WO1998041358A1 - Device for cycle-machining free-form member - Google Patents

Abstract

The inner/outer surfaces of a hollow member whose inner/outer surfaces have non-circular curves are machined with high precision at high speeds. The cycle-machining device has a C-axis driving means (54) by which the hollow member is supported at both ends and turned, inner surface machining driving means (98), and an outer surface machining driving means (78), both of which drive linearly an inner surface cutting tool and an outer surface cutting tool respectively in the U-axis and X-axis directions, wherein the X-axis and the U-axis are synchronized with the rotation angle of the C-axis so as to cut the inner/outer surfaces. The cycle machining device further has a position command value output unit (103) which outputs the position command values of the X-axis and U-axis synchronously with the C-axis at the time of actual machining, X-axis and U-axis position deviation calculating units (110, 120) which calculate the respective position deviations, X-axis and U-axis learning control unit (111, 121) which learn correction command values with which the respective position deviations are reduced to zero, store them, and output them synchronously with the C-axis, and X-axis and U-axis adding units (112, 122) by which the correction command values and position deviations of the respective axes are added to each other, and the addition results are outputted as speed commands to the inner surface and outer surface machining driving means.

Description

 Description Cycle processing equipment for free curved members

 The present invention relates to a processing apparatus for cutting an inner surface and an outer surface of a hollow cylindrical member whose inner surface and outer surface shape is represented by a predetermined free curve in synchronization with the rotation of the hollow member, and in particular, for supporting a workpiece. The present invention relates to a free-form member cycle processing apparatus capable of increasing the rigidity of the apparatus. Background technology

 The piston ring of the engine has a ring shape having a gap with an outer periphery partially cut off. When this piston ring is fitted into the upper groove of the piston, the opening of the gap is shortened and inserted into the cylinder. The piston ring makes close contact with the inner wall of the cylinder due to the natural force of the piston ring. Such a piston ring is often manufactured by precisely processing the inner and outer surfaces of a hollow cylindrical workpiece into a predetermined curved surface and then cutting the gap.

FIG. 7 is a diagram showing a workpiece before machining the inner surface and the outer surface of the piston ring and a ring shape after the machining. The workpiece 1 is a hollow material having a substantially cylindrical shape, and a ring member 2 having a predetermined height L 1 corresponding to a desired piston ring groove width is stacked. Then, a support device is provided on both end faces (upper and lower end faces in the figure) of the work piece 1 so that the work piece 1 is supported while a clamper of a predetermined size is applied to the work piece 1 from both end faces. are doing. Further, a tool 4 for cutting the inner surface is provided in the hollow portion of the workpiece 1, and a tool 5 for cutting the outer surface is provided outside the workpiece 1. While the workpiece 1 is supported by the supporting device, the workpiece 1 is rotated around the rotation axis 0 in the direction of the arrow 13 shown in the figure, and the tools 4 and 5 are reciprocated in the direction of the arrow 11 in synchronization with this rotation. In addition, drive in the axial direction of workpiece 1 (arrows 1 and 2). By moving, a plurality of rings 3 are manufactured.

 Although the ring 3 has a substantially heart shape, a portion P corresponding to the concave portion on the outer periphery is cut and removed to complete the piston ring. The cut portion P serves as the gap of the piston ring. As described above, the piston ring is required to adhere tightly to the inner wall of the cylinder while being fitted in the biston and to maintain the sealing property, so that the cutting accuracy of the inner surface and the outer surface must be increased.

 Conventionally, various processing machines have been proposed for precision cutting of such a piston ring.

 For example, in Japanese Patent Publication No. 6-775814, a cutting tool is attached to a carriage that is driven linearly in a direction (arrow 11 direction) toward or away from the workpiece by Linear Motor. An NC control lathe for cutting the outer periphery of a skirt of a workpiece such as a piston by controlling the linear motor by NC servo control using a computer is disclosed. The reciprocating movement of the carriage is guided by a guide device having a plurality of sets of rotating members, such as rollers, and is suppressed in the horizontal and vertical directions. In addition, these guide devices are prevented from moving transversely to the direction of carriage movement by the biasing device. These guides and biasing devices support the reaction force generated in the tool during cutting of the workpiece, so that the carriage can reciprocate without any backlash or shaking, enabling accurate cutting. .

By the way, the machining accuracy of the piston ring is regarded as very important as described above, and the accuracy of each of the inner surface and the outer surface, as well as the accuracy of the concentricity of the inner surface and the outer surface, the phase at the time of machining, and the like are required. However, when processing non-circular members such as piston rings using conventional NC control lathes, only the outer surface can be processed, and the inner and outer surfaces cannot be simultaneously NC-processed. When the inner surface is machined after the outer surface machining, the portion P corresponding to the concave portion on the outer peripheral surface is first cut as described above, and then the inner surface is cut in a state where the gap of the cut P portion of the ring is reduced. Is processed into a perfect circle. Therefore, productivity during piston ring processing becomes extremely poor, There is a problem that the accuracy of the concentricity of the surface is not sufficiently satisfied.

 On the other hand, when performing NC control, a predetermined amount of positional deviation £ of the tool drive shaft of each of the tools 4 and 5 at the time of the cutting process is generated, and by eliminating this, a non-circular workpiece 1 such as a piston ring is removed. It is necessary to synchronize the rotary axis of the tool and the tool drive axis, that is, to match the phases. For this reason, when the outer surface is subjected to NC machining, as shown in FIG. 8, a portion of the workpiece 1 near the surface opposite to the outer surface to be cut (the inner surface shown) is clamped by the support device 6. Then, the tool 5 is approached along the axial direction of the workpiece 1 from just before the cutting start position, and is synchronized with the rotation of the workpiece 1 during this approach (approach). In other words, before entering the main processing 7 of the piston ring, in the approach of the support device area 8 near the support device 6, the position deviation £ is eliminated by the learning function of the tool drive shaft. At this time, the radial length 51 of the support portion for supporting the end face of the workpiece 1 of the support device 6 is set to be the same even if the tool 5 is shifted by the maximum value of the position deviation ε until the learning is completed. It is set so as not to interfere with the support device 6. Therefore, when the maximum positional deviation of the tool drive shaft is large, the length of the support portion (51 must be reduced), and the rigidity of the support portion decreases, and as a result, it is difficult to further improve the machining accuracy. Has become.

