JP2010221363A

JP2010221363A - Multi-shaft working method and multi-shaft working machine

Info

Publication number: JP2010221363A
Application number: JP2009072598A
Authority: JP
Inventors: Makoto Tamura; 田村　　信; Takahiro Sudo; 貴裕須藤; Shuhei Aida; 収平相田; Atsushi Ishikawa; 淳石川
Original assignee: Niigata Prefecture
Current assignee: Niigata Prefecture
Priority date: 2009-03-24
Filing date: 2009-03-24
Publication date: 2010-10-07

Abstract

<P>PROBLEM TO BE SOLVED: To perform a working operation at high speed by providing a rotating shaft having an axis at a prescribed relative angle with respect to the axis of a main shaft and a turning shaft having an axis parallel with the axis of the main shaft when the axis of the main shaft is in a vertical direction, setting a relative angle formed by the axis of the rotating shaft and the axis of the turning shaft to an angle within a range of exceeding 45° to 70° or smaller, turning the rotating shaft and the turning shaft on their axes, and changing an attitude angle of a ball end mill. <P>SOLUTION: There are provided the rotating shaft 2 having the axis at the prescribed relative angle θ with respect to the axis 1a of the main shaft 1 and the turning shaft 3 having the axis parallel with the axis of the main shaft in a state that the axis of the main shaft is in the vertical direction. In a multi-shaft working method, the rotating shaft and the turning shaft turn their axes, and the attitude angle γ of the ball end mill with respect to an object W to be worked is changed to work the object to be worked in the ball end mill. The relative angle formed of the axis of the rotating shaft and the axis of the turning shaft is set within a range of exceeding 45° to 70° or smaller. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明はボールエンドミルを用いて被加工物を複数の軸により所望の姿勢角度で加工する多軸加工方法および多軸加工機械に関するものである。 The present invention relates to a multi-axis machining method and a multi-axis machining machine for machining a workpiece with a plurality of axes at a desired posture angle using a ball end mill.

従来、この種の多軸加工機械として、ボールエンドミルあるいは被加工物を加工空間内の任意の位置に送るためのＸ軸、Ｙ軸、Ｚ軸の直進３軸及び姿勢を与えるためのＸ軸廻りのＡ軸、Ｙ軸廻りのＢ軸、Ｚ軸（主軸）廻りのＣ軸から二つ選んだ回転２軸からなる構造の５軸加工機械や５軸以外の多軸の加工機械が知られている。 Conventionally, as this type of multi-axis machining machine, the ball end mill or the X-axis, Y-axis, Z-axis straight three axes for feeding the workpiece to any position in the machining space and the X-axis rotation for giving the posture There are known five-axis processing machines with two rotation axes selected from the A-axis, B-axis around the Y-axis, and C-axis around the Z-axis (main axis), and multi-axis processing machines other than the five-axis. Yes.

また、図７乃至図１０の如く、ボールエンドミルＴを装着する主軸１の軸線１ａに対して所定の相対角度θをなす軸線αをもつ回転軸２及び主軸１の軸線１ａが鉛直方向となっている状態で該主軸１の軸線１ａと平行な軸線Ｃ、この場合、鉛直方向の軸線Ｃをもつ旋回軸３からなる回転２軸の構造を備えてなり、この相対角度θは４５度に設定され、主軸１を姿勢部材４に装設し、この場合、姿勢部材４を取付機体５に上記回転軸２の軸線α廻りに旋回可能に設け、この取付機体５を機体６に旋回軸３の軸線廻りに旋回可能に設け、しかして、回転軸２及び旋回軸３を各軸線α・Ｃ廻りに旋回させ、被加工物Ｗに対するボールエンドミルＴの姿勢角γを変化させ、ボールエンドミルＴにより被加工物Ｗを加工する構造の５軸加工機械も提案されている。 Further, as shown in FIGS. 7 to 10, the rotating shaft 2 having an axis α forming a predetermined relative angle θ with respect to the axis 1a of the main shaft 1 on which the ball end mill T is mounted and the axis 1a of the main shaft 1 are in the vertical direction. In this state, an axis C parallel to the axis 1a of the main shaft 1 is provided, and in this case, a rotating biaxial structure comprising a turning axis 3 having an axis C in the vertical direction is provided, and the relative angle θ is set to 45 degrees. The main shaft 1 is mounted on the posture member 4, and in this case, the posture member 4 is provided on the attachment machine body 5 so as to be able to turn around the axis α of the rotary shaft 2. The rotary shaft 2 and the rotary shaft 3 are turned around the respective axes α and C to change the posture angle γ of the ball end mill T with respect to the workpiece W, and the ball end mill T is used for processing. A 5-axis machining machine with a structure for machining the workpiece W has also been proposed. That.

このような回転軸２（「α軸」ともいう。）及び旋回軸３（「Ｃ軸」ともいう。）からなる回転２軸の構造において、ある面、例えば、Ｘ軸−Ｚ軸面上における鉛直方向に対する主軸１の軸線１ａの角度を姿勢角γ、Ｃ軸の旋回角度をＣ度、α軸の回転角度をα度、相対角度をθ度としたとき、下記の[数式１]で表されることが知られている。 In such a rotating two-axis structure including the rotating shaft 2 (also referred to as “α-axis”) and the turning shaft 3 (also referred to as “C-axis”), a certain surface, for example, on the X-axis-Z-axis surface When the angle of the axis 1a of the main shaft 1 with respect to the vertical direction is the attitude angle γ, the turning angle of the C axis is C degrees, the rotation angle of the α axis is α degrees, and the relative angle is θ degrees, It is known that

竹内芳美著「進展する５軸制御加工技術」日刊工業新聞社発行「機械技術」第５５巻第８号（２００７年８月号）Takemi Yoshimi, “Five-Axis Control Machining Technology”, published by Nikkan Kogyo Shimbun, “Machine Technology” Vol. 55, No. 8 (August 2007)

