JP2010205215A - Nc working device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an NC (numerical control) working device which can easily set a correspondence relation of a prescribed working part of a working tool to a prescribed part to be worked of a work circumference and does not require skill so much in preparing NC working data. <P>SOLUTION: When preparing working path data in a CAD/CAM system, a three-dimensional model of a workpiece W and a three-dimensional model of a working tool 6 are displayed on a monitor. When a deburring part of the surface of the workpiece W is determined and an abutting part of the working tool 6 is determined, a state in which the abutting part of the working tool 6 abuts on the part to be worked of the workpiece W is displayed on the monitor. It is therefore possible to virtually confirm at what position and angle the tool is brought into contact with the workpiece W. Then, when working path data is prepared, the working tool 6 performs working demonstration of the workpiece W on the monitor. NC data is prepared on the basis of the working path data, and working is performed on the same path as that of display of the monitor. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an NC machining apparatus that is driven to actually machine a workpiece based on data created by a CAD / CAM system.

Conventionally, NC processing devices have been used to perform deburring of workpieces and surface grinding. As an NC machining apparatus for deburring a workpiece, there is a prior art as disclosed in Patent Document 1, for example. In Patent Document 1, the operator operates the teaching box 3 to operate the tool 6 of the robot 1 along the model work 8 and acquires the movement of the robot 1 along the model work 8 at that time as teaching point position data. Is stored in the control device 2. As a result, if the teaching point position data is obtained along the ridgeline on which the workpiece is to be deburred, the robot 1 can be deburred at the desired ridgeline portion by operating according to the teaching point position data. It is.
However, in the technique of this Patent Document 1, it takes too much time to obtain teaching point position data using an NC machining apparatus as an actual machine, and the actual machine must be used to acquire data. The machining apparatus is disadvantageous in terms of productivity because the workpiece cannot be machined or produced during that time. Further, in order to move the tool 6 cleanly along the model work 8, skill is required for operating the teaching box 3, so that even a person engaged in NC machining work cannot always perform this work easily.
For this reason, instead of actually operating the teaching box 3 and obtaining the teaching point position data using the NC machining device as an actual machine as in Patent Document 1, the teaching points of the ridge line are obtained by CAD and CAM devices. A technique for creating position data and causing the robot 4 to deburr the workpiece based on the data has been proposed. For example, Patent Document 2 creates teaching point position data of a ridge line by a CAD and CAM apparatus, finely segments the obtained ridge line data, and determines the chamfer angle with respect to the ridge line of the processing tool by using the segmented data.

JP-A-2-257310 Japanese Patent Laid-Open No. 5-233048

However, even in the NC processing apparatus for deburring using a CAD and CAM apparatus as in Patent Document 2, it is difficult to set a correspondence relationship between a predetermined processing portion of a processing tool and a predetermined processing portion of a workpiece. It is. For example, when designing the machining path, the specific position of the machining tool, the position of the workpiece part to be deburred (the ridgeline to be deburred), and the chamfering angle In the end, it is difficult to determine the positional relationship between a machining tool and a workpiece unless it is an expert. Such a problem is not limited to deburring but also occurs in general in processing of the outer surface of a workpiece processed into a predetermined shape, for example, in polishing processing applied to the outer peripheral surface of the workpiece.
For this reason, a CAD / CAM system is used in which a predetermined processing portion of a processing tool can be easily set to a predetermined processing portion on the outer periphery of the workpiece, and the processing path data is not so skilled. There was a need for NC machining equipment.
The present invention has been made paying attention to such problems existing in the prior art. The main purpose is to provide an NC machining apparatus that can easily set a corresponding relationship between a predetermined machining portion of a machining tool and a predetermined workpiece portion on the outer periphery of the workpiece, and does not require much skill in creating NC machining data. Is to provide.