When the inner surface and the outer surface are simultaneously NC-processed in order to improve productivity, as shown in FIG. 9, the supporting device 6 clamps only the center of both end surfaces of the workpiece 1 and the both end surfaces. It is necessary to secure a non-contact portion with the support device 6 by a predetermined distance in a portion close to the inner surface and the outer surface of the device for an approach when learning and correcting the position deviation ε. At this time, the radial length S 2 of the support portion of the support member 6 does not interfere with the support device 6 even if each of the tools 4 and 5 is displaced by the maximum position deviation value until the learning is completed. Must be set as follows. Therefore, the length (52) of the support device 6 is further smaller than the length (51 when NC processing is performed only on the outer surface. Therefore, the area receiving the clamping force is reduced, and the support portion has A large stress is applied and the service life of the support device 6 is reduced, and the rigidity of the support device 6 in the clamped state is reduced. There is a problem that it is difficult to secure the speed, and the machining accuracy cannot be satisfied because the machine is easily affected by the reaction force during the machining. Furthermore, since the distance L2 between the side end surface of the end where the supporting device 6 supports the workpiece 1 and the side surface of the workpiece 1 is large, the processing end portion of the workpiece 1 (processing from below to above) In such a case, defects such as "chip missing" and "return" (burr) are likely to occur at the upper end, and productivity decreases. Disclosure of the invention

 The present invention has been made in view of the above problems, and has an inner surface and a Z or outer surface of a hollow cylindrical workpiece having a non-circular curve formed by a free curve. It is an object of the present invention to provide a cycle processing apparatus for a free curved member which can be processed with high accuracy and at high speed.

 A first invention according to a cycle processing apparatus for a free curved member according to the present invention includes a support device for supporting a workpiece having a hollow cylindrical shape and having a non-circular inner surface and an outer surface at both end surfaces thereof; A C-axis driving means for rotating the workpiece with the cylindrical core as an axis in a state where the workpiece is cut, a boring bar having a tool inserted into the hollow portion of the workpiece and cutting the inner surface, and An internal surface machining drive means that drives the boring bar linearly in the U-axis direction so as to approach or separate from the workpiece, and a tool that cuts the outer surface moves X toward or away from the workpiece. An external surface machining drive unit that linearly drives in the axial direction, and an axial direction drive unit that linearly drives the workpiece in the axial Z-axis direction are provided.The X-axis and the U-axis are synchronized with the C-axis rotation angle. By controlling the driving of the shaft, In a free-curve member cycle machine that cuts the inner and outer surfaces of the material,

Based on the reference trajectory data of the workpiece in advance, the X-axis and the X-axis in the approach cycle for gradually approaching the reference trajectory of the workpiece corresponding to each block at each predetermined rotation angle of the C-axis. A position command value calculation unit that calculates the position command value of the U-axis and calculates the position command value of the X-axis and the U-axis in the cutting cycle, and the calculated position command values correspond to the blocks. Position command value storage unit to store A position command output unit for simultaneously outputting the stored X-axis and u-axis position command values in synchronization with the rotation angle of the C-axis; a position command value for the X-axis and U-axis; and an X-axis position sensor. X-axis position deviation calculation unit and u-axis position deviation calculation unit that calculate the X-axis and U-axis position deviation values based on the detection values from the U-axis position sensor, respectively, and the calculated X-axis position Based on the deviation value and the U-axis position deviation value, the X-axis and U-axis position deviation correction command values that converge the position deviation value synchronized with the C-axis rotation to zero are learned and stored. An X-axis learning control unit and a U-axis learning control unit that output a correction command value for the stored X-axis and U-axis position deviation values in synchronization with the rotation of the axis; and an X-axis learning control unit and a U-axis learning Each correction command value from the control unit, the X-axis position deviation calculation unit and the X-axis The X-axis addition unit and the U-axis addition unit that add the position deviation value of the u-axis for each axis, and simultaneously output each addition value as a speed command to the corresponding external machining drive unit and internal machining drive unit. I have it.

 The third invention is substantially the same as the first invention, but is a cycle processing device that drives only the U axis in synchronization with the C axis, that is, processes only the inner surface. That is, the difference from the first invention is that the position command value calculation unit, the position command value storage unit, and the position command output unit perform processing only for the U axis, and based on the processing result, calculate the U axis position deviation. Unit and the U-axis learning control unit and the U-axis addition unit are configured to output a U-axis speed command to the internal surface machining driving means.

 The fifth invention is substantially the same as the first invention, but is a cycle processing device that drives only the X-axis in synchronization with the C-axis, that is, processes only the outer surface. That is, the difference from the first invention is that the position command value calculation unit, the position command value storage unit, and the position command output unit perform processing only on the X axis, and based on the processing result, calculate the X axis position deviation. And an X-axis speed command is output to the external surface machining drive means by a unit, the X-axis learning control unit, and the X-axis addition unit.

According to the first, third, and fifth inventions, when cutting the inner surface and the Z or outer surface in synchronization with the rotation of the workpiece, the tool is moved to a machining start position on the reference trajectory of the workpiece during the approach cycle. It is approaching gradually. And during this approach cycle Since the position deviation value of the U-axis for the inner surface processing and / or the X-axis for the outer surface processing is made to converge to zero by learning, the position deviation near the processing start position can be extremely reduced. Thereby, the thickness of the support device for the workpiece in the rotational radius direction can be increased, so that the rigidity of the support device is greatly improved. As a result, the life of the support device can be improved, and the processing accuracy can be improved even when the workpiece is rotated at a high speed. In addition, it is possible to prevent defects such as "burring" and "burring" at both ends of the workpiece, thereby improving productivity.

 According to a second aspect of the present invention, there is provided a supporting device for supporting a workpiece having a hollow cylindrical shape and having a non-circular inner surface and an outer surface at both end surfaces thereof, and a process in which the workpiece is supported by the supporting device with a cylindrical core. C-axis driving means for rotating as a shaft, a boring bar inserted into a hollow portion of the workpiece and having a tool for cutting an inner surface attached thereto, and a boring bar for the workpiece. Internal machining drive means that drives linearly in the U-axis direction to approach or separate, and external machining drive means that drives a tool that cuts the outer surface linearly in the X-axis direction to approach or separate from the workpiece Means, and an axial driving means for linearly driving the workpiece in the axial Z-axis direction. The driving of the X-axis and U-axis is controlled in synchronization with the rotation angle of the C-axis. The size of a free-form member that cuts the inner and outer surfaces of the workpiece In Norre processing apparatus,

