Patent ID: 7908028

Claim:
A machining device comprising: a triaxial tool unit comprising: a tool; a tool holder to which said tool is fixed; three actuators for operating in three-axis directions orthogonal to one another to displace a position of said tool holder; and three sensors for generating signals indicating displacement amounts in operating directions of each of said actuators, wherein said tool holder is located at an intersection of axial lines extending in the operating directions of each of said actuators, and the three sensors are located so that extension lines in respective sensing directions intersect with one another at one point; a linear stage for moving said triaxial tool unit relatively to a workpiece in the three-axis directions orthogonal to one another; a rotary stage for moving said triaxial tool unit in circular motion relatively to a workpiece; a reference calculation processing section for deriving respective references of respective displacement amounts of each of said three actuators according to three-axial coordinates of said linear stage and an angular coordinate of said rotary stage, and for generating command signals to each of said actuators; a machining condition input section for inputting a machining shape, machining conditions and information corresponding to a constitution of said triaxial tool unit; and three positional control loop circuits for generating signals for controlling operations of each of said actuators based on deviations between signals from said three sensors and said command signals, whereby a cutting edge of said tool is brought into contact with a workpiece by adjusting a relative position of said triaxial tool unit to said workpiece by said linear stage, and by driving said actuators by said positional control loop circuits, while the rotary stage causes said triaxial tool unit to perform circular motion relatively to said workpiece.