In order to achieve the above object, in the first means, a predetermined surface of the workpiece is accessed by accessing a workpiece surface of a predetermined shape by a robot having a machining tool attached to an arm based on NC machining data created in a CAD / CAM system. In the NC processing equipment that is made to process,
The CAD / CAM system includes a work model display means for displaying a three-dimensional model of the workpiece on a monitor based on the three-dimensional shape data of the workpiece, and a machining tool based on the three-dimensional shape data of the machining tool. Machining tool model display means for displaying a three-dimensional model on the monitor, workpiece workpiece part determining means for determining a plurality of workpiece parts to be processed by the machining tool on the workpiece surface, and the workpiece target of the workpiece A processing tool contact part determining means for determining a contact part of a processing part of the processing tool with respect to an arbitrary plurality of positions of the processing part; and the workpiece for which the processing part has been determined by the workpiece processing part determination means On the monitor, the contact portion of the processing tool determined by the processing tool contact portion determining means is contacted. Machining tool contact state display means for displaying in a state; machining path creation means for creating machining path data of the machining tool in a predetermined path including any plurality of positions of the workpiece part of the workpiece as teaching points; NC machining data is created based on machining path data of the machining tool for the workpiece obtained by the CAD / CAM system, and an actual workpiece is machined by an actual machining tool based on the NC machining data The gist is to do so.

Further, in the second means, in addition to the first means, in the processing tool contact portion determination means, the determination of the contact portion of the processing portion with respect to the processing portion of the workpiece of the processing tool is performed on the monitor The gist is that it is performed on the displayed three-dimensional model of the workpiece.
Further, in addition to the first or second means in the third means, the determination of the contact portion of the processing portion in the processing tool in the processing tool contact portion determination means is performed on the processing displayed on the monitor. In addition to any one of the first to third means, the fourth means performs the operation of the machining tool on the workpiece along the machining path created by the machining path creation means. The gist is that the simulation is performed above.
The fifth means includes, in addition to the fourth means, arm model display means for displaying a three-dimensional model of the arm on the monitor based on the three-dimensional shape data of the arm of the robot. The gist is that simulation is performed on the monitor in synchronization with the operation of the machining tool.
Further, in the sixth means, in addition to the fifth means, when the operation of the three-dimensional model of the processing tool and the arm is simulated on the monitor, the spatial coordinates of the outer shape of the arm interfere with the spatial coordinates of the workpiece. The gist of the present invention is to provide a notifying means for notifying that when the positional relationship is established.
Further, in the seventh means, in addition to the fifth means, when the operation range of the processing tool and the three-dimensional model of the arm is simulated on the monitor, the operating range of the arm cannot follow the movement of the processing tool. The gist of the present invention is that it is provided with an informing means for informing that effect.

The eighth means is characterized in that, in addition to the first to seventh means, the contact angle of the processing tool with respect to the workpiece in the processing tool contact portion determination means can be changed by setting.
Further, in the ninth means, in addition to the first to eighth means, one or a plurality of the processing tools include a plurality of the processing portions having different attributes for each processing tool or a single same processing tool, The processing tool abutting state display means displays only the processing portion having a specific attribute in a state of abutting on the monitor with respect to the processing portion of the predetermined workpiece. To do.

In the above configuration, when creating machining path data in the CAD / CAM system, the workpiece 3D model and the machining tool 3D model are displayed on the monitor, and the workpiece surface machining tool is used for machining. When a plurality of processed parts are determined and a contact part of the processing part of the processing tool that is in contact with the processing part is determined, the contact part of the processing part of the processing tool is changed to the processing part of the workpiece on the monitor. The contact state is displayed. For this reason, it is possible to virtually confirm in what state the tool is in contact with the workpiece at what position and angle. It is preferable that the contact angle of the processing tool with respect to the workpiece can be appropriately changed depending on the setting. And the teaching point data required for creation of processing path data can be obtained by making the contact part of the processing part of a processing tool contact in this way at arbitrary positions of the processed part of a work. Machining path data is created by appropriately setting teaching point data along a predetermined path including any plurality of positions of the workpiece part of the workpiece as teaching points. Then, further NC machining data is created based on the machining path data, and the NC machining apparatus is driven.
Here, “making the contact part of the processing part of the processing tool contact the part to be processed” utilizes a so-called snap processing function introduced in the CAD / CAM system. The snap processing function is a function for moving a moving object such as a cursor or a predetermined graphic displayed on the monitor to a predetermined position on the monitor.
It is preferable to determine the contact part of the processing tool with respect to the part to be processed on the three-dimensional model of the work displayed on the monitor. As a result, it is possible to know at which position of the workpiece the processing tool is specifically arranged.
Moreover, it is preferable to determine the contact part of the process part in a process tool with respect to the three-dimensional model of the process tool displayed on a monitor. As a result, the position of the machining portion of the machining tool suitable for machining the workpiece can be virtually confirmed offline.