しかしながら、このような上記回転軸２の軸線αと上記旋回軸３の軸線Ｃとのなす相対角度θが４５度に設定されている提案構造の場合、図９の如く、上記主軸１の軸線１ａをある面、例えば、Ｘ軸−Ｚ軸面上で姿勢角γを０度から９０度まで傾斜させるには、α軸を１８０度、Ｃ軸を９０度回転させることになり、これに対し、例えば、相対角度θを５５度に設定して同様な姿勢動作を行おうとしたとき、α軸を１２０度、Ｃ軸を４５度回転させることになり、すなわち、相対角度θが４５度の提案構造の場合、相対角度θを５５度に設定した構造よりも、α軸及びＣ軸の回転量が多くなり、高速加工の隘路となることがあるという不都合を有している。 However, in the case of the proposed structure in which the relative angle θ between the axis α of the rotating shaft 2 and the axis C of the swiveling shaft 3 is set to 45 degrees, the axis 1a of the main shaft 1 as shown in FIG. To tilt the posture angle γ from 0 degrees to 90 degrees on a certain plane, for example, the X-axis to Z-axis plane, the α axis is rotated 180 degrees and the C axis is rotated 90 degrees. For example, when trying to perform a similar posture operation with the relative angle θ set to 55 degrees, the α axis is rotated 120 degrees and the C axis is rotated 45 degrees, that is, the proposed structure with the relative angle θ being 45 degrees. In this case, the amount of rotation of the α-axis and the C-axis is larger than that in the structure in which the relative angle θ is set to 55 degrees, which may cause a bottleneck for high-speed machining.

又、上記数式１により姿勢角γ＝Δ１度に要するＣ軸、α軸の変化量（ΔＣ、Δα）を計算すると、図１１の如く、θ＝４５度の場合、姿勢角γ＝９０度近傍でＣ軸及びα軸の動作が極大となり、これに対し、図１２の如く、θ＝５５度の場合、姿勢角γ＝１１０度近傍で極大となり、しかして、姿勢角γを０度から９０度の範囲に限定して比較すると、θ＝４５度の場合、θ＝５５度の場合に対して動作が極めて小さいということになる。 Further, when the change amounts (ΔC, Δα) of the C-axis and α-axis required for the posture angle γ = Δ1 degree are calculated by the above formula 1, when θ = 45 degrees as shown in FIG. 11, the posture angle γ = near 90 degrees. On the other hand, the movements of the C axis and the α axis become maximum. On the other hand, as shown in FIG. 12, when θ = 55 degrees, the attitude angle γ becomes maximum in the vicinity of 110 degrees. Comparing only in the range of degrees, when θ = 45 degrees, the operation is extremely small compared to the case of θ = 55 degrees.

又、被加工物Ｗの加工半径をｒ、送り速度をＶ、Ｃ軸の回転速度をＶｃ、α軸の回転速度をＶαとしたとき、下記の[数式２]の関係となる。 Further, when the processing radius of the workpiece W is r, the feed speed is V, the C-axis rotation speed is Vc, and the α-axis rotation speed is Vα, the following equation 2 is established.

ここで、例えば、ｒ＝１０ｍｍ、Ｖ＝０．８ｍ／ｍｉｎで動作した場合を考えると、θ＝４５度の場合、図１３の如く、姿勢角γ＝９０度に近づくにつれ、回転軸の回転速度Ｖｃが上昇し、α軸は最大２００ｒｐｍの回転速度Ｖαを必要とし、これに対し、θ＝５５度の場合、図１４の如く、最大２２ｒｐｍの回転速度Ｖαとなり、トルクの小さなモータを採用することができる。 Here, for example, considering the case of operation at r = 10 mm and V = 0.8 m / min, when θ = 45 degrees, as shown in FIG. 13, the rotation axis rotates as the attitude angle γ approaches 90 degrees. The speed Vc increases, and the α-axis requires a maximum rotation speed Vα of 200 rpm. On the other hand, when θ = 55 degrees, the maximum rotation speed Vα is 22 rpm as shown in FIG. be able to.

また、上記数式１及び数式２において、相対角度θが５５度の場合、送り速度Ｖ＝０．８ｍ／ｍｉｎで動作するためには、２２ｒｐｍであったが、送り速度Ｖが１０倍のＶ＝８ｍ／ｍｉｎで動作した場合を考えると、図１５の如く、α軸の回転速度Ｖαは姿勢角γ＝９０度の場合、約２００ｒｐｍとなり、すなわち、θ＝４５度、θ＝５５度の場合ともに同じ仕様のモータであれば、送り速度Ｖは１０倍高速化が可能となる。 Further, in the above formulas 1 and 2, when the relative angle θ is 55 degrees, in order to operate at the feed speed V = 0.8 m / min, it was 22 rpm, but the feed speed V is 10 times V = Considering the case of operating at 8 m / min, as shown in FIG. 15, the rotation speed Vα of the α-axis is about 200 rpm when the posture angle γ is 90 degrees, that is, both when θ = 45 degrees and θ = 55 degrees. If the motors have the same specifications, the feed speed V can be increased 10 times.

ここにおいて、θ＝５５度の構造を代表例として示したが、相対角度θにより動作特性、例えば、必要なＣ軸の回転速度Ｖｃが異なり、送り速度Ｖ＝１０ｍ／ｍｉｎ、加工半径ｒ＝５ｍｍとした場合、図１６の如く、相対角度θを４５度から４６度とするだけで必要な回転速度Ｖｃは約３分の１となり、それ以上の相対角度θとしても大きな効果を得ることはできないものの、機械の構造上の制約もあり、相対角度θ＝４５度超から７０度以下の範囲内の角度であっても、上記と同様な効果を得ることができる。 Here, the structure of θ = 55 degrees is shown as a representative example, but the operation characteristics such as the necessary C-axis rotation speed Vc differ depending on the relative angle θ, the feed speed V = 10 m / min, and the processing radius r = 5 mm. In this case, as shown in FIG. 16, the required rotational speed Vc is reduced to about one third only by changing the relative angle θ from 45 degrees to 46 degrees, and a large effect cannot be obtained even with a relative angle θ higher than that. However, there are restrictions on the structure of the machine, and the same effect as described above can be obtained even if the relative angle θ is in the range of more than 45 degrees to 70 degrees or less.