Based on the reference trajectory data of the workpiece in advance, the X-axis and U-axis position command values in the cutting cycle are calculated for each block at each predetermined rotation angle of the C-axis, and cutting is completed. A position command value calculation unit that calculates a position command value for moving the X-axis and U-axis in a direction to gradually release from the workpiece in a later escape cycle, and the calculated position command values correspond to the respective blocks. A position command value storage unit for storing and outputting the stored X-axis and U-axis position command values simultaneously in synchronization with the rotation angle of the C-axis during actual machining operation; The X-axis position deviation calculation unit and U-axis position that calculate the X-axis and U-axis position deviation values based on the position command values of the X-axis and U-axis, and the detection values from the X-axis position sensor and U-axis position sensor, respectively. The deviation calculator and the calculated X-axis position deviation And on the basis of the U-axis position deviation value, position in synchronism with the C-axis rotation In addition to learning and storing the correction command value of the X-axis and U-axis position deviation values that converge the deviation value to zero, the stored X-axis and U-axis position deviation values are synchronized with the rotation of the C-axis. X-axis learning control unit and U-axis learning control unit that output the difference command value, and correction command values from these X-axis learning control unit and U-axis learning control unit, and X-axis position deviation calculation unit and U The X-axis and the U-axis position deviation values from the axis position deviation calculation unit are added for each axis, and the added values are simultaneously output as speed commands to the corresponding external surface processing driving means and internal surface processing driving means. Equipped with adder and U-axis adder

 The fourth invention is substantially the same as the second invention, but is a cycle processing device that drives only the U axis in synchronization with the C axis, that is, processes only the inner surface. That is, the difference from the first invention is that the position command value calculation unit, the position command value storage unit, and the position command output unit perform processing only for the U axis, and based on the processing result, calculate the U axis position deviation. And the U-axis learning control unit and the U-axis adding unit output a U-axis speed command to the internal surface machining driving means.

 The sixth invention is substantially the same as the second invention, but is a cycle processing device that drives only the X axis in synchronization with the C axis, that is, processes only the outer surface. That is, the difference from the first invention is that the position command value calculation unit, the position command value storage unit, and the position command output unit perform processing only on the X axis, and based on the processing result, calculate the X axis position deviation. And an X-axis speed command is output to the external surface machining drive means by a unit, the X-axis learning control unit, and the X-axis addition unit.

According to the second, fourth, and sixth inventions, during the approach cycle and during the cutting, the positional deviation values of the U-axis and the Z-axis for the inner surface processing or the X-axis for the outer surface processing are converged to zero by learning. In the escape cycle after cutting is completed, the U-axis and / or X-axis gradually escape from the workpiece while synchronizing with the C-axis rotation in this learned state. Therefore, when entering the escape cycle, the U-axis and / or X-axis can be driven smoothly without stopping and without a sudden change in acceleration, so that an excessive load is applied to the driving means of the U-axis and / or X-axis. It does not take. Therefore, the drive means for the U-axis and / or the X-axis can be reduced in size and the cycle processing time can be reduced. In a seventh aspect based on any one of the first to sixth aspects, the position command value calculation section draws a helical trajectory of the tool that cuts the inner surface or the outer surface in the approach cycle or the relief cycle. Then, the position command values of the U-axis, X-axis and Z-axis are calculated so as to gradually approach or escape the reference trajectory of the workpiece. In an eighth aspect based on any one of the first to sixth aspects, in the position command value calculating section, the tool for cutting and processing the inner surface or the outer surface in the approach cycle or the relief cycle is provided in the axial direction of the workpiece. The U-axis, X-axis, and Z-axis position command values are calculated so that a spiral locus is drawn on a plane perpendicular to the plane to gradually approach or escape the reference locus of the workpiece.

 According to the seventh or eighth invention, the trajectories of the U-axis and the X-axis in the approach cycle or the relief cycle gradually approach the reference trajectory in a spiral or spiral manner in synchronization with the rotation of the workpiece. Like that. Therefore, the position command value of the U-axis and / or X-axis in the approach cycle or the relief cycle decreases or decreases by a predetermined minute movement amount with respect to the position command value of the U-axis and / or X-axis during cutting. It can be created by increasing it. As a result, it becomes very easy to calculate the U-axis and Z-axis or X-axis position command values in the approach cycle or the relief cycle. Furthermore, since the actuator is moved by a small movement amount, it is possible to prevent a large acceleration from being generated on the U-axis and / or the X-axis during an approach cycle or an escape cycle.

 In a ninth aspect based on any one of the first to fourth aspects, the inner surface machining drive means includes a linear motor, and the linear motor drives the boring bar linearly.

According to the ninth invention, a boring bar supporting a tool for machining an inner surface is linearly driven by Linamo. Here, it is necessary to control the reciprocating drive of the tool at high speed and with good responsiveness in synchronization with the rotation of the workpiece. In such a case, the load inertia is usually as small as possible than the drive motor inertia. Must be smaller. In the present invention, since the drive motor is a linear motor, the load inertia can be made smaller than the drive motor inertia while the drive motor section is downsized. The reciprocating drive of a heavy boring bar and U-axis slide that can secure the rigidity at the time can be controlled at high speed and with high responsiveness.

 In a tenth aspect based on the first aspect, the Z-axis position range when the position deviation values of the X-axis and the U-axis converge to zero by learning in the approach cycle is a range in which the support device is located.

 According to the tenth aspect, when approaching the workpiece before starting cutting, learning is performed while approaching from the Z-axis range where the support device is located and approaching the cutting start position of the workpiece. The X-axis and U-axis position deviation values converge to zero. Therefore, after the approach is completed, it is possible to smoothly shift to the cutting of the workpiece without causing a large change in acceleration in driving the workpiece in the Z-axis direction. As a result, the size of the Z-axis drive motor and the like can be reduced, and the Z-axis does not need to be stopped at the start of processing of the workpiece, thereby reducing the processing time. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 shows a front view of a cycle processing apparatus according to an embodiment of the present invention.

FIG. 2 shows a side view of FIG.

Fig. 3 shows a block diagram of the control hardware configuration of the cycle processing device.

Fig. 4 shows a block diagram of the control function configuration of the cycle processing device.

Fig. 5 shows a plan view of the tool trajectory when the external machining approach of this cycle machining device is performed. FIG. 6 shows a perspective view of FIG.

FIG. 7 shows the ring shape of the piston ring according to the present embodiment before and after processing.

FIG. 8 is an explanatory view of a supporting device according to the prior art when performing an NC process on the outer surface of a biston ring.

