JP2566345B2 - Processing machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machining center or the like for machining a work tool and a work piece while keeping them at a predetermined relative position by an actuator that operates based on a command from an NC controller to which a tool path and a machining condition are input. Regarding processing machines.

[0002]

2. Description of the Related Art In a machining machine such as a machining center, the work piece, the work tool, and the structure of the work machine holding the work piece and the work tool are not completely rigid. Also, while the processing machine is operating, the temperature of a specific part rises due to the heat generated by the motor that drives the spindle and its reduction gear, or the heat generated when the processing tool processes the workpiece. The distribution is not uniform. for that reason,
These are obstacles when improving the processing accuracy of the processing machine to perform more precise processing.
In other words, when processing such as cutting is performed on the work piece, a processing reaction force is generated on the work tool and the work piece, and the head part, the column part, and the work piece supporting the work tool as well as the work tool are processed. A minute elastic deformation occurs on the table, saddle, and the like that support the workpiece, depending on the reaction force thereof. Further, heat generated by the drive motor of the processing tool and the reduction mechanism thereof is transmitted to the head portion and the column portion supporting the head portion during processing of the workpiece. Each of these parts thermally expands according to the degree of temperature rise. When thermal expansion or elastic deformation occurs in this way, the relative position of the processing tool and the workpiece shifts from a predetermined position, and the processing accuracy decreases.

FIG. 3 shows an example of a conventional machine tool, and schematically shows a state in which the processing tool 2 is processing the workpiece 5. In the figure, the processing tool 2 is a processing tool holder 1
2, the spindle 11, the head 4, the column 3, and the base 1 are sequentially and continuously supported. On the other hand, the workpiece 5 is also supported by the base 1 via the table 7 and the saddle 6.
In this machine tool, each member described above is formed into a C-shaped structure through the base 1 in order to maintain a predetermined relative position between the workpiece 5 and the processing tool 2.

These structures have such a rigidity that the amount of deformation does not pose a problem in normal processing, and when there is no heat generation in the stopped state, the entire temperature distribution becomes uniform, which adversely affects the processing accuracy. Never. However, when the processing is started, the processing tool 2
Then, a processing reaction force F is generated on the workpiece 5. As a result, the work piece 5 and the table 7, the saddle 6, and the base 1 supporting the work piece 5 are extremely minute, but elastically deformed according to the applied stress, and tilted clockwise. Similarly, the processing tool 2 side also has a series of processing tool holders 1 that support the processing tool 2.
2, the spindle 11, the head 4, the column 3, and the base 1 are elastically deformed depending on the direction of the processing reaction force F.
The strain generated by the processing reaction force F in the column 3 expands inside and contracts outside like the strain distribution δz written in the lower part of the column 3.

Further, the head 4 has a drive motor 9 for the processing tool.
Is installed, and the rotation of the drive motor 9 is connected to the spindle 11 via a reduction mechanism including a gear (not shown). Therefore, the heat of the motor 9 and the speed reduction mechanism raises the temperature of the head 4 itself, and the heat is also transmitted to the column 3. When heat is transferred from the right side surface of the upper end of the column 3, as shown in the temperature distribution T written in the upper part of the column 3, the head 4 side becomes high temperature, and the head 4 side becomes lower toward the left rear side and becomes lower temperature. . Due to the temperature gradient and the processing reaction force, during the processing of the workpiece 5, the upper end of the column 3 is displaced by Δz in the height direction and Δx in the lateral direction from the original regular position.

A part of the heat generated when the work tool 2 processes the work piece 5 is transferred to the work piece 5, the table 7, the saddle 6, and the base 1 in this order, as indicated by an arrow H in the figure. It Similarly, part of the heat generated during processing is transmitted from the processing tool 2 to the processing tool holder 12, the spindle 11, and the head 4 in that order, and the respective parts thermally expand as the temperature rises. As described above, part of the power consumed by the processing tool 2 when processing the workpiece 5 is consumed by heat generation in addition to being effectively consumed by the processing, and is transferred to the workpiece 5 and the processing tool 2. Be done. When this heat generation becomes large and the temperature of the workpiece 5 and the processing tool 2 becomes high, as shown by an arrow R in the figure, a part of the heat generation is released to the outside air by radiation and convection.