本発明はこのような発明者らの知見に基づいて提案構造の不都合を解決することを目的とするもので、本発明のうちで、請求項１記載の方法の発明は、少なくとも、ボールエンドミルを装着する主軸の軸線に対して所定の相対角度をなす軸線をもつ回転軸及び該主軸の軸線が鉛直方向となっている状態で該主軸の軸線と平行な軸線をもつ旋回軸からなり、該回転軸及び該旋回軸を各軸線廻りに旋回させ、被加工物に対する該ボールエンドミルの姿勢角を変化させ、該ボールエンドミルで被加工物を加工する多軸加工方法において、上記回転軸の軸線と上記旋回軸の軸線とのなす相対角度が４５度超から７０度以下の範囲内の角度となっていることを特徴とする多軸加工方法にある。 The present invention aims to solve the disadvantages of the proposed structure based on the findings of the inventors. Among the present inventions, the method invention according to claim 1 includes at least a ball end mill. The rotating shaft has a rotation axis having an axis that forms a predetermined relative angle with respect to the axis of the main shaft to be mounted, and a turning shaft having an axis parallel to the axis of the main shaft in a state where the axis of the main shaft is in the vertical direction. In a multi-axis machining method in which a shaft and the pivot shaft are swung around each axis, the attitude angle of the ball end mill with respect to the workpiece is changed, and the workpiece is machined by the ball end mill, the axis of the rotary shaft and the axis The multi-axis machining method is characterized in that the relative angle formed with the axis of the swivel axis is an angle in the range of more than 45 degrees to 70 degrees.

又、請求項２記載の機械の発明は、少なくとも、ボールエンドミルを装着する主軸の軸線に対して所定の相対角度をなす軸線をもつ回転軸及び該主軸の軸線が鉛直方向となっている状態で該主軸の軸線と平行な軸線をもつ旋回軸からなり、該回転軸及び該旋回軸を各軸線廻りに旋回させ、被加工物に対する該ボールエンドミルの姿勢角を変化させ、該ボールエンドミルで被加工物を加工する多軸加工機械において、上記回転軸の軸線と上記旋回軸の軸線とのなす相対角度が４５度超から７０度以下の範囲内の角度となっていることを特徴とする多軸加工機械にある。 According to a second aspect of the present invention, at least the rotating shaft having an axis forming a predetermined relative angle with respect to the axis of the main shaft on which the ball end mill is mounted and the axis of the main shaft are in the vertical direction. Consists of a swivel axis having an axis parallel to the axis of the main shaft, the rotation shaft and the swivel shaft are swung around each axis, the attitude angle of the ball end mill with respect to the workpiece is changed, and the ball end mill In a multi-axis processing machine for processing an object, the relative angle formed by the axis of the rotary shaft and the axis of the swivel axis is an angle in the range of more than 45 degrees to 70 degrees or less. In the processing machine.

又、請求項３記載の機械の発明は、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、該取付機体を機体に上記旋回軸の軸線廻りに旋回可能に設けてなることを特徴とするものであり、また、請求項４記載の発明は、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体にワークテーブルを上記旋回軸の軸線廻りに旋回可能に設けてなることを特徴とするものであり、又、請求項５記載の機械の発明は、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体に旋回部材を上記旋回軸の軸線廻りに旋回可能に設け、該旋回部材に取付機体を装設してなることを特徴とするものであり、又、請求項６記載の機械の発明は、上記旋回部材に中間部材を上記旋回軸の軸線に直交する軸線をもつ下部リンク軸の軸線廻りに回動可能に設けると共に該中間部材に上記取付機体を該下部リンク軸の軸線と平行な軸線をもつ上部リンク軸の軸線廻りに回動可能に設けてなることを特徴とするものであり、又、請求項７記載の機械の発明は、上記ボールエンドミルのボール半径の中心を上記主軸の軸線と上記回転軸の軸線との交点に配置してなることを特徴とするものである。 According to a third aspect of the present invention, the main shaft is attached to a posture member, the posture member is provided on an attachment machine body so as to be pivotable about the axis of the rotary shaft, and the attachment machine body is provided on the fuselage. The present invention is characterized in that the main shaft is attached to a posture member, and the posture member is attached to an attachment machine body around the axis of the rotary shaft. And a work table is provided on the machine body so as to be able to turn around the axis of the turning shaft. The invention of the machine according to claim 5 is characterized in that the main shaft is used as a posture member. The attitude member is provided on the mounting body so as to be able to turn around the axis of the rotating shaft, the turning member is provided on the body so as to be able to turn around the axis of the turning axis, and the mounting body is provided on the turning member. In addition, the present invention is characterized by the following. In the invention of this machine, an intermediate member is provided on the pivot member so as to be rotatable around an axis of a lower link shaft having an axis perpendicular to the axis of the pivot shaft, and the mounting body is attached to the intermediate member. The machine according to claim 7, wherein the ball end mill has a center of the ball radius. The upper end of the upper link shaft having an axis parallel to the axis is pivotable. Is arranged at the intersection of the axis of the main shaft and the axis of the rotary shaft.

本発明は上述の如く、請求項１又は２記載の発明にあっては、少なくとも、ボールエンドミルを装着する主軸の軸線に対して所定の相対角度をなす軸線をもつ回転軸及び該主軸の軸線が鉛直方向となっている状態で該主軸の軸線と平行な軸線をもつ旋回軸からなり、上記回転軸の軸線と上記旋回軸の軸線とのなす相対角度を４５度超から７０度以下の範囲内の角度に設定し、回転軸及び旋回軸を各軸線廻りに旋回させ、被加工物に対する該ボールエンドミルの姿勢角を変化させ、該ボールエンドミルで被加工物を加工するようにしたから、限界姿勢角が９０度超えとなって加工範囲を拡大することができ、かつ、姿勢角が９０度となる付近における微小な姿勢角変化に必要な回転軸の軸線廻りの角度変化が小さくなり、回転軸を回転させるモータの特性の影響を受けることがなり、加工の高速化を図ることができる。 As described above, according to the present invention, at least the rotating shaft having an axis forming a predetermined relative angle with respect to the axis of the main shaft on which the ball end mill is mounted and the axis of the main shaft are provided. It consists of a swivel axis having an axis parallel to the axis of the main shaft in a vertical direction, and the relative angle between the axis of the rotary shaft and the axis of the swivel axis is in the range of more than 45 degrees to less than 70 degrees Since the rotation angle and the turning axis are turned around each axis, the posture angle of the ball end mill with respect to the work piece is changed, and the work piece is processed by the ball end mill. When the angle exceeds 90 degrees, the machining range can be expanded, and the angle change around the axis of the rotation axis necessary for a small change in the attitude angle in the vicinity where the attitude angle is 90 degrees is reduced, and the rotation axis Rotate the Will be affected by other properties, it is possible to increase the speed of processing.

