Cutting device and control method thereof

Abstract

To improve the degree of freedom in cutting processing in a cutting device and its control method.SOLUTION: A cutting device comprises: X- and Y-direction moving means (4) that can move a flat-blade cutting blade (S) relative to a processing material to cut the processing material and can move the cutting blade (S) in an X-axis direction and a Y-axis direction with respect to a base; Z-direction moving means (5) that is provided on the X- and Y-direction moving means (4) and can move the cutting blade (S) in a Z-axis direction; θ-direction rotating means (6) that is provided on the Z-direction moving means (5) and can rotate the cutting blade (S) around the Z-axis; α-direction rotating means (7) that is provided on the θ-direction rotating means (6) and can rotate the cutting blade (S) around an α-axis orthogonal to the Z-axis; and cutting blade rotating means (8) that is provided on the α-direction rotating means (7), holds the cutting blade (S) and rotates the cutting blade (S) around a δ-axis being an axis (S1) of the cutting blade (S).SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a cutting device and a control method thereof. [Background technology]

[0002] Conventionally, cutting devices that cut workpieces with a flat cutting blade include a base having a mounting surface parallel to the XY plane in an XYZ Cartesian coordinate system on which the workpiece can be placed, an X- and Y-direction moving means capable of moving the cutting blade in the X- and Y-direction directions relative to the base, a Z-direction moving means supported by the X- and Y-direction moving means capable of moving the cutting blade in the Z-axis direction, a θ-direction rotating means supported by the Z-direction moving means capable of rotating the cutting blade about the Z-axis, and an α-direction rotating means supported by the θ-direction rotating means capable of rotating the cutting blade about an α-axis perpendicular to the Z-axis (see, for example, Patent Document 1). The cutting device disclosed in Patent Document 1 can cut out a block with an inclined curved surface, such as a truncated cone-shaped block, by tilting the cutting blade using the α-direction rotating means and moving the cutting blade in a circular motion. In Patent Document 1, when the cutting blade is moved in a circular trajectory, the cutting edge of the cutting blade is always oriented in the tangent direction of the circle, and the angle of the cutting edge relative to the tangent direction of the circle is constant. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-063880 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the conventional cutting device described above, it is difficult to freely change the angle of the cutting edge relative to the tangent to the trajectory of the cutting blade when the cutting blade is tilted around the α axis, which limits the degree of freedom in cutting processing. In view of these points, the present invention aims to provide a cutting device and a control method thereof that enable the angle of the cutting edge relative to the tangent to the trajectory of the cutting blade to be changed while the cutting blade is tilted around the α axis, thereby improving the degree of freedom in cutting processing. [Means for solving the problem]

[0005] The present invention provides a cutting device that can move a flat cutting blade relative to a workpiece to cut the workpiece, and that includes a base having a mounting surface that is parallel to the XY plane in an XYZ Cartesian coordinate system and on which the workpiece can be placed; X- and Y-direction movement means that can move the cutting blade relative to the base in the X-axis direction and the Y-axis direction; Z-direction movement means that is provided on the X- and Y-direction movement means and can move the cutting blade in the Z-axis direction; θ-direction rotation means that is provided on the Z-direction movement means and can rotate the cutting blade about the Z-axis; α-direction rotation means that is provided on the θ-direction rotation means and can rotate the cutting blade about an α-axis that is perpendicular to the Z-axis; and cutting blade rotation means that is provided on the α-direction rotation means and that holds the cutting blade and rotates the cutting blade about the δ-axis, which is the axis of the cutting blade.