  In the CAD / CAM system, one of the purposes is to obtain machining path data of the machining tool for the workpiece. In the present invention, the operation of the machining tool for the workpiece is monitored by the machining path determined by the machining path determining means. More preferably, the above simulation is performed. As a result, the actual movement of the tool can be confirmed, and an unfavorable state, for example, the contact part of the processing part of the processing tool is not appropriate, the contact angle is not preferable, or a large acceleration occurs when applied to an actual machine. The case where there is a possibility of damaging the apparatus can be verified. As a result, when the processing tool moves unfavorably, the setting condition of the contact portion position of the processing portion of the processing tool can be changed again.

In the present invention, it is preferable that a three-dimensional model of the arm is displayed on the monitor based on the three-dimensional shape data of the robot arm, and the arm is simulated on the monitor in synchronization with the operation of the processing tool. . As a result, the actual movement of the tool and the arm can be confirmed, and it can be verified whether the arm will interfere with the workpiece. As a result, the setting condition of the contact portion position of the processing portion of the processing tool and the trajectory of the arm can be changed again.
At this time, it is preferable to provide notifying means for notifying that when the spatial coordinates of the outer shape of the arm have a positional relationship that interferes with the spatial coordinates of the workpiece. Specifically, visual notification such as displaying at least the interference part of the work and arm on the monitor screen by changing the color is most appropriate as the notification means, but it may be accompanied by sound.
In addition, when the operating range of the arm cannot follow the movement of the processing tool, that is, it is determined that it is impossible to actually operate the arm in synchronization with the processing tool at the three-dimensional position or rotation position of the arm. In some cases, it is preferable to provide a notifying means for notifying that effect.

  The one or more machining tools include a plurality of machining portions having different attributes for each machining tool or in a single machining tool, and the machining tool contact state display means displays a predetermined workpiece to be machined. In contrast, it is preferable that only the processing portion having a specific attribute can be displayed in a state of being in contact with the monitor. For example, in the case of a grinding wheel that is too rough, if the processed part is not finished cleanly, the processed part that is desired to be finished cleanly cannot be selected. Here, “different attributes” are blades having different shapes, grinding surfaces having different roughness, and the like, and when a plurality of processing tools have different attributes, a processing section having different attributes in one processing tool is provided. A case is assumed.

  In the invention of each of the above claims, in the design of the machining path, it is possible to easily set a correspondence relationship between a predetermined machining portion of the machining tool and a predetermined workpiece part on the outer periphery of the workpiece, and as a result, machining path data of the machining tool. It is not necessary to have so much skill to create the machining path, and the skilled person can easily create the machining path data. As a result, the NC machining data can be quickly created based on the machining path data, and the machining efficiency of the workpiece is improved.