又、請求項３記載の発明にあっては、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、該取付機体を機体に上記旋回軸の軸線廻りに旋回可能に設けてなるから、回転軸及び旋回軸を各別な分離独立した制御が可能となり、被加工物に対するボールエンドミルの姿勢制御を容易に行うことができ、高速加工を円滑に行うことができ、又、請求項４記載の発明にあっては、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体にワークテーブルを上記旋回軸の軸線廻りに旋回可能に設けてなるから、ボールエンドミルを回転軸の軸線廻りに回転させ、被加工物を載置するワークテーブルを旋回軸の軸線廻りに旋回させることができ、主軸側の構造を簡素化することができ、又、請求項５記載の発明にあっては、上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体に旋回部材を上記旋回軸の軸線廻りに旋回可能に設け、該旋回部材に取付機体を装設してなるから、旋回部材に回転軸を設けていることになり、設置の融通性を高めることができ、又、請求項６記載の発明にあっては、上記旋回部材に中間部材を上記旋回軸の軸線に直交する軸線をもつ下部リンク軸の軸線廻りに回動可能に設けると共に該中間部材に上記取付機体を該下部リンク軸の軸線と平行な軸線をもつ上部リンク軸の軸線廻りに回動可能に設けてなるから、上記旋回部材と取付機体との間にリンク作用をなす中間部材が存在することになり、中間部材の存在によりボールエンドミルの先端部の姿勢制御の融通性を高めることができ、又、請求項７記載の発明にあっては、上記ボールエンドミルのボール半径の中心を上記主軸の軸線と上記回転軸の軸線との交点に配置してなるから、回転軸が回転動作しても、ボールエンドミルの先端部の位置関係が変わらないため、回転軸及び旋回軸の各軸線廻りの回転動作が直進３軸に影響することがなく、直動３軸を高速化する必要がなくなると共に加工領域において安定した送り速度で動作することができ、制御も容易となってプログラム構造を平易なものとすることができる。 According to a third aspect of the present invention, the main shaft is attached to a posture member, the posture member is provided on the mounting body so as to be pivotable about the axis of the rotary shaft, and the mounting body is mounted on the body. Since the rotary shaft and the rotary shaft can be controlled separately and independently, the attitude of the ball end mill with respect to the workpiece can be easily controlled, and high-speed machining can be performed smoothly. In the invention according to claim 4, the main shaft is mounted on a posture member, the posture member is provided on the mounting body so as to be pivotable about the axis of the rotary shaft, and the workpiece is mounted on the body. Since the table is provided so as to be pivotable about the axis of the pivot axis, the work table on which the workpiece is placed can be pivoted around the axis of the pivot axis by rotating the ball end mill around the axis of the rotary axis. The structure of the spindle side In the invention according to claim 5, the main shaft is mounted on a posture member, and the posture member is provided on the mounting body so as to be pivotable about the axis of the rotation shaft. Since the turning member is provided so as to be able to turn around the axis of the turning shaft and the mounting body is mounted on the turning member, the turning member is provided with a rotating shaft, which increases the flexibility of installation. In the invention according to claim 6, an intermediate member is provided on the pivot member so as to be rotatable around an axis of a lower link shaft having an axis perpendicular to the axis of the pivot shaft. Since the mounting body is provided so as to be rotatable around the axis of the upper link shaft having an axis parallel to the axis of the lower link shaft, there exists an intermediate member that performs a link action between the turning member and the mounting body. The ball due to the presence of the intermediate member The flexibility of attitude control of the tip end of the end mill can be enhanced, and in the invention according to claim 7, the center of the ball radius of the ball end mill is set between the axis of the main shaft and the axis of the rotary shaft. Since it is arranged at the intersection, even if the rotating shaft rotates, the positional relationship of the tip of the ball end mill does not change, so the rotating operation around each axis of the rotating shaft and swivel axis affects the three axes that advance straight. Therefore, it is not necessary to increase the speed of the three linear motion axes, and it is possible to operate at a stable feed speed in the machining region, and it is easy to control and the program structure can be simplified.

本発明の実施の第一形態例の斜視図である。1 is a perspective view of a first embodiment of the present invention. 本発明の実施の第一形態例の全体側面図である。1 is an overall side view of a first embodiment of the present invention. 本発明の実施の第一形態例の動作説明図である。It is operation | movement explanatory drawing of the 1st example of an embodiment of this invention. 本発明の実施の第一形態例の全体動作説明図である。It is a whole operation explanatory view of the example of the first embodiment of the present invention. 本発明の実施の第二形態例の全体側面図である。It is a whole side view of the 2nd embodiment of this invention. 本発明の実施の第三形態例の全体側面図である。It is a whole side view of the third embodiment of the present invention. 提案構造の斜視図である。It is a perspective view of a proposal structure. 提案構造の全体側面図である。It is a whole side view of a proposal structure. 提案構造の動作説明図である。It is operation | movement explanatory drawing of a proposal structure. 提案構造の全体動作説明図である。It is whole operation explanatory drawing of a proposal structure. 相対角度θ＝４５度における姿勢角γとΔＣ、Δαとの関係図である。FIG. 5 is a relationship diagram between a posture angle γ and ΔC and Δα at a relative angle θ = 45 degrees. 相対角度θ＝５５度における姿勢角γとΔＣ、Δαとの関係図である。FIG. 6 is a relationship diagram between a posture angle γ and ΔC and Δα at a relative angle θ = 55 degrees. 相対角度θ＝４５度における姿勢角γとα軸、Ｃ軸の回転速度との関係図である。FIG. 5 is a relationship diagram between a posture angle γ and a rotation speed of an α axis and a C axis at a relative angle θ = 45 degrees. 相対角度θ＝５５度における姿勢角γとα軸、Ｃ軸の回転速度との関係図である。FIG. 6 is a relationship diagram between a posture angle γ and a rotation speed of an α axis and a C axis at a relative angle θ = 55 degrees. 相対角度θ＝５５度、送り速度Ｖ＝８ｍ／ｍｉｎにおける姿勢角γとα軸、Ｃ軸の回転速度との関係図である。FIG. 5 is a relationship diagram between a posture angle γ and rotation speeds of an α axis and a C axis at a relative angle θ = 55 degrees and a feed speed V = 8 m / min. 相対角度θとα軸、Ｃ軸の回転速度との関係図である。FIG. 6 is a relationship diagram between a relative angle θ and rotational speeds of an α axis and a C axis.

