US 11,801,577 B2 · 5-axis processing machine

A 5-axis processing machine comprising:

a mounting table on which a tool and a work piece are placed;
and
a control unit;
wherein
the mounting table is moved relatively by three linear axes and two rotation axes based on NC data,
the two rotation axes include a first axis and a second axis,
when the control unit calculates a rotation angle of the two rotation axes,
the control unit acquires an axis vector Na that specifies an actual first axis direction,
the control unit acquires an axis vector Nc that specifies an actual second axis direction, by calculating the axis vector Nc based on positions of a first and a second points of a rod-shaped object standing vertically on the mounting table, and positions of the first and the second points of the rod-shaped object with the mounting table rotated 180 degrees around the actual second axis,
the control unit calculates a posture vector K that specifies a posture at a time of processing the work piece with respect to the tool from the NC data,
the control unit calculates, as a solution of a following equation (4), an actual rotation angle θ around the first axis of the tool and an actual rotation angle Φ around the second axis of the tool when moving the posture from the posture vector K to a posture vector K′ based on the axis vectors Na and Nc, the posture vector K that specifies one posture, and the posture vector K′ that specifies a next posture, and
in the equation (4), following relational expressions (5) to (8) hold:
Ra
⁡
(
θ
)
·
Rc
⁡
(
φ
)
·
K
=
K
′
(
4
)
Ra
⁡
(
θ
)
=
(
n
a
⁢
1
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
-
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
n
a
⁢
3
⁢
sin
⁢
θ
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
2
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
3
⁢
sin
⁢
θ
cos
⁢
θ
n
a
⁢
1
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
n
a
⁢
3
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
1
⁢
sin
⁢
θ
cos
⁢
θ
)
(
5
)
Rc
⁢
(
φ
)
=
(
n
c
⁢
1
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
-
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
n
c
⁢
3
⁢
sin
⁢
φ
⁢
n
c
⁢
3
⁢
sin
⁢
φ
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
2
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
3
⁢
sin
⁢
φ
cos
⁢
φ
n
c
⁢
1
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
n
c
⁢
3
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
1
⁢
sin
⁢
φ
cos
⁢
φ
)
(
6
)
Na
=
(
n
a
⁢
1
n
a
⁢
2
n
a
⁢
3
)
(
7
)
Nc
=
(
n
c
⁢
1
n
c
⁢
2
n
c
⁢
3
)
(
8
)
where Ra (θ) is a rotation matrix that represents a rotation around the first axis by a rotation angle θ, Rc (Φ) is a rotation matrix that represents a rotation around the second axis by a rotation angle of Φ, the factor of na1, na2 and na3 are components of vector Na, and the factor of nc1, nc2 and nc3 are components of the vector Nc.

494 more elements

A control method of a 5-axis processing machine comprising:

an acquiring step acquiring an axis vector Na that specifies an actual first axis direction and acquiring an axis vector Nc that specifies an actual second axis direction, by calculating the axis vector Nc based on positions of a first and a second points of a rod-shaped object standing vertically on the mounting table, and positions of the first and the second points of the rod-shaped object with the mounting table rotated 180 degrees around the actual second axis,
a first calculation step calculating a posture vector K that specifies a posture at a time of processing a work piece with respect to a tool from NC data,
a second calculation step calculating as a solution of a following equation (4), an actual rotation angle θ around the first axis of the tool and an actual rotation angle Φ around the second axis of the tool when moving the posture from the posture vector K to a posture vector K based on the axis vectors Na and Nc, the posture vector K that specifies one posture, and the posture vector K′ that specifies a next posture, wherein
in the equation (4), following relational expressions (5) to (8) hold:
Ra
⁡
(
θ
)
·
Rc
⁡
(
φ
)
·
K
=
K
′
Ra
⁡
(
θ
)
=
(
n
a
⁢
1
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
-
n
a
⁢
3
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
3
⁢
sin
⁢
θ
n
a
⁢
2
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
1
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
n
a
⁢
1
⁢
sin
⁢
θ
n
a
⁢
3
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
)
(
5
)
Rc
⁡
(
φ
)
=
(
n
c
⁢
1
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
-
n
c
⁢
3
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
3
⁢
sin
⁢
φ
n
c
⁢
2
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
1
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
n
c
⁢
1
⁢
sin
⁢
φ
n
c
⁢
3
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
)
(
6
)
Na
=
(
n
a
⁢
1
n
a
⁢
2
n
a
⁢
3
)
(
7
)
Nc
=
(
n
c
⁢
1
n
c
⁢
2
n
c
⁢
3
)
(
8
)
where Ra (θ) is a rotation matrix that represents a rotation around the first axis by a rotation angle θ, Rc (Φ) is a rotation matrix that represents a rotation around the second axis by a rotation angle of Φ, the factor of na1, na2 and na3 are components of vector Na, and the factor of nc1, nc2 and nc3 are components of the vector Nc.