FIG. 9 is an explanatory view of a support device according to the prior art when the inner and outer surfaces of the piston ring are simultaneously NC-processed. BEST MODE FOR CARRYING OUT THE INVENTION

 A cycle processing apparatus for a free curved member according to an embodiment of the present invention will be described in detail with reference to the drawings.

 The mechanical configuration of this cycle processing device is the same as the processing device described in “Processing Device for Non-Circular Curve Work” already proposed by the present inventor in Japanese Patent Application No. 8-249572. Here, this configuration will be briefly described. FIG. 1 shows a front view of the cycle processing apparatus, and FIG. 2 shows a side view of FIG.

 A column 22 is provided substantially at the center rear of the upper part of the bed 21. In front of the column 22, there is a Z-axis slide 32 supported by a guide rail 33 attached to the front of the column 22 so as to be movable in the axial direction (Z-axis direction) of the workpiece 1. It is provided. Here, the guide rail 33 is composed of, for example, a ball type linear guide. Further, a Z-axis motor 31 composed of, for example, a servomotor or the like is provided at an upper portion of the column 22, and the Z-axis slide 32 is vertically driven by the Z-axis motor 31. The Z-axis motor 31 is provided with a Z-axis position sensor 35 that detects the position of the Z-axis slide 32 in the Z-axis direction, for example, an encoder or the like. Also, the position detection signal of the Z-axis position sensor 35 is fed back to the Z-axis speed amplifier 144 via the Z-axis speed converter 144 as described later, and the Z-axis speed amplifier 144 Controls the Z-axis motor 31 so that the difference between the speed command from a controller 25 described later and the feedback speed signal is reduced. Note that the Z-axis speed amplifier section 14 3, the Z-axis motor 31, the Z-axis position sensor 35, and the Z-axis speed conversion section 144 constitute an axial direction driving means 34.

A support device for clamping and supporting the workpiece 1 is provided in the Z-axis slide 32. The support device is vertically separated from each other, and is provided at a position facing each other. It is composed of upper work supporting means 52 and lower work supporting means 53. The two support means 52, 53 are rotatably supported in the same direction by a drive transmission means such as a gear train (not shown). For example, a servo motor mounted on the upper part of the column 22 is provided. Drive transmission means by C-axis motor 51 Is rotated synchronously. The C-axis motor 51 is provided with a C-axis position sensor 55 composed of, for example, an encoder or the like, which detects the rotational position of the upper work support means 52 and the lower work support means 53 in the C-axis direction. In the same manner as the Z-axis, a C-axis speed amplifier 13 and a C-axis speed converter 13 34 described later are provided. These C-axis speed amplifier 13 and C-axis motor 5 1 The C-axis position sensor 55 and the C-axis speed converter 134 constitute C-axis driving means 54.

 The upper work supporting means 52 is supported so as to be able to move up and down, and is moved up and down by a hydraulic cylinder (not shown) provided above the Z-axis slide 32. Due to the expansion and contraction of the hydraulic cylinder, an upper clamp head 52 a provided below the upper work supporting means 52 and a lower clamp head 5 provided above the lower work supporting means 53 are provided. Workpiece 1 is clamped between 3a.

 An outer surface processing means 70 for processing the outer surface of the workpiece 1 is provided substantially in the middle of the column 22. The outer surface machining means 70 is attached to the column 22 and the tool support means 72 for supporting the tool 5 attached to the distal end, and the tool support means 72 is arranged in a horizontal direction. An X guide means 73 for guiding the workpiece 1 so that it can move in the direction of contact and separation (X direction) and a cover 74 attached to the X guide means 73 via a cover 74, for example. An X-axis motor 71 composed of a motor or the like, and a transmission means 75 composed of, for example, a ball screw, for transmitting the rotational force of the X-axis motor 71 in the moving direction of the tool support means 72 are provided. Further, the X-axis motor 71 is provided with an X-axis position sensor 6 composed of, for example, an encoder for detecting the position of the tool 5 in the X-axis direction. Further, similarly to the Z-axis, an X-axis speed amplifier unit 113 and an X-axis speed conversion unit 114 described later are provided. These X-axis speed amplifier unit 113 and X-axis motor The outer surface machining drive means 78 is constituted by the 7 1, the X-axis position sensor 76, and the X-axis speed converter 1 1 4. Then, the tool support means 72 is moved in the X direction by the rotation of the X-axis motor 71, and the outer surface of the workpiece 1 is cut by the tool 5.

An inner surface processing means 90 for processing the inner surface of the workpiece 1 is provided above the bed 21 and in front of the column 22. The inner surface processing means 90 is the work material 1 A boring bar 93 for supporting the tool 4 attached to the upper end of the boring bar, a U-axis slide 92 for supporting the boring bar 93, and a U-axis slide A guide rail 94 that supports the workpiece 2 in a horizontal direction and can move toward and away from the workpiece 1 in the U-axis direction, and a guide rail 94 that supports the U-axis slide 92. And a U-axis motor 91 composed of, for example, a linear motor or the like, which is driven in the U-axis direction. A U-axis position sensor 95 for detecting the position of the U-axis slide 92 is provided near the guide rail 94, and the U-axis position sensor 95 is formed of, for example, a linear scale. ing. Further, similarly to the Z-axis, a U-axis speed amplifier unit 123 and a U-axis speed conversion unit 14 described later are provided. These U-axis speed amplifier unit 123 and U-axis motor 1, the U-axis position sensor 95 and the U-axis speed converter 14 constitute an inner surface machining drive means 98. The upper end of the boring bar 93, that is, the position of the tool 4 is set so as to enter the hollow portion of the workpiece 1. By driving the U-axis motor 91, the U-axis slide 92 can be moved in the U-axis direction, and the tool 4 cuts the inner surface of the workpiece 1.

 FIG. 3 shows a block diagram of a hard configuration of each axis control of the cycle processing apparatus.

 The detection position signals of the X-axis position sensor 76, the U-axis position sensor 95, the C-axis position sensor 55, and the Z-axis position sensor 35 are input to the controller 25. The controller 25 is mainly configured by a computer device such as a microcomputer, for example, and has a central function of controlling each axis of the cycle processing device. The controller 25 calculates the position command value of each axis calculated and stored in advance and the position data input from the position sensors 76, 95, 55, 35 based on each axis. Calculate the speed command value and output it to the corresponding axis speed amplifier. The X-axis speed amplifier 77, U-axis speed amplifier 96, C-axis speed amplifier 56, and Z-axis speed amplifier 36 receive the respective speed command values and correspond to the X-axis motor 71, U-axis, respectively. Controls the speed of motor 91, C-axis motor 51, and Z-axis motor 31.