図１乃至図６は本発明の実施の形態例を示し、図１乃至図４は第一形態例、図５は第二形態例、図６は第三形態例である。 1 to 6 show an embodiment of the present invention, FIGS. 1 to 4 show a first embodiment, FIG. 5 shows a second embodiment, and FIG. 6 shows a third embodiment.

図１乃至図４の第一形態例において、１は主軸であって、ボールエンドミルＴが装着され、少なくとも、ボールエンドミルＴを装着する主軸１の軸線１ａに対して所定の相対角度θをなす軸線αをもつ回転軸２及び主軸１の軸線１ａが鉛直方向となっている状態で主軸１の軸線１ａと平行な軸線Ｃ、この場合、鉛直方向の軸線Ｃをもつ旋回軸３からなり、この相対角度θを４５度超から７０度以下の範囲の角度、この場合、相対角度θを５５度に設定している。 In the first embodiment shown in FIGS. 1 to 4, reference numeral 1 denotes a main shaft, to which a ball end mill T is mounted, and at least an axis forming a predetermined relative angle θ with respect to the axis 1a of the main shaft 1 on which the ball end mill T is mounted. The rotation axis 2 having α and the axis C parallel to the axis 1a of the main shaft 1 in a state where the axis 1a of the main shaft 1 is in the vertical direction, in this case, the rotation axis 3 having the axis C in the vertical direction, The angle θ is set in the range of more than 45 degrees to 70 degrees, in this case, the relative angle θ is set to 55 degrees.

４は姿勢部材であって、姿勢部材４に上記主軸１が回転自在に装設され、姿勢部材４を取付機体５に回転軸２の軸線α廻りに旋回可能に設け、かつ、姿勢部材４を機体６に上記主軸１の軸線１ａが鉛直方向となっている状態で主軸１の軸線１ａと同軸の軸線をもつ旋回軸３の軸線Ｃ廻りに旋回可能に設けてなり、このα軸及びＣ軸廻りの回転２軸に加えて、ボールエンドミルＴあるいは被加工物Ｗを加工空間内の任意の位置に送るための図示省略のＸ軸、Ｙ軸、Ｚ軸の直進３軸を備えた５軸加工機械となっている。 Reference numeral 4 denotes a posture member, and the main shaft 1 is rotatably mounted on the posture member 4, the posture member 4 is provided on the mounting body 5 so as to be pivotable about the axis α of the rotary shaft 2, and the posture member 4 is provided. The airframe 6 is provided so as to be able to turn around the axis C of the turning shaft 3 having an axis coaxial with the axis 1a of the main shaft 1 in a state where the axis 1a of the main shaft 1 is in the vertical direction. In addition to the two rotation axes, 5-axis machining with a straight three-axis axis (not shown) for sending the ball end mill T or workpiece W to any position in the machining space. It is a machine.

また、この場合、上記ボールエンドミルＴのボール半径の中心を上記主軸１の軸線１ａと上記回転軸２の軸線αとの交点Ｏに配置している。 In this case, the center of the ball radius of the ball end mill T is arranged at the intersection O between the axis 1 a of the main shaft 1 and the axis α of the rotating shaft 2.

ここに、上記回転軸２の軸線αと上記旋回軸３の軸線Ｃとのなす相対角度θを４５度超から７０度以下の範囲内の角度に設定した技術的意義を詳述すると、回転２軸を含む多軸機械においては、軸線αと軸線Ｃとがなす相対角度θにより、限界姿勢角度（γｍａｘ＝θ×２）が決まり、相対角度θが４５度未満の場合、限界姿勢角度γｍａｘが９０度未満となるため、加工範囲が小さくなり、多軸加工機械に適さないことになり、又、姿勢角γはα軸及びＣ軸の旋回角度により決定され、姿勢角γが０度に近い範囲では、微小姿勢変化に必要なα軸及びＣ軸の旋回角度が小さいが、姿勢角度γが限界姿勢角度γｍａｘに近い場合には、微小姿勢変化に必要なα軸及びＣ軸の旋回角度は大きくなり、α軸用のモータの限界速度の影響を受け、工具先端の送り速度が減速し、また、送り速度Ｖを高速化するためには大きなモーターが必要となる。 The technical significance of setting the relative angle θ between the axis α of the rotating shaft 2 and the axis C of the swiveling shaft 3 to an angle in the range of more than 45 degrees to 70 degrees will be described in detail below. In a multi-axis machine including an axis, the limit posture angle (γmax = θ × 2) is determined by the relative angle θ formed by the axis α and the axis C. When the relative angle θ is less than 45 degrees, the limit posture angle γmax is Since it is less than 90 degrees, the machining range becomes small, which makes it unsuitable for multi-axis machining machines, and the attitude angle γ is determined by the turning angles of the α axis and the C axis, and the attitude angle γ is close to 0 degrees. In the range, the turning angles of the α axis and the C axis necessary for the minute posture change are small, but when the posture angle γ is close to the limit posture angle γmax, the turning angles of the α axis and the C axis necessary for the minute posture change are The tool tip feed is affected by the limit speed of the α axis motor. In order to reduce the speed and increase the feed speed V, a large motor is required.