When the workpiece 5 is processed, the processing tool 2 is used.
Is transmitted to the work piece 5 and the work tool 2 as mechanical vibration V. Similarly, as the sound wave P, part of the power is released to the outside. In any case, the power transmitted to the processing tool 2 at the time of processing is not actually consumed only for the intended processing, but much is consumed for heat generation or the like. As measures against the deformation of the structure supporting the workpiece 5 and the processing tool 2 in the machine tool due to such heat generation,
Conventionally, cooling oil or cooling water is circulated in the head 4 to which the processing tool 2 is attached to cool the drive motor 9 and the speed reduction mechanism, which are the causes of heat generation, in order to eliminate the influence of thermal expansion. .

As another solution, when the thermal expansion due to heat generation can be predicted in advance, the position coordinates of the processing tool 2 which is the tip of the head 4 may be corrected by numerical control according to the predicted value. Furthermore, it has been attempted to install a counter heater on a part of the back surface of the column 3 and heat the back surface according to the degree of heat transfer to the column 3 to correct the temperature gradient and cancel the warp of the column 3. There is. Similarly, if the deformation of the head 4, the column 3, etc. due to the processing reaction force can be predicted in advance, it is also attempted to correct the coordinates of the processing tool 2 which is the tip of the head 4 by numerical control according to the predicted value. Has been.

[0009]

However, among these solutions, the method of predicting the amount of deformation that occurs in advance and changing and correcting the coordinate value of the processing tool 2 by numerical control has poor accuracy of the predicted value. It has the drawback of poor stability and reliability.
Further, the method of cooling the head 4 and the column 3 which relatively support the processing tool 2 and the workpiece 5 is to block the movement of heat,
Although it has the effect of removing the temperature gradient, it is impossible to keep the entire structure at a constant temperature. Furthermore, the elastic displacement due to the processing reaction force generated as the processing progresses cannot be dealt with at all.

In any case, the relative position deviation between the processing tool 2 and the workpiece 5 which occurs with the progress of machining and which constantly fluctuates depending on the machining situation is detected in real time. It was impossible to correct it. The present invention has been made to solve the above problems, and an object of the present invention is to provide a thermal expansion and an elastic change which are problems in relative position control between a processing tool and a workpiece in a processing machine. It is an object of the present invention to provide a processing machine capable of performing more accurate processing by correcting minute displacement generated due to the above in real time with high accuracy.

[0011]

In order to achieve the above object, a first aspect of the invention is to input machining data including a tool path and machining conditions to an NC controller, and an actuator is instructed by the NC controller based on the machining data. In a processing machine that processes a workpiece while operating the tool to support the workpiece and the workpiece in a predetermined relative position / posture, a structure that supports the workpiece, the workpiece, and the workpiece and the workpiece. Sensors that detect the value of heat and force applied to each part of the machine and the amount of deformation caused by the heat and force, a means for storing the input machining data, and a heat generated when the processing tool processes the workpiece. Of the machining phenomenon that occurs for each type of machining due to force and force and becomes an obstacle to securing the machining accuracy, and various parameters used to quantitatively reproduce or predict the machining phenomenon. A database that accumulates the data, a means for quantitatively reproducing the target machining shape of the workpiece at the present time and after a predetermined time based on the machining data, and referring to the database based on the detection value of the sensor and the machining data A means for quantitatively reproducing the actual processed shape of the work piece, and a database based on the reproduced actual shape of the work piece, the processing data, and the detected value of the sensor, and continued the processing as it is. In this case, the means for quantitatively predicting the machining shape of the work piece obtained after a predetermined time is compared with the reproduced target machining shape of the current work piece and the actual machining shape, and the difference is corrected. If we continue the first comparison means for sending to create a signal to the NC controller, directly machining a machining shape as a target of the workpiece after a predetermined been reproduced time The resulting comparing the actual machining shape, and a second comparator means for sending to the NC controller to create a correction signal from the difference, NC controller
The correction signal that is in the roller and is input from the first comparing means.
Feed-back control based on the issue
A method to correct the output command so that the work shape approaches the target.
And the second comparison means in the NC controller
Feed forward control based on the input correction signal
Makes it possible to target the shape of the workpiece after a certain time
And a means for correcting the output command so as to approach .