Explanatory drawing which illustrates typically the structure of the NC processing apparatus of one Example of this invention. FIG. 2 is a block diagram illustrating an electrical configuration of a CAD station according to the present embodiment. The flowchart explaining the operation routine of an operator until CL data is acquired. (A) of the main part of the grinding tool is a front view showing the machined portion by hatching or filling, and (b) is a perspective view. Explanatory drawing of the state where the grinding tool is snapped to the workpiece on the monitor screen. Explanatory drawing explaining the positional relationship seen from the ridgeline front direction of the axis line of a grinding tool, and the normal line of the ridgeline which receives a process. Explanatory drawing explaining the positional relationship seen from the ridgeline end surface direction of the axis line of a grinding tool, and the normal line of the ridgeline which receives a process. The flowchart explaining the processing routine of MPU which judges whether an arm exists in a movable range with respect to a tool when simulating in the state which connected the robot to the tool. Explanatory drawing of the state where the grinding tool and robot are connected on the monitor screen.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the NC machining apparatus of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the NC machining apparatus 1 includes a CAD station 2 equipped with a CAD / CAM system, a controller 3 connected to the CAD station 2, and a robot 4 connected to the controller 3. The robot 4 includes an arm 5 having a shaft configuration, and a machining tool 6 is detachably attached to the tip of the arm 5.
FIG. 2 is a block diagram illustrating the electrical configuration of the CAD station 2. The CAD station 2 includes an MPU (Micro Processing Unit) 11 that is a control device. A ROM 12 and a RAM 13 are connected to the MPU 11. The ROM 12 stores a CAD / CAM system program including a shape modeler, graphic software, conversation processing software, and the like. The RAM 13 temporarily stores various data loaded from the CD-ROM 21 (for example, workpiece, machining tool, robot shape data) and machining shape data or programs for creating NC data.
The MPU 11 is connected with a hard disk drive 14 and a CD-ROM drive 15 as data interface means, a keyboard 16 as a data input means, a pen tablet 17, a printer 18, a plotter 19 and a monitor 20 as data output means. Yes.
The hard disk in the hard disk drive 14 stores application software for CAD / CAM and application software for creating NC data. The CD-ROM drive 15 drives the CD-ROM 21 that stores the created CAD data, CL data, NC data, etc., and loads various stored data. The operator creates data from the data input means on the GUI screen on the monitor 20 or inputs the created data. Further, data such as images and numerical values displayed on the monitor 20 or the contents of the program can be appropriately output from the data output means.
In such a configuration, the MPU 11 creates CL (cutter location) data corresponding to machining path data based on various programs and data in the hard disk and ROM 12, and inputs from the input means, and further converts the CL data into NC data. .
The CL data is data such as a movement trajectory and a movement speed of a machining tool with respect to a predetermined part of the workpiece, and is created by a CAD / CAM system program based on data such as machining tool data, workpiece data, and machining condition data.
The NC data is data obtained by converting the format of CL data to be applied to the robot 4 as a machine tool. The NC data may be output directly from the CAD station 2 to the controller 3 or may be temporarily stored in an external storage device such as a CD-ROM and then output to the controller 3.

Next, data creation work executed in the CAD station 2 will be described. Data creation work
1) 3D (three-dimensional) model creation process of workpiece, machining tool and robot 2) Determination process of burr part to work model 3) Teaching process to apply machining tool machining position to burr part 4) To robot of machining tool 5) Arm interference confirmation process by simulation of robot operation 6) The NC data is composed of NC machining data creation process for creating NC machining data. The processing tool and the robot displayed as an image on the monitor 20 are different from the processing tool 6 and the robot 4 as the actual machine described above, but are described with the same reference numerals as the actual machine as corresponding to the actual machine. And Hereinafter, it demonstrates in order.

1) 3D model creation process of workpiece, machining tool and robot 3D model is created on the screen of monitor 20 by CAD / CAM application software and predetermined 3D shape data input by the above input means or already created Then, the CAD data having a three-dimensional shape is loaded via, for example, the CD-ROM drive 15 and developed on the screen. The snap limit function described later is set at this stage. Since the relationship between the robot 4 and the workpiece W and the processing tool 6 is necessary in the second half of all the processes, the data of the robot 4 is not necessarily essential at this stage.
2) Determination process of burr part on workpiece model The ridge line part where the burr of workpiece W occurs can be recognized as a line segment where the surface intersects. The MPU 11 calculates and calculates ridge line data for all ridge lines that appear on the surface of the workpiece W according to an instruction (command) by an operator operation. The operator accesses the ridge line of the 3D model on the GUI screen using the pen tablet 17, and the MPU 11 determines the ridge line that needs to be deburred based on the position of the access point. This determined ridge line corresponds to the part to be processed.