[0006] The present invention also provides a cutting tool for a workpiece, the cutting tool comprising: a base capable of cutting a workpiece by moving a flat cutting blade relatively to the workpiece, the base having a mounting surface parallel to an XY plane in an XYZ orthogonal coordinate system and on which the workpiece can be placed; X- and Y-direction moving means capable of moving the cutting blade in the X-axis direction and the Y-axis direction relative to the base; Z-direction moving means provided on the X- and Y-direction moving means and capable of moving the cutting blade in the Z-axis direction; θ-direction rotating means provided on the Z-direction moving means and capable of rotating the cutting blade around the Z-axis; α-direction rotating means provided on the θ-direction rotating means and capable of rotating the cutting blade around an α-axis perpendicular to the Z-axis; A control method for moving a cutting blade in a cutting device that includes a direction rotation means, a cutting blade rotation means that holds the cutting blade, and rotates the cutting blade around the axis of the cutting blade, wherein the cutting blade is tilted by the α-direction rotation means with respect to the Z-axis direction, which is the up-and-down direction, and the trajectory of the cutting edge of the cutting blade when viewed in the axial direction of the Z-axis is moved so that the diameter of the spiral becomes smaller as it goes downward, and the cutting blade rotation means increases the rotation angle of the cutting blade around the axis as the diameter of the spiral becomes smaller. [Effects of the Invention]

[0007] In the cutting device and the control method thereof, the angle of the cutting edge relative to the tangent to the path of the cutting blade can be changed while the cutting blade is tilted around the α axis, thereby improving the degree of freedom in cutting processing. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a plan view schematically illustrating an embodiment of a cutting device according to the present invention. [Figure 2] FIG. 2 is a side view of the peripheral structure of the head as viewed from the left and right direction. [Figure 3] FIG. 2 is a front view of the peripheral structure of the head as viewed from the front-rear direction. [Figure 4A] 3 is an enlarged side view of the cutting blade and cutting blade rotation means of FIG. 2. FIG. [Figure 4B]4 is an enlarged front view of the cutting blade and cutting blade rotation means of FIG. 3. FIG. [Figure 5] FIG. 10 is a diagram showing the trajectory of the cutting blade tip as viewed from above in the Z-axis direction. [Figure 6] FIG. 10 is a diagram showing the trajectory of the cutting blade tip as viewed from the side in a direction perpendicular to the Z axis. [Figure 7A] Indicates the angle of the cutting blade at the starting point. [Figure 7B] 1 shows the angle of the cutting blade in a first position. [Figure 7C] 1 shows the angle of the cutting blade in a second position. [Figure 7D] 10 shows the angle of the cutting blade in a third position. DETAILED DESCRIPTION OF THE INVENTION

[0009] In the following, an embodiment of a cutting device and a control method thereof according to the present invention will be described with reference to the drawings. In this embodiment, the XY plane in an XYZ Cartesian coordinate system is parallel to the horizontal plane, the X axis is the front-to-back direction, the Y axis is the left-to-right direction, and the Z axis is the up-to-down direction.

[0010] FIG. 1 is a plan view schematically showing an embodiment of a cutting device according to the present invention. The cutting device 1 of this embodiment includes a base 2 on which a workpiece W is placed, and a head 3 that holds a cutting blade S (FIG. 2).

[0011] The base 2 has a mounting surface 2a on which the workpiece W is placed. The mounting surface 2a is parallel to the horizontal plane when the cutting device 1 is installed on the floor. Although not shown, the mounting surface 2a of the base 2 is provided with suction holes for suctioning and holding the workpiece W by negative pressure. The base 2 also has auxiliary equipment for connecting to a power source, air source, etc. for driving various means provided in the cutting device 1.

[0012] In the illustrated example, the workpiece W is a flat, rectangular plate in plan view, but the shape is not limited to this. The workpiece W may be made of a variety of materials, including paper products such as cardboard, thin synthetic resin or metal plates, and even relatively thick polyethylene or foam materials.

[0013] Fig. 2 is a side view of the peripheral structure of the head 3 as seen from the left and right direction, and Fig. 3 is a front view of the peripheral structure of the head 3 as seen from the front and back direction. An X- and Y-direction moving means 4 and a Z-direction moving means 5 are provided between the base 2 and the head 3. The X-, Y-direction moving means 4 and the Z-direction moving means 5 enable the head 3 to move in the X-axis direction, the Y-axis direction, and the Z-axis direction relative to the base 2.

