instrument when the described change action displacement to described instrument advance and retreat direction
Described benchmark circular arc set mechanism is that the more described distance of leaving is with displacement and to set the radius of described benchmark circular arc than a short side's distance.
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| JP2006181175A JP5008909B2 (en) | 2006-06-30 | 2006-06-30 | Movement control device and movement control method in machine tool |
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| JP2006295557 | 2006-10-31 | ||
| JP2006-295557 | 2006-10-31 | ||
| JP2006295557A JP4921115B2 (en) | 2006-10-31 | 2006-10-31 | Movement control apparatus for moving body, movement control method for moving body, and movement control apparatus for machine tool |
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| JP5813058B2 (en) | 2013-07-02 | 2015-11-17 | ファナック株式会社 | Numerical controller with a function for shortening the starting point path of a complex fixed cycle |
| JP6684549B2 (en) * | 2015-06-11 | 2020-04-22 | 株式会社Kmc | Numerical control device for machine tool, machine tool, machine tool control method and program |
| JP6396275B2 (en) * | 2015-11-19 | 2018-09-26 | ファナック株式会社 | Numerical control device that overlaps operation by table format data |
| CN106249691B (en) * | 2016-08-26 | 2019-02-19 | 浙江海澄德畅机械有限公司 | A kind of intelligence control system of the planer with three-dimensional space locomotive function |
| JP7156897B2 (en) * | 2018-10-10 | 2022-10-19 | シチズン時計株式会社 | Machine Tools |
| JP7186276B2 (en) * | 2019-02-26 | 2022-12-08 | 株式会社Fuji | Machine Tools |
| CN114260475A (en) * | 2022-01-04 | 2022-04-01 | 宁夏共享精密加工有限公司 | Narrow groove turning method |
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