3) Teaching process for applying the machining position of the machining tool to the burr part This process is performed continuously on the ridgeline Ex to be deburred determined in 2) above with a predetermined chamfering angle at a predetermined machining part of the machining tool. It is a step of setting a processing path of the processing tool with respect to the ridge line by making contact. The flow of this process will be described with reference to the flowchart of FIG. 3 corresponding to the operation of the operator. The MPU 11 executes the process according to the operator's operation.
First, in step S1, the operator sets a contact portion on the workpiece W as a processing portion of the processing tool 6 of the 3D model on the GUI screen. In the present embodiment, for example, a 3D model will be described assuming that the grinding tool 6 having an outer shape as shown in FIGS. 4A and 4B is applied to the ridgeline E1 that needs to be deburred. The shape and number of processing tools can be changed as appropriate. The grinding tool 6 is a processing tool having four types of roughness of the grinding surfaces 6a to 6d at different locations on the outer periphery thereof. In this embodiment, the grinding tool 6 has an initial value O (x0, y0) in which the axial center tip is the reference position O in the unique orthogonal coordinate system Δ1 and the z-axis direction of the orthogonal coordinate system Δ1 is the axial direction of the grinding tool 6. , Z0). First, the operator sets a predetermined position of the grinding surfaces 6a to 6d on the surface of the grinding tool 6 as a contact portion. Although this setting operation can be input as a numerical value using the keyboard 16, in this embodiment, a predetermined position of the 3D model can be accessed and operated using the pen tablet 17 on the GUI screen of the monitor 20. Is possible. At this time, the position (contact portion) designated by the operator is numerically recognized as a position offset from the reference position P by a predetermined amount. This position is defined as a first tool position T1.
Next, in step S2, the operator sets a predetermined position of the ridge line E1 of the workpiece W as a machining start position E1s of the ridge line E1. Although this setting operation can be input as a numerical value using the keyboard 16, in this embodiment, a predetermined position of the 3D model can be accessed and operated using the pen tablet 17 on the GUI screen of the monitor 20. Is possible.

When the first tool position T1 and the machining start position E1s are determined by the operation of the operator, the first tool position T1 is in contact with the machining start position E1s position of the 3D model of the workpiece W on the GUI screen of the monitor 20 The grinding tool 6 is displayed (FIG. 5). In this embodiment, the image synthesis of the grinding tool 6 on the workpiece W is referred to as a tool snap operation. Here, the tool snap means that the grinding tool 6 is snapped to the workpiece W side with the first tool position T1 and the machining start position E1s as base points. As a result, the operator can visually understand the actual contact state of the grinding tool 6 with respect to the workpiece W during grinding. However, tool snap is not performed when the selected predetermined part of the grinding surfaces 6a to 6d is not appropriate as the grinding surface of the ridgeline E1. This is to eliminate the grinding surfaces 6a to 6d that are unlikely to be appropriate machining surfaces with respect to the ridgeline E1. In this embodiment, for example, when a predetermined portion of the grinding surface 6a is set to the first tool position T1, it is assumed that the tool snap is not initially set. Here, this function is a snap limit function. In this embodiment, for example, it is assumed that a certain position of the grinding surface 6c is selected as the machining start position E1s.
When tool snap is executed, the normal direction N of the workpiece W and the axial direction of the grinding tool 6 (line passing through the rotation axis center) coincide with each other as shown in FIG. 6 by default in this embodiment. To do. In this embodiment, the chamfering angle of the grinding tool 6 is defaulted to an angle of 45 degrees with respect to the normal line with respect to the normal line as shown in FIG. These default values can be arbitrarily changed not only at the stage of the tool snap operation but also after the determination of the entire machining path of the grinding tool 6.