According to a second aspect of the present invention, in the first aspect of the present invention, a part of a structure that supports the processing tool and the workpiece and / or the processing tool and the workpiece feeding device are installed to install the processing tool and the workpiece. An actuator for finely adjusting the relative position / orientation of the workpiece and a correction signal output from the first and second comparing means.
The fine adjustment actuator is operated based on
When the actuator is operated by the C controller,
And a controller for performing minute correction that cannot be performed . According to a third invention, in the first invention or the second invention, a database is prepared for each machining data while confirming the machining result after being corrected by the correction signals of the first and second comparing means by the detection value of the sensor. Means for updating or accumulating knowledge and parameters therein.

[0013]

According to the first aspect of the invention, the value of heat and force applied to each part of the working tool, the work piece, and the structure supporting the work tool and the work piece and the amount of deformation caused by the heat and the force are detected by the sensor. The processed data detected and input is stored in the storage means. In addition, knowledge of the machining phenomenon that occurs for each type of machining due to heat and force when the processing tool processes the work piece and becomes an obstacle to ensuring the processing accuracy, and quantitatively reproduces the processing phenomenon. Various parameters used for prediction are stored in the database.

Then, the target machining shape of the workpiece at the present time and after a predetermined time is quantitatively reproduced based on the machining data, and similarly, the database is referred to based on the detected value of the sensor and the machining data. The actual machining shape of the work piece in is reproduced quantitatively, and further, the database is referenced based on the reproduced actual machining shape of the work piece and the machining data and the detection value of the sensor,
When the processing is continued as it is, the processed shape of the workpiece obtained after a predetermined time is quantitatively predicted.

The reproduced target machining shape of the workpiece at present and the actual machining shape are compared, and a correction signal is created from the difference and sent to the NC controller. The target machined shape of the workpiece after the elapse of time is compared with the actual machined shape obtained when the machining is continued as it is, and a correction signal is created from the difference and sent to the NC controller. NC
In the controller, the feed back is based on both correction signals.
Work control and feed forward control
The output command is corrected so that the machining shape is closer to the target.
It

In the second invention, an actuator for fine adjustment is installed in a part of the structure supporting the processing tool and the workpiece and / or in the feeding device of the processing tool or the workpiece, and this fine adjustment is performed. Of the actuator by the NC controller by causing the controller to operate the actuator for use on the basis of the correction signals from both comparison means.
In the adjustment of the small relative position and orientation between the uncorrectable processing tool and the workpiece are name of. In the third invention,
The knowledge and parameters in the database are updated or accumulated for each processing data while the processing result after being corrected by the correction signals of both comparison means is confirmed by the detection value of the sensor.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show an embodiment in which the present invention is applied to a machining center having a cantilever structure, FIG. 1 is a block diagram showing the overall construction, and FIG. 2 is an explanation showing the construction of the main body of the machining center. It is a figure. In FIG. 1, a machining center 20 which is a processing machine is controlled by an NC controller 15, an intelligent controller 30 and a fine adjustment controller 16.

The machining center 20 includes a processing tool 42.
And x for moving or holding the relative position between the workpiece 45 and
An actuator 21 for driving the y and z axes and a rotating shaft of the processing tool 42, and an actuator 22 and / or a head for fine adjustment installed in a part of a structure supporting the processing tool 42 and the workpiece 45. 44, table 47,
An actuator 70 for fine adjustment installed between the saddle 46 and a nut in the feeding device, the processing tool 42, the workpiece 45, and the column 4 supporting the processing tool 42 and the workpiece 45.
There are provided various sensors 23 for detecting the value of heat and force applied to each part of the structure such as 3 and the amount of deformation caused by the heat and force.