一方、相対角度θが７０度超の場合、限界姿勢角度は９０度以上になるが、装置の構造上、荷重バランスが悪くなり、機械精度にも影響し、また、機械精度を向上させるには、高剛性構造にする必要があり、重量の増大に伴う動的運動性能が低下するので、多軸加工機械には適さない。 On the other hand, when the relative angle θ is more than 70 degrees, the limit posture angle is 90 degrees or more. However, the load balance is deteriorated due to the structure of the apparatus, and the machine accuracy is also affected. In addition, it is necessary to have a highly rigid structure, and the dynamic motion performance decreases with an increase in weight, so that it is not suitable for a multi-axis machining machine.

従って、相対角度θが４５度超７０度以下の範囲においては、限界姿勢角度γｍａｘが９０度を越えるため、姿勢角度９０度付近での微小姿勢変化に必要なα軸及びＣ軸の旋回角度は小さくなり、このため、大きな回転軸モーターを使うことなく工具先端の送り速度Ｖを高速化することができ、かつ、限界姿勢角度γｍａｘが９０度を越えるため、加工範囲が拡大され、多軸加工機械に適することになり、これらの点を考慮した結果、上記回転軸２の軸線１αと旋回軸３の軸線Ｃとのなす相対角度θを４５度超から７０度以下の範囲内の角度とした。 Therefore, in the range where the relative angle θ is greater than 45 degrees and less than or equal to 70 degrees, the limit attitude angle γmax exceeds 90 degrees. Therefore, the turning angles of the α axis and the C axis necessary for a minute attitude change near the attitude angle 90 degrees are For this reason, the tool tip feed speed V can be increased without using a large rotary shaft motor, and the limit posture angle γmax exceeds 90 degrees, so the machining range is expanded and multi-axis machining is performed. As a result of considering these points, the relative angle θ formed by the axis 1α of the rotary shaft 2 and the axis C of the swivel shaft 3 is set to an angle in the range of more than 45 degrees to 70 degrees or less. .

この実施の第一形態例は上記構成であるから、上記回転軸２の軸線αと上記旋回軸３の軸線Ｃとのなす相対角度が４５度超から７０度以下の範囲内の角度、この場合、θが５５度となっていることにより、この範囲外、例えば、相対角度θが４５度の場合に比べ、図９、図１０、図１１を参照して前記した如く、回転軸２及び旋回軸３の回転量を少なくすることができ、しかも、図１１、図１２を参照して前記した如く、姿勢角γを０度から９０度の範囲に限定したとして、回転軸２及び旋回軸３の回転動作を小さくすることができ、更には、図１３、図１４、図１５を参照して前記した如く、相対角度θを４５度超から７０度以下の範囲内の角度、この場合、４５度から５５度にするだけで大きな送り速度を得ることができ、トルクの小さなモータを採用することができ、このことは、図１６を参照して前記した如く、相対角度θが４５度超から７０度以下の範囲内の角度であれば同様の効果を得ることができる。 Since the first embodiment of the present embodiment has the above-described configuration, the relative angle formed by the axis α of the rotating shaft 2 and the axis C of the swiveling shaft 3 is in the range of more than 45 degrees to 70 degrees, in this case , Θ is 55 degrees, and, as described above with reference to FIGS. 9, 10, and 11, out of this range, for example, when the relative angle θ is 45 degrees, The amount of rotation of the shaft 3 can be reduced, and as described above with reference to FIGS. 11 and 12, assuming that the posture angle γ is limited to the range of 0 to 90 degrees, the rotating shaft 2 and the turning shaft 3 Further, as described above with reference to FIGS. 13, 14, and 15, the relative angle θ is an angle within the range of more than 45 degrees to 70 degrees, in this case, 45 A high feed rate can be obtained just by setting the angle to 55 degrees, and a mode with a small torque As described above with reference to FIG. 16, the same effect can be obtained if the relative angle θ is within the range of more than 45 degrees and less than 70 degrees. .

したがって、上記回転軸２の軸線αと上記旋回軸３の軸線Ｃとのなす相対角度が４５度超から７０度以下の範囲内の角度とすることにより、限界姿勢角γ（２θ）が９０度超えとなって加工範囲を拡大することができ、かつ、姿勢角γが９０度となる付近における微小な姿勢角変化に必要な回転軸２の軸線α廻りの角度変化が小さくなり、回転軸２を回転させるモータの特性の影響を受けるがなくなって高速加工を行うことができる。 Therefore, when the relative angle formed between the axis α of the rotary shaft 2 and the axis C of the swivel shaft 3 is an angle in the range of more than 45 degrees to 70 degrees or less, the limit posture angle γ (2θ) is 90 degrees. The processing range can be expanded and the processing range can be expanded, and the angle change around the axis α of the rotary shaft 2 necessary for a small change in the posture angle in the vicinity of the posture angle γ of 90 degrees becomes small. High-speed machining can be performed without being affected by the characteristics of the motor that rotates the motor.

この場合、上記主軸１を姿勢部材４に装着し、姿勢部材４を取付機体５に上記回転軸２の軸線α廻りに旋回可能に設け、取付機体５を機体６に上記旋回軸３の軸線Ｃ廻りに旋回可能に設けてなるから、回転軸２及び旋回軸３を各別な分離独立した制御が可能となり、被加工物Ｗに対するボールエンドミルＴの姿勢制御を容易に行うことができ、高速加工を円滑に行うことができる。 In this case, the main shaft 1 is mounted on the posture member 4, the posture member 4 is provided on the mounting body 5 so as to be pivotable about the axis α of the rotating shaft 2, and the mounting body 5 is mounted on the body 6 and the axis C of the pivot shaft 3. Since the rotary shaft 2 and the rotary shaft 3 can be separately and independently controlled, the attitude of the ball end mill T with respect to the workpiece W can be easily controlled, and high-speed machining is possible. Can be performed smoothly.