Fig. 4 shows a block diagram of the functional configuration of each axis control of this cycle machine. The functional configuration will be described based on this.

 Before starting machining, the position command value calculating unit 101 determines the U-axis and X at predetermined time intervals according to a procedure described later based on reference trajectory data representing a free curve of the inner surface and / or outer surface of the workpiece 1. Calculate the position command value of the axis minute movement section (hereinafter referred to as block) in time series. In other words, the control of the position and speed of each axis is performed by continuously controlling the minute movement of each axis in each block by a periodic calculation process of the computer at predetermined time intervals. In order to shorten the period calculation processing time at the time of machining, before starting machining, the trajectory data corresponding to each of the U-axis and X-axis cycle times at the time of machining is calculated, and the trajectory data is calculated. The small movement amount for each cycle time is calculated based on the data.

 The trajectory data includes trajectory data when approaching workpiece 1, trajectory data when actually cutting workpiece 1, and trajectory data when escaping from workpiece 1 after machining is completed. include. Then, the calculated position command value is output to the position command value storage unit 102. The C-axis and the Z-axis are driven at a preset speed, and the U-axis and the X-axis are driven in synchronization with the C-axis.

 The position command value storage unit 102 stores the position command values calculated corresponding to the U-axis and the X-axis in a time-series manner. Then, at the time of actual machining, the position command output unit 103 reads out the stored U-axis and X-axis position command values at each of the predetermined cycle times, and outputs the time-series to the corresponding position deviation calculation units. .

 The X-axis position deviation calculation unit 110 compares the X-axis position command value input at every predetermined period of time with the X-axis position data input from the X-axis position sensor 76, and the difference between the two, that is, Calculates and outputs the X-axis position deviation. The X-axis position deviation is input to the X-axis learning control unit 111 and the X-axis addition unit 112.

The X-axis learning control unit 1 1 1 is a position where the X-axis cyclically moves along the reference trajectory of the workpiece 1 and repeats the cyclic processing when the workpiece 1 is processed. Position deviation due to periodic disturbance (reproducible disturbance) to the command value can be converged to a small value. Here, a free song like a piston ring While rotating the member having the line at a predetermined speed, the X-axis is moved along the free-form curve in synchronization with the rotation, so that the position deviation value of the X-axis is determined by the predetermined cycle time (per one rotation). (The required time). Since the periodic fluctuation has reproducibility, the position deviation value is reduced while learning the magnitude of the position deviation value for each rotation of the workpiece 1. That is, a correction command value for the X-axis position deviation is calculated and output so that the X-axis position deviation becomes zero, and the calculated correction command value is stored for each corresponding processing cycle time. . This correction command value is calculated based on the magnitude of the correction command value and the position deviation value in the same processing cycle time in the previous cycle.

 Further, the X-axis adding unit 111 inputs the X-axis position deviation value from the X-axis position deviation calculating unit 110 and the X-axis correction command value from the X-axis learning control unit 111. Then, the added data is output to the X-axis speed amplifier unit 113 as a speed command. The X-axis speed amplifier 1 13 drives the X-axis motor 71 based on the size of the added data to control the speed, and the X-axis speed converter 1 1 4 The X-axis motor drive command is calculated and output so that the deviation from the speed feedback value is reduced. The X-axis position sensor 76 outputs the position data of the X-axis motor 71 to the X-axis position deviation calculator 110 and the X-axis speed converter 114. The X-axis speed converter 114 calculates the position change rate with respect to time based on the position data, and outputs the calculated value as the X-axis speed feedback value.

 Similarly to the X-axis, the U-axis motor 9 1 is calculated by calculating the position deviation correction command value while learning so that the position deviation during cyclic machining on the U-axis converges to zero. Is controlling. That is, the U-axis position deviation calculating section 120, the U-axis learning control section 121, the U-axis adding section 122, the U-axis speed amplifier section 123, and the U-axis speed converting section 122 4 and have.

The C-axis and Z-axis do not have the learning function as described above, and normal position and velocity feedback control is performed. In other words, for the C-axis, the C-axis position deviation calculation unit 130, the C-axis speed pump unit 133, and the C-axis speed conversion unit 1 34 And The Z-axis includes a Z-axis position deviation calculator 140, a Z-axis speed amplifier 144, and a Z-axis speed converter 144. These functions are the same as the corresponding function units of the X axis described above, and perform the processing of the corresponding axes.

 By the way, in this cycle processing device, the trajectory data when approaching the workpiece 1, the trajectory data at the time of cutting, and the trajectory data when escaping from the workpiece 1 after the completion of the processing are as follows. It is obtained from one original reference trajectory data. Here, a procedure for creating trajectory data at the time of approach in external surface processing will be described with reference to FIGS. 5 and 6 show the trajectory of the outer surface machining tool 5 at the time of approach, FIG. 5 is a plan view thereof, and FIG. 6 is a perspective view thereof.

 The reference trajectory 15 represents the trajectory of the outer surface of the ring 3 manufactured by cutting the workpiece 1. Position 15a is the approach completion position on this reference locus 15; position 14 is a predetermined distance (escape amount E) from the reference locus 15 in plan view; Is also the approach start position separated by a predetermined distance in the direction opposite to the Z-axis movement direction during machining. The approach at the time of outer surface machining is to approach the reference trajectory 15 spirally from the approach start position 14 and reach the reference trajectory 15 at the approach completion position 15a. At this time, the position in the Z-axis direction is configured to gradually move from the approach start position 14 to the approach completion position 15a (in the Z-axis movement direction during machining) by a predetermined distance in a predetermined time.

 The spiral path data at the time of the outer surface machining approach is calculated by the position command value calculation unit 101 in the following procedure. That is, based on the reference trajectory data of the workpiece 1, the position command value for each block of each axis is calculated in a time series of the periodic processing.

(1) First, the reference trajectory data of the workpiece 1 is read from a reference trajectory data input device (not shown). This reference trajectory data input device can be composed of, for example, a dedicated automatic programmer or a normal computer.The reference trajectory data is created based on the profile data representing the shapes of the inner and outer surfaces of the workpiece 1. Transmit via data communication or floppy disk. Here, this reference trajectory data is When an arbitrary point 15b on the reference trajectory 15 is represented by polar coordinates (r, Θ) centered on the rotation center axis 0 of the C axis, the predetermined period time (here, the rotation is performed within the predetermined period time) Each block Bn (corresponding to the C-axis angle value) is represented by polar coordinates (r η,).