[0014] 1 to 3, the X, Y direction moving means 4 of this embodiment includes a pair of X-axis rails (not shown) extending in the X-axis direction and provided on the base 2 at a distance from each other in the Y-axis direction, and an X-axis nut (not shown) that slides on the X-axis rails. The X- and Y-direction moving means 4 also includes a Y-axis frame 4a held by the X-axis nut, a plurality of Y-axis rails 4b extending in the Y-axis direction and spaced apart in the Z-axis direction as shown in FIG. 2, a Y-axis nut 4c sliding on the Y-axis rails 4b, and a Y-axis moving base 4d held by the Y-axis nut 4c. Although detailed description will be omitted, the X- and Y-direction moving means 4 includes an X-direction driving means for moving the Y-axis frame 4a in the X-axis direction, and a Y-direction driving means for moving the Y-axis moving base 4d in the Y-axis direction. As the X-direction driving means and the Y-direction driving means, for example, a motor (such as a servo motor or a stepping motor) may be used, as well as a mechanism using a timing belt and pulley, a mechanism using a ball screw, or a mechanism using a rack and pinion.

[0015] The Z-direction moving means 5 includes a pair of Z-axis rails 5a extending in the Z-axis direction and spaced apart in the Y-axis direction and mounted on the Y-axis moving base 4d, a Z-axis nut 5b that slides on the Z-axis rails 5a, and a Z-axis moving base 5c held by the Z-axis nut 5b. In addition, although not shown, the Z-direction moving means 5 is equipped with a Z-direction driving means (such as a mechanism using a motor and a ball screw, similar to the X and Y-direction driving means described above) for moving the Z-axis moving base 5c in the Z-axis direction.

[0016] The head 3 is attached to a Z-axis moving base 5c of the Z-direction moving means 5. In Fig. 3, the axis S1 of the cutting blade S supported by the head 3 coincides with the Z-axis and extends in the vertical direction. The head 3 is equipped with a θ-direction rotation means 6 capable of rotating the cutting blade S in the θ-direction around the Z-axis, an α-direction rotation means 7 capable of rotating the cutting blade S in the α-direction around the Y-axis, and a cutting blade rotation means 8 capable of rotating the cutting blade S in the δ-direction around the axis S1 of the cutting blade S. Here, the axis S1 is also referred to as the δ-axis.

[0017] The θ-direction rotation means 6 includes a cylindrical shaft 6a oriented in the Z-axis direction and a main body 6b connected to the lower end of the shaft 6a. The main body 6b includes an upper wall 6c connected to the lower end of the shaft 6a and a pair of side walls 6d extending downward from both ends of the upper wall 6c. The θ-direction rotation means 6 rotates in the θ direction around the central axis 6e of the shaft 6a oriented in the Z-axis direction. The shaft 6a of the θ-direction rotation means 6 is inserted into the horizontally extending Z-axis movement base 5c, and the θ-direction rotation means 6 is supported by the Z-axis movement base 5c so as to be rotatable in the θ direction. In other words, the θ-direction rotation means 6 is provided on the Z-direction movement means 5. Although not shown, the θ-direction rotation means 6 also includes a mechanism (e.g., a bearing) for rotatably supporting the shaft portion 6a relative to the Z-axis moving base 5c, and a mechanism (e.g., a servo motor, a stepping motor, a pulley, a timing belt, etc.) for rotating the shaft portion 6a at a predetermined angle.

[0018] The α-direction rotation means 7 supports the cutting blade S so that it can rotate about the α-axis perpendicular to the Z-axis. Here, the α-axis is the Y-axis perpendicular to the Z-axis. The α-direction rotation means 7 includes a main body 7a disposed between the pair of side walls 6d of the θ-direction rotation means 6, and a shaft 7b connecting the upper part of the main body 7a to the side walls 6d. The shaft portion 7b is cylindrical with its central axis oriented in the Y-axis direction and is inserted into the side wall portion 6d of the main body portion 6b and the main body portion 7a. The α-direction rotation means 7 rotates around the α-axis with the shaft portion 7b as the center.

[0019] The α-direction rotation means 7 is supported by the main body 6b of the θ-direction rotation means 6 via a shaft 7b. That is, the α-direction rotation means 7 is provided in the θ-direction rotation means 6. Although not shown in the figure, the α-direction rotation means 7 includes a mechanism (such as a bearing) that rotatably supports the shaft portion 7b relative to the main body portion 6b, as well as a mechanism (such as a servo motor, stepping motor, pulley, timing belt, etc.) for rotating the shaft portion 7b at a predetermined angle.