As described above, when the first tool position T1 and the machining start position E1s are determined, the operator subsequently performs the second operation of the next grinding tool 6 along the ridgeline E1 by the same operation as described above in step S3 and step S4. The tool position T2 and the processing end position E1e of the ridgeline E1 are set. Then, the grinding tool 6 that has been snapped to the first tool position T1 moves, and the tool snap operation is executed at the machining end position E1e as described above. The second tool position T2 may coincide with the first tool position T1. By determining the machining start position E1s and the machining end position E1e, a partial machining path of the grinding tool 6 is set between the positions E1s and E1e on the ridge line E1.
In this embodiment, since the machining path is continuously added as in one stroke, the immediately preceding second tool position T2 and machining end position E1e are automatically set to the first tool position T1 in the next path and machining. The starting position is E1s. That is, the operator performs the operation of setting the second tool position T2 and the processing end position E1e of the ridgeline E1 one after another in order to set the processing path of the grinding tool 6 on the workpiece W. Hereinafter, the position and posture of the grinding tool 6 set at a predetermined position on the workpiece W are referred to as a tool position. The position data at the tool position becomes the teaching point of the machining path.
Thereafter, the tool position is set one after another and the machining path of the grinding tool 6 is set so that all the ridgelines Ex that need to be deburred by the operator are used as the machining path.
Here, when the length on the workpiece W between two set tool positions is a straight line, the grinding tool 6 advances in a straight line while continuously displacing the contact portion. . On the other hand, when the length on the workpiece W between two tool positions is a curve, the MPU 11 urges the monitor 20 screen to set the passing point Es at an intermediate position between the two. When the operator sets the passing point Es by the same operation as the setting of the tool position, the MPU 11 selects an approximate curve passing through the three points as a machining path, and the grinding tool 6 advances along the curve. It becomes.

In this way, with respect to all the ridge lines Ex that need to be deburred, the tool position of the grinding tool 6 is between the straight lines if it is a straight line, and the inflection point is included if a curve is included. The machining path of the grinding tool 6 is set in order without setting within a range. The grinding tool 6 is snapped and displayed at the latest tool position. A predetermined mark is displayed as a footprint of the machining path at the position set as the tool position. Further, when the gap between a certain ridgeline E1 and ridgeline E2 is once interrupted, it is necessary to set the path of the grinding tool 6 within the orthogonal coordinate system (in the air on the screen) of the area outside the workpiece W. In this case, an appropriate route is set according to the above to a certain next tool position.
If the machining path is set for all the ridge lines Ex in the determination in step S5, the position / orientation of the grinding tool 6 is determined in step S6 by the operation of the operator, and the orthogonal coordinate system Δ1 of the grinding tool 6 is set as a workpiece. By connecting to the reference coordinate system Δ0 of W, the position and orientation of the grinding tool 6 are converted into the relative position (distance) and orientation of the workpiece W with respect to predetermined reference coordinates P0 (x0, y0, z0), and this is converted into CL data. Save as. At the same time, the operation of the grinding tool 6 with respect to the workpiece W is simulated in step S7 by the operation of the operator.
As a result of the simulation, if the operation of the grinding tool 6 is deficient, the CL data can be corrected, that is, the tool position causing the deficiency can be changed as appropriate.

4) Process of connecting the processing tool to the robot This process is a process of executing the connection between the robot and the tool for causing the robot to synchronize with the movement of the tool determined in the above 3) and displaying it on the GUI screen.
The operator displays the 3D model of the robot 4 on the GUI screen of the monitor 20. This display is a unique orthogonal coordinate system Δ2 different from the orthogonal coordinate systems Δ0 and Δ1 of the workpiece W and the grinding tool 6. The operator has already input the relative position of the grinding tool 6 with respect to the robot 4 as robot data by a predetermined operation (such as input to an instruction screen displayed in a dialog). Is made to coincide with the reference point on the robot 4 side. At this time, the Cartesian coordinate system Δ1 of the grinding tool 6 is connected to the Cartesian coordinate system Δ2 of the robot 4, and the position data at the tool position of the grinding tool 6 is converted into a distance from the origin position of the robot 4. It will be. FIG. 9 shows a state where the grinding tool 6 and the robot 4 are connected.
In this embodiment, the MPU 11 causes the position data at the converted tool position with respect to the origin position of the robot 4 to be shifted from the predetermined reference coordinates P0 (x0, y0, z0) of the actual workpiece W on the coordinates. Whether the position of each tool position on the workpiece W is compared with the position before conversion and the position after return, and if there is a difference between them, the fact is notified on the screen of the monitor 20. Yes.