 Note that n is a natural number from 1 to 360 °, and 0 = 0 ° when n = l

(Reference angle position of C axis).

 (2) Next, the clearance E of the approach start position 14 with respect to the reference locus 15 is calculated. This escape amount E is

 Formula E = e 1 + e 2

Required by Here, el represents the maximum position deviation value at the time of approach, and is actually measured by the X-axis position deviation value at the beginning of approach and when the position deviation has not yet been reduced by the learning function. e2 is called the lift amount of the workpiece 1. Based on the maximum radius rl and the minimum radius r2 of the reference trajectory data of the reference trajectory 15, the equation e2 = r 1 — r2

Is calculated based on This lift amount e2 may cause interference between the tool 5 and the upper work supporting means 52 or the lower work supporting means 53 when approaching in a state where the rotation of the C axis and the movement of the X axis are not completely synchronized. It is considered not to be. Therefore, the escape amount E is set in consideration of both the maximum position deviation value el and the lift amount e2, so that at the start of learning, the rotation of the C axis and the movement of the X axis are not synchronized. Even at this time, the tool 5 does not interfere with the support means, and the safety is improved.

 (3) Create travel distance data during the approach cycle. In other words, as shown in FIG. 5, the movement amount data approaches the reference trajectory 15 spirally from the approach start position 14 distant from the reference trajectory 15 by the above-mentioned clearance E in plan view. The calculation is performed so as to reach the reference locus 15 at the approach completion position 15a. At this time, the small movement amount Δ rn for each block Bn for gradually reducing the escape amount E is given by the following equation: Δ rn = E / (CxM)

Is calculated by Note that C is the number of blocks per rotation of the C axis, and M is the processor It is represented by the number of cycles during the cycle (that is, the number of C-axis rotations). The number of cycles M is set to a value that gives sufficient time for the X-axis position deviation to converge to zero by the learning control function during this approach cycle. Here, a speed change rate calculated from an actual movement amount obtained by adding the original minute movement amount based on the read reference trajectory data (rn, θη) and the minute movement amount Δι · η, That is, when the generated acceleration at this time is equal to or more than a predetermined value, in order to suppress the generated acceleration, the cycle number Μ is increased and the calculation is performed again. Then, the calculated small movement amount Δrn or the small movement amount Δrn calculated again and the reference trajectory data (rn, rn) so that the position at the time of approach completion is surely on the reference trajectory 15. ) Is added to the original minute movement amount to create movement amount data during the approach cycle. Thus, the tool 5 gradually approaches the reference trajectory 15 from the X-axis direction by a predetermined minute movement amount △ rn for each block.

 In the same manner as in the case of the X-axis approach, spiral locus data at the time of the inner surface machining approach using the tool 4, that is, U-axis movement amount data can be created.

 After the cutting of the workpiece 1 along the reference trajectory 15 is completed, the tools 4 and 5 are retracted to a position away from the workpiece 1 by a predetermined distance. The movement data of the X-axis and U-axis during this escape cycle is created in the same procedure as in the approach cycle described above. In other words, when the machine reaches the machining completion position, the reference trajectory data (rn, θ η) in the direction of escape from the reference trajectory 15 (outside the workpiece 1 in the case of the X-axis, and inward in the case of the U-axis) ), The movement amount data can be created so as to gradually move by the minute movement amount Δrn.

In this embodiment, the trajectory of the inner surface machining tool 4 and the outer surface machining tool 5 in the approach cycle or the relief cycle is formed in a spiral shape, but is not limited to this trajectory. The tool 4 and the tool 5 should smoothly and gradually approach or escape from the reference trajectory 15. For example, in the approach cycle or the relief cycle, the trajectory of the U-axis and X-axis is The path may be similar to the path, that is, a spiral path in a plane orthogonal to the Z-axis direction.

 The present invention is based on an approach cycle during cutting of an outer surface and an inner surface, in which, from a position at a predetermined distance from the workpiece 1 to a cutting start position at an end of the workpiece 1, the workpiece is gradually synchronized with the rotation of the workpiece 1. Spiral or spiral approaching the reference locus 15. At this time, the position deviation amount of each axis is converged to zero by the learning function before the tools 5 and 4 reach the cutting start position, so that the position deviation near the cutting start position can be reduced. As a result, the radial length (2) of the support portion of the upper work support means 52 and the lower work support means 53 can be increased, and the rigidity of the support portion can be increased. In addition, the machining performance can be improved (high-speed cutting) and the machining accuracy can be improved because the micro-vibration of the workpiece 1 due to the rotation of the C axis is eliminated. Since the clamping force at the support means 53 can be strengthened, sufficient resistance to the reaction force during cutting can be obtained, and machining accuracy can be improved. Eliminate “returns” etc. and improve productivity.

 The present invention is capable of processing the inner surface and / or Z or outer surface of a hollow cylindrical workpiece having a non-circular curve whose inner surface and / or outer surface is formed by a free curve with high accuracy and at high speed, such as a piston ring. It is useful as a cycle processing device for free curved members like this.