[0020] The cutting blade rotating means 8 includes a rotating part 8b that rotates around a rotation axis 8a, and a holder 8c that holds the cutting blade S. The rotation portion 8b is attached to the lower surface 7c of the main body 7a of the α-direction rotation means 7 and extends downward from the lower surface 7c. In other words, the cutting blade rotation means 8 is directly supported by the α-direction rotation means 7 and is provided on the α-direction rotation means 7. The holder 8c is connected to the lower end of the rotating part 8b. The holder 8c is provided with a fastening mechanism that detachably holds the cutting blade S. The upper end of the cutting blade S is held by the holder 8c and extends downward from the holder 8c. Although not shown, the cutting blade rotating means 8 is provided with a mechanism (such as a servo motor or a stepping motor) for rotating the rotating part 8b.

[0021] The holder 8c holds the cutting blade S so that the rotation axis 8a of the rotating part 8b coincides with the axis S1 of the cutting blade S. Therefore, when the rotating part 8b rotates, the cutting blade S rotates in the δ direction around the axis S1 (δ axis). When the rotation angle of the α-direction rotation means 7 is 0° (the state of the cutting blade S shown by the solid line in Figure 2), the axis S1 of the cutting blade S is oriented vertically, parallel to the Z-axis, and coaxial with the central axis 6e of the θ-direction rotation means 6. The cutting blade rotation means 8 is directly supported by the α-direction rotation means 7, and therefore rotates around the α-axis integrally with the α-direction rotation means 7. When the α-direction rotation means 7 rotates, the cutting blade rotation means 8 and the cutting blade S rotate around the shaft portion 7b, as shown by the imaginary line in Figure 2. As a result, the axis S1 of the cutting blade S is inclined with respect to the Z-axis direction.

[0022] Fig. 4A is an enlarged side view of the cutting blade S and cutting blade rotation means 8 of Fig. 2. Fig. 4B is an enlarged front view of the cutting blade S and cutting blade rotation means 8 of Fig. 3. The cutting blade S is formed in the shape of a flat blade. Here, the lower end of the cutting blade S is referred to as the blade tip S2, and the side surface of the cutting blade S that extends flat is referred to as the extension surface S3. A cutting edge S4 that cuts the workpiece W is provided on the side edge of the extension surface S3. The blade tip S2 is the lower end of the cutting edge S4. The axis S1 of the cutting blade S is a straight line that passes through the center of the cutting blade S and extends in the longitudinal direction of the cutting blade S. The illustrated cutting blade S is a single-edged blade with a relatively long cutting edge S4, but a cutting blade with a shorter cutting edge S4 may also be used, or a double-edged cutting blade with cutting edges located on both side edges of the extending surface S3 may also be used.

[0023] Although not shown, the head 3 is provided with a vibration means for vibrating the cutting blade S in the longitudinal direction when cutting the workpiece W, and a pressing means for pressing the workpiece W from above when cutting.

[0024] The cutting device 1 is equipped with a control board (not shown) for controlling the X- and Y-direction movement means 4, Z-direction movement means 5, θ-direction rotation means 6, α-direction rotation means 7, cutting blade rotation means 8, and the vibration means. The control board sends commands to the X- and Y-direction movement means 4, Z-direction movement means 5, θ-direction rotation means 6, α-direction rotation means 7, cutting blade rotation means 8, and vibration means, and can drive these individually or in conjunction with each other.

[0025] Fig. 5 is a diagram showing the trajectory T of the blade tip S2 of the cutting blade S as viewed from above in the Z-axis direction. Fig. 6 is a diagram showing the trajectory T of the blade tip S2 of the cutting blade S as viewed from the side in a direction perpendicular to the Z-axis. Here, an example of a control method for cutting out a cone shape C from a workpiece W by the cutting device 1 will be described. The cone shape C is a cone that tapers downward from a circular upper surface C1 to a lower end C2 of the cone. The radius of the upper surface C1 is indicated by radius R.