474 more elements

A manufacturing method of a workpiece by a 5-axis processing machine comprising:

an acquiring step acquiring an axis vector Na that specifies an actual first axis direction and acquiring an axis vector Nc that specifies an actual second axis direction, by calculating the axis vector Nc based on positions of a first and a second points of a rod-shaped object standing vertically on the mounting table, and positions of the first and the second points of the rod-shaped object with the mounting table rotated 180 degrees around the actual second axis,
a first calculation step calculating a posture vector K that specifies a posture at a time of processing a work piece with respect to a tool from NC data,
a second calculation step calculating as a solution of a following equation (4), an actual rotation angle θ around the first axis of the tool and an actual rotation angle Φ around the second axis of the tool when moving the posture from the posture vector K to a posture vector K′ based on the axis vectors Na and Nc, the posture vector K that specifies one posture, and the posture vector K′ that specifies a next posture, wherein
in the equation (4), following relational expressions (5) to (8) hold:
Ra
⁡
(
θ
)
·
Rc
⁡
(
φ
)
·
K
=
K
′
(
4
)
Ra
⁡
(
θ
)
=
(
n
a
⁢
1
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
-
n
a
⁢
3
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
2
(
1
-
cos
⁢
θ
)
+
n
a
⁢
3
⁢
sin
⁢
θ
n
a
⁢
2
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
1
⁢
sin
⁢
θ
n
a
⁢
1
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
-
n
a
⁢
2
⁢
sin
⁢
θ
n
a
⁢
2
⁢
n
a
⁢
3
(
1
-
cos
⁢
θ
)
+
n
a
⁢
1
⁢
sin
⁢
θ
n
a
⁢
3
2
(
1
-
cos
⁢
θ
)
+
cos
⁢
θ
)
(
5
)
Rc
⁡
(
φ
)
=
(
n
c
⁢
1
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
-
n
c
⁢
3
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
2
(
1
-
cos
⁢
φ
)
+
n
c
⁢
3
⁢
sin
⁢
φ
n
c
⁢
2
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
1
⁢
sin
⁢
φ
n
c
⁢
1
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
-
n
c
⁢
2
⁢
sin
⁢
φ
n
c
⁢
2
⁢
n
c
⁢
3
(
1
-
cos
⁢
φ
)
+
n
c
⁢
1
⁢
sin
⁢
φ
n
c
⁢
3
2
(
1
-
cos
⁢
φ
)
+
cos
⁢
φ
)
(
6
)
Na
=
(
n
a
⁢
1
n
a
⁢
2
n
a
⁢
3
)
(
7
)
Nc
=
(
n
c
⁢
1
n
c
⁢
2
n
c
⁢
3
)
(
8
)
where Ra (θ) is a rotation matrix that represents a rotation around the first axis by a rotation angle θ, Rc (Φ) is a rotation matrix that represents a rotation around the second axis by a rotation angle of Φ, the factor of na1, na2 and na3 are components of vector Na, and the factor of nc1, nc2 and nc3 are components of the vector Nc.

477 more elements

5-axis processing machine

Life of this patent

5-axis processing machine

Life of this patent

Abstract

Claims4