また、この場合、上記ボールエンドミルＴのボール半径の中心を上記主軸１の軸線１ａと上記回転軸２の軸線（α軸）との交点Ｏに配置してなるから、回転軸軸（軸線α軸）が動作しても、ボールエンドミルＴの先端部の位置関係が変わらないため、回転軸２及び旋回軸３の各軸線α・Ｃ廻りの回転動作が直進３軸に影響することがなく、直動３軸を高速化する必要がなくなると共に加工領域において安定した送り速度で動作することができ、制御も容易となってプログラム構造を平易なものとすることができる。 In this case, the center of the ball radius of the ball end mill T is arranged at the intersection point O between the axis 1a of the main shaft 1 and the axis (α axis) of the rotary shaft 2, so that the rotation axis (axis α axis) ) Does not change the positional relationship of the tip of the ball end mill T. Therefore, the rotational movement of the rotary shaft 2 and the turning shaft 3 around the axes α and C does not affect the straight three axes. It is not necessary to increase the speed of the three moving axes, and it is possible to operate at a stable feed speed in the machining area, and it is easy to control and the program structure can be simplified.

図５の第二形態例は別例構造を示し、この場合、上記主軸１を姿勢部材４に装着し、該姿勢部材４を取付機体５に上記回転軸２の軸線α廻りに旋回可能に設け、取付機体５と一体若しくは別体構造の機体６にワークテーブル７を上記旋回軸３の軸線Ｃ廻りに旋回可能に設け、相対角度θは５５度となっており、このα軸及びＣ軸の回転２軸に加えて、ボールエンドミルＴあるいは被加工物Ｗを加工空間内の任意の位置に送るための図示省略のＸ軸、Ｙ軸、Ｚ軸の直進３軸を備えた５軸加工機械となっている。 The second embodiment shown in FIG. 5 shows another structure. In this case, the main shaft 1 is mounted on the posture member 4, and the posture member 4 is provided on the mounting body 5 so as to be pivotable about the axis α of the rotary shaft 2. The work table 7 is provided on the machine body 6 that is integral with or separate from the mounting machine body 5 so as to be pivotable about the axis C of the pivot shaft 3, and the relative angle θ is 55 degrees. In addition to the two rotation axes, a five-axis machining machine provided with three straight axes, not shown, X axis, Y axis and Z axis for sending the ball end mill T or workpiece W to any position in the machining space; It has become.

この第二形態例にあっては、上記第一形態例と同様な作用効果を得ることができ、かつ、ボールエンドミルＴを回転軸２の軸線α廻りに回転させ、被加工物Ｗを載置するワークテーブル７を旋回軸３の軸線Ｃ廻りに旋回させることができ、主軸側の構造を簡素化することができる。 In the second embodiment, the same effect as the first embodiment can be obtained, and the work piece W is placed by rotating the ball end mill T around the axis α of the rotary shaft 2. The work table 7 to be rotated can be turned around the axis C of the turning shaft 3, and the structure on the main shaft side can be simplified.

図６の第三形態例は別例構造を示し、この場合、上記主軸１を姿勢部材４に装着し、該姿勢部材４を取付機体５に上記回転軸２の軸線α廻りに旋回可能に設け、取付機体５と別体な機体６に旋回部材８を上記旋回軸３の軸線Ｃ廻りに旋回可能に設け、該旋回部材８に取付機体５を装設してなり、さらに、この場合、上記旋回部材８に中間部材９を上記旋回軸３の軸線Ｃに直交する軸線１０ａをもつ下部リンク軸１０の軸線１０ａ廻りに回動可能に設けると共に中間部材９に上記取付機体５を下部リンク軸１０の軸線と平行な軸線１１ａをもつ上部リンク軸１１の軸線１１ａ廻りに回動可能に設け、このα軸及びＣ軸廻りの回転２軸に加えて、ボールエンドミルＴを加工空間内の任意の位置に送るための下部リンク軸１０、上部リンク軸１１の回転２軸及び図示省略のボールエンドミルＴあるいは被加工物Ｗを加工空間内の任意の位置に送るためのＸ軸又はＹ軸のいずれかの直動１軸を備えた５軸加工機械となっている。 The third embodiment shown in FIG. 6 shows another example structure. In this case, the main shaft 1 is mounted on the posture member 4 and the posture member 4 is provided on the mounting body 5 so as to be pivotable about the axis α of the rotary shaft 2. , A turning member 8 is provided in the body 6 separate from the mounting body 5 so as to be able to turn around the axis C of the turning shaft 3, and the mounting body 5 is mounted on the turning member 8. An intermediate member 9 is provided on the pivot member 8 so as to be rotatable around an axis 10a of the lower link shaft 10 having an axis 10a orthogonal to the axis C of the pivot shaft 3, and the mounting body 5 is attached to the intermediate member 9 on the lower link shaft 10. The upper end of the upper link shaft 11 having an axis 11a parallel to the axis 11a is provided so as to be rotatable about the axis 11a. In addition to the two rotation axes about the α axis and the C axis, the ball end mill T can be placed at an arbitrary position in the machining space. Rotation of the lower link shaft 10 and the upper link shaft 11 This is a 5-axis processing machine equipped with two rolling axes and a linear motion one axis of either the X axis or the Y axis for sending the ball end mill T or workpiece W (not shown) to an arbitrary position in the machining space. Yes.

この第三形態例にあっては、上記第一形態例と同様な作用効果を得ることができ、かつ、旋回部材８に回転軸２を設けていることになり、設置の融通性を高めることができ、 In the third embodiment, the same effect as the first embodiment can be obtained, and the rotating shaft 2 is provided on the turning member 8 to increase the flexibility of installation. Can

更に、この場合、上記旋回部材と取付機体との間にリンク作用をなす中間部材が存在することになり、中間部材の存在によりボールエンドミルの先端部の姿勢制御の融通性を高めることができる。 Further, in this case, there is an intermediate member that performs a link action between the turning member and the mounting body, and the presence of the intermediate member can increase the flexibility of posture control of the tip of the ball end mill.

尚、本発明は上記の形態例に限られるものではなく、ボールエンドミルＴ、主軸１、回転軸２、旋回軸３、姿勢部材４、取付機体５、機体６、ワークテーブル７、旋回部材８、中間部材９などの構成は適宜変更して設計され、勿論、５軸以外の多軸加工機械にも適用される。 The present invention is not limited to the above-described embodiments, but includes a ball end mill T, a main shaft 1, a rotating shaft 2, a turning shaft 3, a posture member 4, an attachment machine body 5, a machine body 6, a work table 7, a turning member 8, The configuration of the intermediate member 9 and the like is appropriately changed and designed, and of course, it is also applied to multi-axis machining machines other than five axes.