[0026] 5 and 6, the cutting device 1 cuts out a cone shape C with the cutting edge S4 by moving the cutting blade S so that the trajectory T of the cutting tip S2 of the cutting edge S4 is spiral. The cutting edge S4 is located at the front of the trajectory T in the moving direction of the cutting blade S. Specifically, the locus T is a spiral whose radius of curvature decreases from the upper surface C1 downward. The radius of the spiral locus T is indicated by radius R2.

[0027] The starting point T0 of the locus T is located on the upper surface C1, at a position spaced a radius R from the center of the upper surface C1. As the locus T moves counterclockwise from the starting point T0 in FIG. 5, the radius R2 decreases and the locus T moves downward, and the ending point T4 of the locus T is located at the bottom end C2, which is 360° counterclockwise from the starting point T0. Figure 5 shows a first position T1 on the trajectory T, which is 36° from the starting point T0, a second position T2, which is 90° from the first position T1, and a third position T3, which is 90° from the second position T2.

[0028] First, as shown in Fig. 6, the cutting device 1 drives the α-direction rotation means 7 so that the cutting blade S is at an angle that follows the conical surface C3 of the conical shape C. In this state, the cutting blade S is set so that the extending surface S3 follows the conical surface C3, and is rotated around the α-axis and inclined at an angle α1 with respect to the Z-axis direction. The cutting device 1 also drives the X and Y direction moving means 4, the Z direction moving means 5, and the θ direction rotating means 6 to position the blade tip S2 at the starting point T0.

[0029] Next, the cutting device 1 drives the X- and Y-direction moving means 4, the Z-direction moving means 5, the θ-direction rotating means 6, the cutting blade rotating means 8, and the vibration means to move the cutting blade S along the trajectory T and cut out a cone shape C. At this time, the head 3 extends the cutting blade S obliquely downward from the outer periphery of the locus T toward the locus T, and goes around the outer periphery of the locus T, thereby forming the locus T. Between the start point T0 and the end point T4, the angle of the cutting blade S around the α axis is constant at angle α1. Between the start point T0 and the end point T4, the θ-direction rotation means 6 rotates in the θ direction in accordance with the movement of the head 3 in the X and Y directions by the X and Y-direction movement means 4 so that the extension surface S3 always faces the center of the cone shape C.

[0030] 7A and 7B are diagrams showing the rotation angle of the cutting blade S in the δ direction when viewed from the direction of the axis S1 of the cutting blade S. FIG. 7A shows the angle of the cutting blade S at the start point T0. FIG. 7B shows the angle of the cutting blade S at the first position T1. FIG. 7C shows the angle of the cutting blade S at the second position T2. ​​FIG. 7D shows the angle of the cutting blade S at the third position T3. The cutting device 1 drives the cutting blade rotation means 8 from the start point T0 to the end point T4, and increases the rotation angle of the cutting blade S in the δ direction around the axis S1 (δ axis) as the spiral radius R2 becomes smaller.

[0031] More specifically, at the start point T0, as shown in Fig. 7A, the rotation angle δ0 (not shown) of the cutting blade S in the δ direction is set to an angle along the tangent L (Fig. 5) to the trajectory T at the start point T0. Note that in Figs. 7B to 7D, the cutting blade S at the rotation angle δ0 is shown by a virtual line as a reference for the rotation angle. At the first position T1, as shown in Fig. 7B, the rotation angle of the cutting blade S in the δ direction is set to an angle along a tangent to the trajectory T at the first position T1. The rotation angle of the cutting blade S at the first position T1 is larger than the rotation angle δ0 by a rotation angle δ1. In other words, at the first position T1, the angle of the cutting edge S4 is changed by the rotation angle δ1 with respect to the tangent L (Fig. 5) of the trajectory T at the starting point T0.

[0032] At the second position T2, as shown in FIG. 7C, the rotation angle of the cutting blade S in the δ direction is set to an angle along a tangent to the trajectory T at the second position T2. ​​The rotation angle of the cutting blade S at the second position T2 is larger than the rotation angle δ0 by a rotation angle δ2. The rotation angle δ2 is larger than the rotation angle δ1. In other words, at the second position T2, the angle of the cutting edge S4 is changed by the rotation angle δ2 with respect to the tangent L (FIG. 5) of the trajectory T at the starting point T0.