5) Arm interference confirmation process by simulation of robot operation This process simulates the robot operation that follows as the tool passes through the machining path, and the linkage of the robot 4 with the grinding tool 6 and the operating range of the arm 5 It becomes the process of verifying. The robot 4 connected to the grinding tool 6 in the above 4) by the operation of the operator executes a simulation for operating the arm 5 following the operation of the grinding tool 6. At this time, the operator determines whether the arm 5 can follow the movement of the grinding tool 6 as a result of the simulation, and determines whether the arm 5 does not interfere with the workpiece W. The arm 5 of this embodiment has a five-axis configuration, and the first and second axes form parallel links. The third, fourth, and fifth axes form independent axes, and a grinding tool 6 is provided on the tip side of the fifth axis. It shall be installed. The 4th axis and the 5th axis include rotational components, and other axes are not included.
Hereinafter, the process of the MPU 11 that executes the simulation will be described with reference to the flowchart of FIG.
First, in step S11, with respect to the tool position of the grinding tool 6 converted into the relative position / posture from the origin of the robot 4 as described above, the displacement amount with respect to the initial position and the initial posture as the reference of the grinding tool 6 is calculated. The Hereinafter, in step S12 to step S20, the posture and the displacement amount of each axis are obtained from the tool axis vector and the position component. First, in step S12, a 5-axis joint displacement amount is calculated. That is, only the components derived from the five axes are calculated from the displacement amount of the tool position from the reference position. Then, in step S13, it is determined whether or not it is an attitude calculation error or out of the definition range. If so, the process temporarily moves to step S19. An attitude calculation error is when a vector component that does not have 5 axes (cannot rotate) is calculated in the rotation component, and out of the definition range means a space movement distance condition other than the rotation component (when it does not reach).
On the other hand, if it is determined in step S13 that there is no posture calculation error or out of the definition range, the process proceeds to step S14. In step S14, a 4-axis joint displacement amount is calculated, and in step S15, it is determined whether or not an attitude calculation error or out of the definition range. If so, the process proceeds to step S19. On the other hand, if it is determined in step S15 that there is no attitude calculation error or out of the definition range, the process proceeds to step S16. In step S16, the three-axis joint displacement amount and the 1,2-axis rotation joint displacement amount are calculated. In step S17, it is determined whether or not these are within the defined range. If they are out of the range, the process proceeds to step S19.
On the other hand, if it is determined in step S17 that it is within the defined range, the displacement amount of the 1, 2 axis slide joint is calculated in step S18. At the same time, five solutions for the 5-axis and 4-axis joint displacement amounts are obtained in the calculation, so the solution on the side that matches the posture of the tool position is selected. Up to this point, it is determined whether or not the displacement amount of each axis with respect to the tool position is within the maximum movable range of the axis.

Next, when it is determined in step S19 that the arm 5 has a posture calculation error at the tool position from the obtained calculation value, it is displayed on the screen as a posture error as it is not possible to perform processing according to the condition when applied to an actual machine. .
On the other hand, if there is no posture calculation error in step S19, it is determined whether or not it is within the defined range in the following step S20, and if it is outside the defined range, it is displayed on the screen as a distance error. On the other hand, if the displacement amount (distance) that can be taken by the arm 5 is within the defined range in step S20, an error message is not output, so that the operator passes the grinding tool 6 along the machining path even if it is applied to the actual machine. Can be determined to be possible. The MPU 11 calculates all the tool positions in this routine in order, and checks the possibility of following the arm 5 at each tool position along with the simulation.
While performing such a simulation process, the MPU 11 simultaneously monitors the continuous trajectory of the arm 5 and checks whether there is any interference with the coordinates of the workpiece W. When there is interference between the arm 5 and the workpiece W (intersection of coordinates), the interference position is highlighted. As a result of the simulation, when the arm 5 is defective, the CL data can be corrected, that is, the tool position can be changed as appropriate.
6) NC machining data creation step for creating NC machining data from CL data After the verification in 5) above, CL data having no problem is converted into NC machining data and output to the controller 3. The robot 4 as an actual machine is driven based on the NC machining data.