以上の如く、所期の目的を充分達成することができる。 As described above, the intended purpose can be sufficiently achieved.

α 軸線
Ｃ軸線
θ 相対角度
Ｗ被加工物
γ 姿勢角
Ｔボールエンドミル
Ｏ交点
１主軸
１ａ軸線
２回転軸
３旋回軸
４姿勢部材
５取付機体
６機体
７ワークテーブル
８旋回部材
９中間部材
１０下部リンク軸
１０ａ軸線
１１上部リンク軸
１１ａ軸線
α axis C axis θ relative angle W work piece γ posture angle T ball end mill O intersection 1 main shaft 1a axis 2 rotating shaft 3 swiveling shaft 4 posture member 5 mounting machine body 6 machine body 7 work table 8 swiveling member 9 intermediate member 10 lower link shaft 10a axis 11 upper link axis 11a axis

Claims

少なくとも、ボールエンドミルを装着する主軸の軸線に対して所定の相対角度をなす軸線をもつ回転軸及び該主軸の軸線が鉛直方向となっている状態で該主軸の軸線と平行な軸線をもつ旋回軸からなり、該回転軸及び該旋回軸を各軸線廻りに旋回させ、被加工物に対する該ボールエンドミルの姿勢角を変化させ、該ボールエンドミルで被加工物を加工する多軸加工方法において、上記回転軸の軸線と上記旋回軸の軸線とのなす相対角度が４５度超から７０度以下の範囲内の角度となっていることを特徴とする多軸加工方法。 At least a rotating shaft having an axis forming a predetermined relative angle with respect to the axis of the main shaft on which the ball end mill is mounted, and a swiveling axis having an axis parallel to the axis of the main shaft in a state where the axis of the main shaft is in a vertical direction In the multi-axis machining method, the rotation axis and the pivot axis are pivoted about each axis, the attitude angle of the ball end mill with respect to the workpiece is changed, and the workpiece is processed by the ball end mill. A multi-axis machining method, wherein a relative angle between the axis of the shaft and the axis of the turning shaft is an angle in the range of more than 45 degrees to 70 degrees or less.

少なくとも、ボールエンドミルを装着する主軸の軸線に対して所定の相対角度をなす軸線をもつ回転軸及び該主軸の軸線が鉛直方向となっている状態で該主軸の軸線と平行な軸線をもつ旋回軸からなり、該回転軸及び該旋回軸を各軸線廻りに旋回させ、被加工物に対する該ボールエンドミルの姿勢角を変化させ、該ボールエンドミルで被加工物を加工する多軸加工機械において、上記回転軸の軸線と上記旋回軸の軸線とのなす相対角度が４５度超から７０度以下の範囲内の角度となっていることを特徴とする多軸加工機械。 At least a rotating shaft having an axis forming a predetermined relative angle with respect to the axis of the main shaft on which the ball end mill is mounted, and a swiveling axis having an axis parallel to the axis of the main shaft in a state where the axis of the main shaft is in a vertical direction In the multi-axis machining machine, the rotary shaft and the pivot shaft are swung around each axis, the attitude angle of the ball end mill with respect to the workpiece is changed, and the workpiece is processed by the ball end mill. A multi-axis machining machine, characterized in that a relative angle formed between an axis of the shaft and the axis of the swivel axis is an angle in a range of more than 45 degrees to 70 degrees or less.

上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、該取付機体を機体に上記旋回軸の軸線廻りに旋回可能に設けてなることを特徴とする請求項２記載の多軸加工機械。 The main shaft is mounted on a posture member, the posture member is provided on the mounting body so as to be able to turn around the axis of the rotating shaft, and the mounting body is provided on the body so as to be able to turn around the axis of the turning shaft. The multi-axis machining machine according to claim 2.

上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体にワークテーブルを上記旋回軸の軸線廻りに旋回可能に設けてなることを特徴とする請求項２記載の多軸加工機械。 The main shaft is mounted on a posture member, the posture member is provided on the mounting body so as to be able to turn around the axis of the rotating shaft, and the work table is provided on the body so as to be able to turn around the axis of the turning shaft. The multi-axis machining machine according to claim 2.

上記主軸を姿勢部材に装着し、該姿勢部材を取付機体に上記回転軸の軸線廻りに旋回可能に設け、機体に旋回部材を上記旋回軸の軸線廻りに旋回可能に設け、該旋回部材に取付機体を装設してなることを特徴とする請求項２記載の多軸加工機械。 The main shaft is attached to a posture member, the posture member is provided on the mounting body so as to be able to turn around the axis of the rotating shaft, and the turning member is provided on the body so as to be able to turn around the axis of the turning shaft, and attached to the turning member. The multi-axis machining machine according to claim 2, wherein the machine body is installed.

上記旋回部材に中間部材を上記旋回軸の軸線に直交する軸線をもつ下部リンク軸の軸線廻りに回動可能に設けると共に該中間部材に上記取付機体を該下部リンク軸の軸線と平行な軸線をもつ上部リンク軸の軸線廻りに回動可能に設けてなることを特徴とする請求項５記載の多軸加工機械。 An intermediate member is provided on the swivel member so as to be rotatable about an axis of a lower link shaft having an axis perpendicular to the axis of the swivel axis, and the mounting body is provided on the intermediate member with an axis parallel to the axis of the lower link shaft. 6. The multi-axis machining machine according to claim 5, wherein the multi-axis machining machine is provided so as to be rotatable about an axis of the upper link shaft.

上記ボールエンドミルのボール半径の中心を上記主軸の軸線と上記回転軸の軸線との交点に配置してなることを特徴とする請求項２〜６のいずれか１項に記載の多軸加工機械。
The multi-axis machining machine according to any one of claims 2 to 6, wherein a center of a ball radius of the ball end mill is arranged at an intersection of an axis of the main shaft and an axis of the rotary shaft.