[0033] At the third position T3, as shown in FIG. 7D, the rotation angle of the cutting blade S in the δ direction is set to an angle along the tangent to the trajectory T at the third position T3. The rotation angle of the cutting blade S at the third position T3 is larger than the rotation angle δ0 by a rotation angle δ3. The rotation angle δ3 is larger than the rotation angle δ2. In other words, at the third position T3, the angle of the cutting edge S4 is changed by the rotation angle δ3 with respect to the tangent L (FIG. 5) to the trajectory T at the starting point T0.

[0034] At the end point T4, the cutting blade S reaches the lower end C2. At the end point T4, the rotation angle of the cutting blade S in the δ direction relative to the rotation angle δ0 is greater than the rotation angle δ3. When the cutting blade S reaches the end point T4, there is an uncut portion between the end point T4 and the start point T0. After the cutting blade S reaches the end point T4, the cutting device 1 changes the direction of the δ direction of the cutting blade S so that the extending surface S3 is oriented along the conical surface C3 (the extending surface S3 is oriented parallel to the tangent direction of the conical surface C3), and moves the cutting blade S around the conical surface C3 to cut the uncut portion. As a result, a conical shape C is cut out from the workpiece W.

[0035] As described above, according to an embodiment of the present invention, the cutting device 1 is capable of cutting the workpiece W by moving the flat cutting blade S relative to the workpiece W, and is equipped with a base 2 having a mounting surface 2a that is parallel to the XY plane in an XYZ Cartesian coordinate system and on which the workpiece W can be placed, an X- and Y-direction moving means 4 that can move the cutting blade S in the X-axis direction and the Y-axis direction relative to the base 2, a Z-direction moving means 5 that is attached to the X- and Y-direction moving means 4 and can move the cutting blade S in the Z-axis direction, a θ-direction rotating means 6 that is attached to the Z-direction moving means 5 and can rotate the cutting blade S about the Z-axis, an α-direction rotating means 7 that is attached to the θ-direction rotating means 6 and can rotate the cutting blade S about an α-axis that is perpendicular to the Z-axis, and a cutting blade rotating means 8 that is attached to the α-direction rotating means 7 and holds the cutting blade S and rotates the cutting blade S about the δ-axis, which is the axis S1 of the cutting blade S. According to this configuration, while the cutting blade S is rotated around the α-axis perpendicular to the Z-axis by the α-direction rotation means 7, the cutting blade S can be rotated around the δ-axis (axis line S1) by the cutting blade rotation means 8 provided on the α-direction rotation means 7. As a result, while the cutting blade S is tilted around the α-axis, the angle of the cutting edge S4 with respect to the tangent to the trajectory T of the cutting blade S can be changed by the cutting blade rotation means 8, thereby improving the degree of freedom in cutting processing.

[0036] Furthermore, the cutting blade rotation means 8 rotates the cutting blade S in a state in which the cutting blade S is tilted with respect to the Z-axis direction by the α-direction rotation means 7. When the cutting blade S is oriented in the Z-axis direction (the state of the cutting blade S shown by the solid line in FIG. 2), the Z-axis and the δ-axis (axis line S1) coincide, so the cutting blade S can be rotated around the δ-axis by the θ-direction rotation means 6. However, when the cutting blade S is tilted with respect to the Z-axis, the θ-direction rotation means 6 cannot rotate the cutting blade S around the δ-axis. By providing the cutting blade rotation means 8, the cutting blade S can be rotated around the δ-axis even when the cutting blade S is tilted with respect to the Z-axis by the α-direction rotation means 7.

[0037] Furthermore, in the present invention, in a control method for moving the cutting blade S of the cutting device 1, the cutting blade S is tilted in the Z-axis direction, which is the up-and-down direction, by the α-direction rotation means 7, and is moved so that the trajectory T of the cutting edge S4 of the cutting blade S when viewed in the Z-axis direction becomes a spiral in which the radius R2 of the spiral becomes smaller as it moves downward, and the cutting blade rotation means 8 increases the rotation angle of the cutting blade S around the axis S1 as the radius R2 of the spiral becomes smaller. According to this configuration, the locus T of the cutting edge S4 of the cutting blade S can be made to be a spiral in which the radius R2 of the spiral becomes smaller as it goes downward, so that the workpiece W can be cut out in a conical shape.