The actuators 21 and 22 are the NC controller 15 and the fine adjustment controller 1 respectively.
The machining center 20 is processed under the control of No. 6. Next, the operation of the intelligent controller 30 that integrally controls the NC controller 15 and the fine adjustment controller 16 will be described. First, the tool path, processing conditions, etc. when processing the workpiece 45 based on the design value are input to the NC controller 15 and the intelligent controller 30 as processing data. Similarly, from the sensor 23 of the machining center 20 to the processing tool 4
2, the value of heat and force applied to each part of the workpiece 45, the structure that supports the processing tool 42 and the workpiece 45, and the amount of deformation caused by the heat and force are input.

The processing data storage means 31 in the intelligent controller 30 stores the input processing data, and processes the reproduction means 33 and 34, the prediction means 35, and the database update / accumulation means 38 according to the respective calls. Send data. In the database 32, in advance, knowledge about various machining phenomena that occurs for each type of machining when the machining tool 42 processes the workpiece 45 in the machining center 20 and becomes an obstacle to securing the machining accuracy, and Parameters for reproducing or predicting the processing phenomenon are accumulated.

The machining phenomena and parameters referred to here are classified into various machining operations performed by the working tool 42 on the workpiece 45 according to their contents, and the relationship between force and deformation, force and heat generation for each individual machining operation. The relationship, the relationship between temperature propagation and deformation, the temporal change of thermal deformation of the processing machine itself, etc. are understood by an analytical method and a transfer function method. In addition, the deterioration characteristics of the processing tool 42 over time and the like are also accumulated as necessary.
The accumulated knowledge and parameters regarding the machining phenomenon are sent to the reproducing means 34 and the predicting means 35 in accordance with the calling. In addition, the accumulated data in the database 32 is updated / updated every time the user gains processing experience
The accumulating means 38 updates the data to a more accurate value or accumulates new data.

The workpiece target shape reproducing means 33 quantitatively reproduces the target machining shape of the workpiece 45 at present and after a predetermined time has elapsed, based on the processing data in the processing data storage means 31, It sends to the comparison means 36 and 37, respectively. The workpiece current shape reproducing means 34 refers to the current machining shape based on the machining data in the machining data storage means 31 while referring to the database 32 and detects the relative value between the machining tool 42 and the workpiece 45 based on the detected value of the sensor 23. By calculating the amount of positional deviation and calculating the actual machining dimensions of the workpiece 45 using the temperature change of each part and the value of the machining reaction force and sequentially accumulating them, The actual processed shape is quantitatively reproduced and sent to the prediction means 35 and the comparison means 36.

The workpiece future shape predicting means 35 is based on the current actual machining shape of the workpiece 45 reproduced by the reproducing means 34 and subsequent processing data obtained from the processing data storage means 31 and the sensor 23. By referring to the detected value of, the processing phenomenon that occurs with the processing is quantitatively reproduced using the knowledge and parameters in the database 32. Then, the machining shape of the workpiece 45 after a predetermined time has elapsed is quantitatively predicted from the reproduced machining phenomenon, and the comparison means 3 is used.
Send to 7. The comparison means 36 compares the input target machining shape of the workpiece 45 with the actual machining shape to obtain the difference, and creates a correction signal for eliminating the difference, and the NC controller. 15, fine adjustment controller 16 and database update / accumulation means 38.

The comparison means 37 compares the target machining shape of the workpiece 45 after the lapse of the input predetermined time with the predicted actual machining shape to obtain a difference between them and to eliminate the difference. Correction signal is generated and sent to the NC controller 15, the fine adjustment controller 16 and the database updating / accumulating means 38. The database updating / storing means 38 is used for the machining center 20 corrected by the correction signals sent to the controllers 15 and 16, respectively.
When the processing result of is input as the detection value of the sensor 23,
The knowledge and parameters in the database 32, which are the reference for generating the correction signal, are updated or accumulated for each type of processing by comparing both correction signals.