Claims

The scope of the claims 1. A support device for supporting a workpiece (1) having a hollow cylindrical shape and non-circular inner and outer surfaces at both end surfaces thereof, and attaching the workpiece to the cylindrical core while being supported by the support device. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) to which a tool (4) inserted into the hollow portion of the workpiece and cutting the inner surface is attached; An inner surface machining drive means (98) that drives the ring bar linearly in the U-axis direction to approach or separate from the workpiece, and a tool (5) that cuts the outer surface approach to the workpiece or External surface processing driving means (78) for linearly driving the workpiece in the X-axis direction so as to be separated, and axial direction driving means (34) for linearly driving the workpiece (1) in the Z-axis direction. Drives the X-axis and U-axis in synchronization with the C-axis rotation angle and cuts the inner and outer surfaces of this workpiece Cycle processing equipment for free curved members  Based on the reference trajectory data of the workpiece (1) in advance, corresponding to each block at each predetermined rotation angle of the C-axis, the approach cycle in which the reference trajectory (15) of the workpiece is gradually approached. A position command value calculation unit (101) that calculates the position command values of the X axis and the U axis and calculates the position command values of the X axis and the U axis in the cutting cycle;  A position command value storage unit (102) for storing the calculated position command values corresponding to the blocks;  A position command output unit (103) that simultaneously outputs the stored position command values of the X-axis and U-axis in synchronization with the rotation angle of the C-axis during actual machining work;  Based on the position command values of the X-axis and U-axis and the detection values from the X-axis position sensor (76) and the U-axis position sensor (95), the X-axis and the U-axis position deviation values are calculated respectively. A position deviation calculator (110) and a U-axis position deviation calculator (120); Based on the calculated X-axis position deviation value and U-axis position deviation value, a correction command value for the X-axis and U-axis position deviation values that causes the position deviation value synchronized with the C-axis rotation to converge to zero. The X-axis learning control unit (111) and the U-axis learning control unit (121), which learn and store, and output the correction command values of the stored positional deviation values of the X-axis and U-axis in synchronization with the rotation of the C-axis. ) When, The correction command values from the X-axis learning control unit and the U-axis learning control unit, and the X-axis and U-axis position deviations from the X-axis position deviation calculation unit (110) and U-axis position deviation calculation unit (120) The X-axis adder (112) and the U-axis adder (112), which add the difference value for each axis and simultaneously output each addition value as a speed command to the corresponding external surface machining drive means (78) and the internal surface machining drive means (98). A cycle processing apparatus for a free curved member, comprising: an axis addition unit (122). 2. A support device for supporting a workpiece (1) having a hollow cylindrical shape and non-circular inner and outer surfaces at both end surfaces thereof, and attaching the workpiece to a cylindrical core while being supported by the support device. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) to which a tool (4) inserted into the hollow portion of the workpiece and cutting the inner surface is attached; An internal surface machining drive means (98) that linearly drives the ring in the direction of the U axis so as to approach or separate from the workpiece, and a tool (5) that cuts the outer surface approaches the workpiece or External surface processing driving means (78) for linearly driving the workpiece in the X-axis direction so as to separate therefrom; and axial driving means (34) for linearly driving the workpiece (1) in the axial Z-axis direction. Drives the X-axis and U-axis in synchronization with the C-axis rotation angle and cuts the inner and outer surfaces of this workpiece Cycle processing equipment for free curved members  Based on the reference trajectory data of the workpiece (1) in advance, the X-axis and U-axis position command values in the cutting cycle are calculated for each block at each predetermined rotation angle of the C-axis, A position command value calculation unit (101) for calculating a position command value for moving the X-axis and the U-axis in a direction of gradually releasing from the workpiece in an escape cycle after cutting is completed; A position command value storage unit (102) stored corresponding to each block;  A position command output unit (103) that simultaneously outputs the stored position command values of the X-axis and U-axis in synchronization with the rotation angle of the C-axis during actual machining work; Based on the position command values of the X-axis and U-axis and the detection values from the X-axis position sensor (76) and the U-axis position sensor (95), the X-axis and U-axis position deviation values are calculated, respectively. A position deviation calculator (110) and a U-axis position deviation calculator (120); Based on the calculated X-axis position deviation value and U-axis position deviation value, a correction command value for the X-axis and U-axis position deviation values that causes the position deviation value synchronized with the C-axis rotation to converge to zero. The X-axis learning control unit (111) and the U-axis learning control unit (121), which learn and store, and output the correction command values of the stored positional deviation values of the X-axis and U-axis in synchronization with the rotation of the C-axis. ) When,  The correction command values from the X-axis learning control unit and the U-axis learning control unit, and the X-axis and U-axis position deviations from the X-axis position deviation calculation unit (110) and U-axis position deviation calculation unit (120) The X-axis adder (112) and the U-axis adder (112), which add the difference value for each axis and simultaneously output each addition value as a speed command to the corresponding external surface machining drive means (78) and the internal surface machining drive means (98). A cycle processing apparatus for a free curved member, comprising: an axis adding unit (122);  3. A support device that supports a hollow cylindrical workpiece (1) whose inner and outer surfaces are non-circular at both end surfaces, and the workpiece is supported by the supporting device and the cylindrical core is attached to the workpiece. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) having a tool (4) inserted into the hollow portion of the workpiece and cutting the inner surface, and a boring bar (93). An internal surface machining drive means (98) that drives linearly in the U-axis direction to approach or leave the workpiece, and a tool (5) that cuts the outer surface approach or leave the workpiece External driving means (78) for linearly driving the workpiece in the X-axis direction, and axial driving means (34) for linearly driving the workpiece (1) in the Z-axis direction. Controls the drive of the X-axis and U-axis in synchronization with the shaft rotation angle, and cuts the inner and outer surfaces of this workpiece In cycle machining apparatus that free curve member,  Based on the reference trajectory data of the work material (1) in advance, corresponding to each block at each predetermined rotation angle of the C-axis, the approach trajectory (15) gradually approaches the reference trajectory (15) of the work material. A position command value calculation unit (101) that calculates a U-axis position command value and calculates a U-axis position command value in a cutting cycle; A position command value storage unit (102) for storing the calculated U-axis position command value corresponding to each block; A position command output unit (103) for outputting the stored U-axis position command value in synchronization with the rotation angle of the C-axis during actual machining operation;  A U-axis position deviation calculating unit (120) for calculating a U-axis position deviation value based on the U-axis position command value and a detection value from the U-axis position sensor (95);  Based on the calculated U-axis position deviation value, a correction command value for the U-axis position deviation value that causes the position deviation value synchronized with the C-axis rotation to converge to zero is learned and stored. A U-axis learning control unit (121) that outputs a correction command value of the stored U-axis position deviation value in synchronization with  The correction command value from the U-axis learning control unit and the U-axis position deviation value from the U-axis position deviation calculation unit (120) are added, and the added value is sent to the inner surface machining drive means (98) for speed reference. And a U-axis adder (122) for outputting as a command. '  4. A support device for supporting the workpiece (1) having a hollow cylindrical shape and non-circular inner and outer surfaces at both end surfaces, and the workpiece is supported by the supporting device so that the core of the cylinder is attached to the workpiece. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) having a tool (4) inserted into a hollow portion of the workpiece and cutting an inner surface thereof, and a boring bar (93). The inner surface machining drive means (98) that linearly drives in the U-axis direction to move closer to or away from the workpiece, and the tool (5) that cuts the outer surface moves closer to or away from the workpiece. External machining driving means (78) for linearly driving the workpiece in the X-axis direction; and axial driving means (34) for linearly driving the workpiece (1) in the Z-axis direction. Controls the drive of the X-axis and U-axis in synchronization with the rotation angle, and cuts the inner and outer surfaces of this workpiece In cycle machining apparatus that free curve member,  Based on the reference trajectory data of the workpiece (1) in advance, the U-axis position command value in the cutting cycle is calculated for each block at each predetermined rotation angle of the C-axis, and A position command value calculation unit (101) for calculating a position command value for moving the U axis in a direction in which the workpiece is gradually released from the workpiece in the escape cycle; A position command that stores the calculated U-axis position command value corresponding to each block. A value storage unit (102);  A position command output unit (103) for outputting the stored U-axis position command value in synchronization with the rotation angle of the C-axis during actual machining operation;  A U-axis position deviation calculating unit (120) for calculating a U-axis position deviation value based on the U-axis position command value and a detection value from the U-axis position sensor (95);  Based on the calculated U-axis position deviation value, a correction command value for the U-axis position deviation value that causes the position deviation value synchronized with the C-axis rotation to converge to zero is learned and stored. A U-axis learning control unit (121) that outputs a correction command value of the stored U-axis position deviation value in synchronization with  The correction command value from the U-axis learning control unit and the U-axis position deviation value from the U-axis position deviation calculation unit (120) are added, and the added value is sent to the inner surface machining drive means (98) for speed reference. And a U-axis adder (122) for outputting as a command.  5. A support device for supporting the workpiece (1) having a hollow cylindrical shape and non-circular inner and outer surfaces at both end surfaces thereof, and attaching the workpiece to the cylindrical core while being supported by the support device. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) to which a tool (4) inserted into the hollow portion of the workpiece and cutting the inner surface is attached; An inner surface machining drive means (98) that drives the ring bar linearly in the U-axis direction so as to approach or move away from the workpiece, and a tool (5) that cuts the outer surface approaches the workpiece. External surface processing driving means (78) for linearly driving the workpiece in the X-axis direction so as to separate therefrom; and axial driving means (34) for linearly driving the workpiece (1) in the axial Z-axis direction. Drives the X-axis and U-axis in synchronization with the C-axis rotation angle and cuts the inner and outer surfaces of this workpiece In cycle Kae apparatus that free curve member, Based on the reference trajectory data of the workpiece (1) in advance, corresponding to each block at each predetermined rotation angle of the C-axis, the approach cycle in which the reference trajectory (15) of the workpiece is gradually approached. A position command value calculation unit (101) that calculates an X-axis position command value and calculates an X-axis position command value in a cutting cycle; A position command value storage unit (102) for storing the calculated X-axis position command value corresponding to each block;  A position command output unit (103) for outputting the stored X-axis position command value in synchronization with the rotation angle of the C-axis during actual machining operation;  An X-axis position deviation calculator (110) for calculating an X-axis position deviation value based on the X-axis position command value and a detection value from the X-axis position sensor (76);  Based on the calculated X-axis position deviation value, the X-axis position deviation correction command value for converging the position deviation value synchronized with the C-axis rotation to zero is learned and stored, and the C-axis rotation An X-axis learning control unit (111) that outputs a correction command value for the stored X-axis position deviation value in synchronization with  The correction command value from the X-axis learning control unit and the X-axis position deviation value from the X-axis position deviation calculation unit (110) are added, and the added value is sent to the external surface machining driving means (78). A cycle processing apparatus for a free curved member, comprising: an X-axis adder (112) for outputting as a command.  6. A support device that supports a hollow cylindrical workpiece (1) whose inner and outer surfaces are non-circular at both end faces, and the workpiece is supported by the supporting device and the cylindrical core is attached to the workpiece. A C-axis driving means (54) for rotating as a shaft, a boring bar (93) to which a tool (4) inserted into the hollow portion of the workpiece and cutting the inner surface is attached; An inner surface machining drive means (98) that drives the ring bar linearly in the U-axis direction so as to approach or move away from the workpiece, and a tool (5) that cuts the outer surface approaches the workpiece. External machining driving means (78) for linearly driving the workpiece in the X-axis direction so as to be separated, and axial driving means (34) for linearly driving the workpiece (1) in the axial direction of the axis. The drive of the X-axis and U-axis is controlled in synchronization with the rotation angle of the C-axis, and the inner and outer surfaces of this workpiece are cut. In cycle machining apparatus free curve member, Based on the reference trajectory data of the workpiece (1) in advance, an X-axis position command value in a cutting cycle is calculated for each block at each predetermined rotation angle of the C-axis, and after completion of cutting. In the escape cycle, move the X-axis in the A position command value calculation unit (101) for calculating a position command value to be set;  A position command value storage unit (102) for storing the calculated X-axis position command value corresponding to each block;  A position command output unit (103) for outputting the stored X-axis position command value in synchronization with the rotation angle of the C-axis during actual machining operation;  An X-axis position deviation calculator (110) for calculating an X-axis position deviation value based on the X-axis position command value and a detection value from the X-axis position sensor (76);  Based on the calculated X-axis position deviation value, the X-axis position deviation correction command value for converging the position deviation value synchronized with the C-axis rotation to zero is learned and stored, and the C-axis rotation An X-axis learning control unit (111) that outputs a correction command value for the stored X-axis position deviation value in synchronization with  The correction command value from the X-axis learning control unit and the X-axis position deviation value from the X-axis position deviation calculation unit (110) are added, and the added value is sent to the external surface machining drive means (78) for speed reference. A cycle processing apparatus for a free curved member, comprising: an X-axis adder (112) for outputting as a command.  7. The position command value calculator (101) draws a spiral trajectory of the tool (4) or the tool (5) in the approach cycle or the relief cycle, and moves the reference trajectory of the workpiece (1). The method according to any one of claims 1 to 6, wherein the position command values of the U-axis, X-axis and Z-axis are calculated so as to gradually approach or escape (15). Cycle processing equipment for free curved members. 8. The position command value calculation unit (101) is configured to move the tool (4) or the tool (5) in the plane orthogonal to the axial direction of the workpiece (1) in the approach cycle or the relief cycle. Calculate the U-axis, X-axis, and Z-axis position command values so as to draw a spiral locus and gradually approach or escape this reference locus (15) of the workpiece. A cycle processing apparatus for a free curved member according to any one of claims 1 to 6, characterized in that: 9. The internal surface machining drive means (98) includes a linear motor, and the boring bar (93) is linearly driven by the linear motor. 2. A cycle processing apparatus for a free curved member according to claim 1.  10. The Z-axis position range when the X-axis and U-axis position deviation values converge to zero by learning in the approach cycle is a range in which the support device is located. 2. The cycle processing device for a free curved member according to 1.