[0038] In a cutting device, the degree of freedom in cutting processing can be improved by increasing the number of axes along which the cutting blade S can be rotated. For example, instead of providing the cutting blade rotation means 8, it is possible to provide the α-direction rotation means 7 with a β-direction rotation means that rotates the cutting blade S around the X-axis perpendicular to the Z-axis. In this case, by simultaneously driving the α-direction rotation means 7 and the β-direction rotation means, the degree of freedom in changing the orientation of the cutting blade S increases. However, driving both the α-direction rotation means 7 and the β-direction rotation means to change the orientation of the cutting blade S causes a shift in the position of the cutting edge S4, which affects the X-axis, Y-axis, Z-axis, and θ-axis. This increases the amount of calculation required for control to correct the shift, increasing the control load. In contrast, in the cutting device 1, the orientation of the cutting blade S in the δ-direction can be directly changed by driving the cutting blade rotation means 8, thereby reducing the control load.

[0039] The cutting device and its control method according to the present invention have been described above, but the present invention is not limited to the above-described embodiments and includes various modifications within the scope of the claims. For example, the cutting device control method according to the present invention can form a variety of shapes, including inclined curved surfaces inclined with respect to the Z axis, rather than being limited to the conical shape C described above. [Explanation of symbols]

[0040] 1: Cutting device 2: Bass 2a: Placement surface 4: X, Y direction movement means 5: Z direction movement means 6: θ direction rotation means 7: α direction rotation means 8: Cutting blade rotation means R2: Radius (diameter of the spiral) S: Cutting blade S1: Axis line S4: Cutting edge W: Processed material

Claims

1. The flat cutting blade can be moved relative to the workpiece to cut the workpiece, a base having a mounting surface on which the workpiece can be placed, the mounting surface being parallel to an XY plane in an XYZ orthogonal coordinate system; X- and Y-direction moving means for moving the cutting blade relative to the base in the X- and Y-directions; a Z-direction moving means provided on the X- and Y-direction moving means and capable of moving the cutting blade in a Z-axis direction; a θ-direction rotation means provided on the Z-direction movement means and capable of rotating the cutting blade around the Z-axis; an α-direction rotation means provided on the θ-direction rotation means and capable of rotating the cutting blade around an α-axis perpendicular to the Z-axis; a cutting blade rotation means provided on the α-direction rotation means for holding the cutting blade and rotating the cutting blade around a δ-axis which is the axis of the cutting blade;

2. 2. The cutting device according to claim 1, wherein the cutting blade rotation means rotates the cutting blade in a state in which the cutting blade is inclined with respect to the Z-axis direction by the α-direction rotation means.

3. The flat cutting blade can be moved relative to the workpiece to cut the workpiece, a base having a mounting surface on which the workpiece can be placed, the mounting surface being parallel to an XY plane in an XYZ orthogonal coordinate system; X- and Y-direction moving means for moving the cutting blade relative to the base in the X- and Y-directions; a Z-direction moving means provided on the X- and Y-direction moving means and capable of moving the cutting blade in a Z-axis direction; a θ-direction rotation means provided on the Z-direction movement means and capable of rotating the cutting blade around the Z-axis; an α-direction rotation means provided on the θ-direction rotation means and capable of rotating the cutting blade around an α-axis perpendicular to the Z-axis; A control method for moving the cutting blade in a cutting device including cutting blade rotation means provided on the α-direction rotation means, holding the cutting blade, and rotating the cutting blade around a δ-axis that is an axis of the cutting blade, comprising: The cutting blade is moved by the α-direction rotation means in a state in which the cutting blade is tilted with respect to the Z-axis direction, which is the up-down direction, so that the trajectory of the cutting edge of the cutting blade as viewed in the Z-axis direction becomes a spiral shape whose diameter decreases downward, a control method in which the cutting blade rotation means increases the rotation angle of the cutting blade about the δ axis as the diameter of the spiral becomes smaller;

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