The NC controller 15 to which the both correction signals are input sequentially operates the normal actuator 21 in accordance with the tool path and the processing conditions based on the design value input as the processing data in advance to operate the processing tool 42 and the workpiece 45. Is held or moved at a predetermined relative position. When the correction signal is input thereto, the NC controller 15 corrects the operation amount of the actuator 21 according to the value of the correction signal.
Similarly, the fine adjustment controller 16 actuates the fine adjustment actuator 22 to add the amount that cannot be completely corrected even if the NC controller 15 corrects the operation amount of the actuator 21 by both correction signals. The relative position / orientation of the tool 42 and the workpiece 45 is corrected with higher accuracy.
Especially, since the number of axes of the normal actuator 21 is small, NC
When the correction by the controller 15 is insufficient, the correction by the fine adjustment actuator 22 effectively works.

From these results, in the machining center 20, as the machining progresses, the relative position between the processing tool 42 and the workpiece 45 is in a normal state even if a slight deviation occurs due to the processing reaction force and thermal expansion. Then, the processing accuracy is improved. In addition, by updating or accumulating new data by learning while the data in the database 32 gains processing experience, it is possible to flexibly cope with a change in the processing state in the machining center 20. Since the correction by the correction signal from the comparison means 36 is based on the difference from the target value at that time, the feed
It is back control. Further, since the correction by the correction signal from the comparison means 37 is based on the difference from the target value expected in the future when the machining is continued as it is, the feed
It is forward control.

FIG. 2 is an explanatory view showing a concrete structure of the machining center 20. In the figure, a column 43 and a head 44 for supporting the processing tool 42 are installed on a base 41, and a saddle 46, a table 47, a two-way fail-safe table 48, 6 for supporting a workpiece 45 are provided. A component force table 49 and a posture determining mechanism 51 that also serves as a clamp are installed. Although not shown, the saddle 46 and the table 47 are each linearly driven by a motor, and a fail-safe mechanism, a uniaxial force sensor, and a fine movement feed device 70 are installed in the drive section thereof. Since each of these components supports the processing tool 42 and the workpiece 45, the overall structure is C-shaped.

The processing tool 42, which is the upper end of the C-shaped structure, is detachably held by the spindle 55 via a force sensing holder 54 having a fail-safe mechanism 52 and a force sensor 53. The spindle 55 is connected to a motor 58 installed on the head 44 via a torque / thrust sensor 56 and a torque / thrust fail-safe mechanism 57. The force sensing holder 54 may be provided with a compliance mechanism instead of the fail-safe mechanism 52. Further, a shape measuring probe can be attached to the spindle 55 instead of the force sensing holder 54.

The head 44 is supported by the column 43 so as to be vertically movable, and is also connected to a vertical drive mechanism including a motor 61, a ball screw 62, etc., via a load cell 63, a fail-safe mechanism 64 and a fine feed device 70. ing. On the outer peripheral surface of the middle part of the column 43, the column 4
A deformation sensor 65 for detecting the deformation of No. 3 is attached, and an active structure 66 is formed below the deformation sensor 65. A temperature sensor 67 is installed at the upper end of the column 43, and a temperature sensor 68 for measuring the temperature of the atmosphere is installed outside the machining center 20. In addition,
In the figure, only one temperature sensor 67 is shown in the column 43, but in actuality, in order to monitor the change in the overall temperature distribution, the head 4 including other parts of the column 43 is monitored.
4, base 41, saddle 46, tables 47, 48,
A temperature sensor is installed at each of 49 and the like. Further, the deformation sensor 65 is not limited to the middle portion of the column as shown in the drawing, but is attached to an arbitrary position on the outer circumference of the column, such as the outer circumference from the upper end to the lower end of the column, depending on the gauge position requiring measurement.

Further, a camera 69 as a visual sensor for visually monitoring the entire machining center and a machining center
A microphone 71 is installed outside as a sound sensor for monitoring the operation of the center by sound. These various sensors are a part of the sensor 23 in FIG. In the machining center 20 having such a structure, the saddle 46 for moving the workpiece 45 in the x and y directions, respectively.
The drive motor (not shown) for the table 47, the motor 61 for moving the processing tool 42 in the z direction, and the motor 58 for rotationally driving the processing tool 42 are the normal actuators 21. These actuators 21 are sequentially operated in accordance with a tool path and a command of the NC controller 15 based on machining conditions that have been input in advance to proceed with machining.

With respect to the heat generated as the processing progresses, the temperature and temperature distribution of each part can be obtained from the detected value of the temperature sensor installed in each part such as the temperature sensor 67. The camera 69
The temperature of each part and the entire temperature distribution can also be obtained from the spectrum of the image captured by. In particular, by using the camera 69, the surface temperature of a portion where the sensor cannot be installed can be detected in a non-contact manner. Further, the processing reaction force generated during processing is applied to the saddle 4 which is also a part of the sensor 23.
6 and the one-axis force sensor (not shown) installed on the table 47, the six-component force table 49, the force sensor 53, the torque / thrust sensor 56, and the load cell 63 detect each actuator.

Further, the deformation sensor 65 detects the deformation of the column 43 caused by the heat generated during the processing and the processing reaction force. The temperature, processing reaction force, and deformation amount of each part of the machining center 20 collected by these various sensors are processed by the intelligent controller 30 and output as a correction signal, and the motor 58, which is the actuator 21 from the NC controller 15, The command value to 61 etc. is corrected.
As a result, the processing tool 4 is affected by the heat generation and the processing reaction force.
Even if the relative position between 2 and the workpiece 45 deviates from the normal value, it is immediately corrected.

Since the machining center 20 of the embodiment has a C-shaped cantilever structure, the axial center of the processing tool 42 is likely to tilt to one side as a result of the heat generated during processing and the processing reaction force.
Therefore, from the NC controller 16 to the actuator 2
When the movement amount of 1 is corrected, since the actuator 21 drives the three axes of x, y, and z, the relative position of the processing tool 42 and the workpiece 45 can be corrected, but It is not possible to correct the relative tilt that occurs between the workpiece 45 and the workpiece.

Therefore, the tilt that cannot be corrected by the NC controller 15 is corrected by the attitude determining mechanism 51, which is the fine adjustment actuator 22, and the active structure 66. The attitude determining mechanism 51 corrects the workpiece 45 side, and the active structure 66 corrects the processing tool 42 side. Since the posture determining mechanism 51 and the active structure 66 each have a plurality of control axes, although each has a narrow movable range, even a slight inclination in any direction can be easily corrected. The posture determining mechanism 51 and the fine movement feeding device 70
A mechanism that incorporates a piezo element and enables control of a plurality of axes is used for. In addition, the active structure 66
In the above, the wall surface of the column 43 is divided, and the column 43 is forcibly thermally deformed by heating or cooling for each division so that the posture of the column 43 is inclined in an arbitrary direction. Further, the fine movement feeding device 70 is for performing position interpolation by the NC controller.

As described above, this embodiment uses the conventional N
The deterioration of the machining accuracy due to the heat generated by the machining center and the machining reaction force, which is impossible with the C controller, is used to correct the command value of the NC controller based on the detection values of various sensors, and the posture determining mechanism 51 and the active structure By correcting the tilt by 66,
Even if the relative position between the processing tool 42 and the workpiece 45 is deviated depending on the processing state, the correction is performed in real time to always maintain a highly accurate processing state.

The posture determining mechanism 51 shown in FIG. 2 can be replaced with a fine positioning mechanism. In that case, high-accuracy x and y positioning that cannot be achieved by the conventional saddle 46 and table 47 is possible. Becomes FIG.
The fail-safe mechanism installed in each part of the inside of the machining center 20 has an undesirably excessively large amount of unexpected force such as the force sensor installed in each actuator, the processing tool 42 and the work piece 45, etc. in order to promote the intelligence of the machining center 20. This is to prevent the load from damaging it. further,
The present invention can be similarly applied to processing machines other than the machining center having the C-shaped structure shown in the embodiments, such as a lathe, a grinder, and a press machine.

[0037]

As described above, according to the first invention,
The current shape and the shape of the work piece to be processed by the command of the NC controller based on the processing data are quantitatively reproduced or predicted by referring to the detection value of the sensor and the database, and the target shape and the target shape, respectively. By comparing and sending the result as a correction signal to the NC controller, the output value of the NC controller is corrected in real time by the feed back control and the feed forward control, and the machining accuracy is improved.

According to the second aspect of the present invention, a fine adjustment actuator is installed in a part of the structure supporting the processing tool and the workpiece and / or in the processing tool or the feeding device of the processing tool. By finely adjusting the relative position / orientation of the workpiece, it becomes possible to make a minute correction that cannot be realized only by the control operation of the NC controller, and the machining accuracy is further improved. According to the third aspect of the present invention, while the processing result after being corrected by the correction signals of both the comparing means is confirmed by the detection value of the sensor, the knowledge in the database for each processing data
By updating or accumulating the parameters, a more reliable database is constructed and the machining accuracy is gradually improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of an embodiment.

FIG. 2 is an explanatory diagram showing a configuration of a machining center according to an embodiment.

FIG. 3 is an explanatory view schematically showing a processing state of the processing machine.

[Explanation of symbols]

 15 NC controller 16 Fine adjustment controller 20 Machining center 21 Actuator 22 Fine adjustment actuator 23 Sensor 30 Intelligent controller 31 Processing data storage means 32 Database 33 Workpiece target shape reproduction means 34 Workpiece current shape reproduction means 35 Workpiece future shape prediction means 36, 37 Comparison means 38 Database update / accumulation means 41 Base 42 Work tool 43 Column 44 Head 45 Workpiece 46 Saddle 47 Table 49 Six-component force table 51 Attitude determination mechanism 53 Force sensor 54 Force sensing Holder 55 Spindle 56 Torque / Thrust Sensor 58,61 Motor 62 Ball Screw 63 Load Cell 65 Deformation Sensor 66 Active Structure 67,68 Temperature Sensor 69 Camera

Claims (3)

(57) [Claims] 1. Machining data consisting of a tool path and machining conditions
To the NC controller and based on the processed data
Actuator is operated by the command of NC controller.
To support the processing tool and the work piece in a predetermined relative position and posture.
However, in a processing machine that processes a work piece, a work tool, a work piece, and a structure that supports the work tool and the work piece.
Heat and force values and heat and force applied to each part of the body
Sensor that detects the amount of deformation caused by the process, a means that stores the input processing data, and a tool that processes the workpiece due to heat and force.
Machining phenomenon that occurs for each type of machine and becomes an obstacle to ensuring machining accuracy
Knowledge and its processing phenomenon quantitatively reproduced.
Or store various parameters used to predict
Database and the added data at the current time and after a predetermined time based on the processed data.
Refer to the database based on the detection value of the sensor and the processing data, as well as the means to quantitatively reproduce the target processing shape of the workpiece.
In light of this, the actual machining shape of the current work piece is quantitative
And the actual machining shape of the current workpiece that has been reproduced.
Refers to the database based on engineering data and sensor detection values
However, if you continue processing, it will be obtained after a predetermined time
Means for quantitatively predicting the machining shape of the work piece, and the target machining shape of the current work piece reproduced
And the actual processed shape are compared, and the correction signal is calculated from the difference.
Create and send to NC controllerFirstThe comparison means and the target load of the work piece after the reproduced time.
The actual shape that can be obtained by continuing machining with the work shape.
Comparing with the work shape, create a correction signal from the difference and NC
Send to controllerSecondComparison means,Input from the first comparison means in the NC controller.
Feedback control based on the corrected signal
Output command to make the processed shape of the work piece closer to the target.
Means to correct, Input from the second comparison means in the NC controller.
Based on the corrected signal Feed-forward control
The shape of the work piece after the specified time has come closer to the target.
To correct the output command so that  A processing machine characterized by having. 2. The processing machine according to claim 1, wherein a part of the structure supporting the processing tool and the workpiece and / or the structure.
Or a processing tool that is installed on the processing tool or the feeding device for the workpiece.
An actuator that finely adjusts the relative position and orientation of the workpiece
When,Based on the correction signals output from the first and second comparing means,
Then, operate the fine adjustment actuator to
It cannot be corrected by the actuator operation by the controller.
A controller that makes small corrections  A processing machine characterized by having. 3. The processing machine according to claim 1 or 2 ,
Corrected by the correction signals of the first and second comparison means
A processing machine comprising means for updating or accumulating knowledge and parameters in a database for each processing data while confirming a subsequent processing result by a detection value of a sensor.