With this configuration, the following effects are achieved in the above embodiment.
(1) Since the machining tool 6 having the 3D machining path can be set to the workpiece W having the 3D machining path as a tool position while being snapped, the machining tool 6 when setting the machining path to the workpiece W can be set. As a result, the process of obtaining CL data becomes easier and the workability is improved.
(2) Since the machining tool 6 can be simulated along the part of the workpiece W to be deburred in the same manner as the actual movement, it is easy to understand whether the machining path is good or bad. In addition, when the machining path is set, the tool position is displayed as a footprint along the machining path, so that problems such as forgetting to pass through a portion that should originally be a path are unlikely to occur.
(3) Before the CL data is converted into NC machining data, the robot 4 can be connected to the machining tool 6 to see a problem by simulation. It is easy to correct some problems in advance.

In addition, this invention is not limited to the said embodiment, It is also possible to change and actualize as follows.
-The NC processing apparatus 1 of the said Example is an example, and can change a component suitably. For example, the number of axes constituting the arm 5 can be changed as appropriate. Further, the number and shape of the processing tools can be changed as appropriate. In the above description, the grinding tool 6 is used, but a cutting tool may be used.
In the above embodiment, the processing tool 6 is moved along the ridge line Ex as a deburring case, but it can also be applied to deburring and polishing of surfaces other than the ridge line.
-Although the said process route was in the state of writing with one stroke, the route setting method is not limited to such a method.
In setting the machining path, the tool position of the machining tool 6 with respect to the workpiece W does not necessarily have to be in contact with the workpiece W. For example, in the case of including a step of chamfering the through hole, the tool position is assumed such that the axis of the processing tool 6 is arranged at the center of the through hole. Therefore, such a tool position is included in the processing path. This is not excluded.
In addition, the present invention can be freely modified and implemented in other embodiments.

  DESCRIPTION OF SYMBOLS 1 ... NC processing apparatus, 11 ... Work model display means, Machining tool model display means, Work workpiece part determination means, Processing tool contact part determination means, Processing tool contact state display means, A part of processing path determination means MPU to make.

Claims (9)

In an NC processing apparatus in which a predetermined surface processing is performed on a workpiece by accessing a workpiece surface of a predetermined shape by a robot having a processing tool attached to an arm based on NC processing data created in a CAD / CAM system.
The CAD / CAM system is
A work model display means for displaying a three-dimensional model of the workpiece on a monitor based on the three-dimensional shape data of the workpiece;
Machining tool model display means for displaying a three-dimensional model of the machining tool on the monitor based on the three-dimensional shape data of the machining tool;
Workpiece workpiece part determining means for determining a plurality of workpiece parts for processing with the processing tool on the workpiece surface;
A processing tool contact part determination means for determining a contact part of a processing part of the processing tool with respect to any plurality of positions of the processed part of the workpiece;
The contact portion of the processing tool determined by the processing tool contact portion determination means is brought into contact with the work on which the processing portion has been determined by the workpiece processing portion determination means on the monitor. A processing tool contact state display means for displaying in a state;
Machining path creation means for creating machining path data of the machining tool with a predetermined path including any plurality of positions of the workpiece part of the workpiece as teaching points;
NC machining data is created based on machining path data of the machining tool for the workpiece obtained by the CAD / CAM system, and an actual workpiece is machined by an actual machining tool based on the NC machining data. NC processing device characterized by that. In the processing tool contact part determination means, the determination of the contact part of the processing portion with respect to the part to be processed of the work of the processing tool is performed on a three-dimensional model of the work displayed on the monitor. The NC processing apparatus according to claim 1. 2. The processing tool contact part determination means determines the contact part of the processing part of the processing tool with respect to a three-dimensional model of the processing tool displayed on the monitor. Or NC processing apparatus of 2. The NC machining apparatus according to claim 1, wherein an operation of the machining tool with respect to the workpiece is simulated on the monitor along a machining path created by a machining path creation unit. Arm model display means for displaying a three-dimensional model of the arm on the monitor based on the three-dimensional shape data of the arm of the robot, and simulating the arm on the monitor in synchronization with the operation of the processing tool The NC processing apparatus according to claim 4, wherein Informing means for informing that when the spatial coordinates of the outer shape of the arm are in a positional relationship that interferes with the spatial coordinates of the workpiece when the operation of the three-dimensional model of the processing tool and the arm is simulated on the monitor The NC processing apparatus according to claim 5, further comprising: When the operation of the three-dimensional model of the processing tool and the arm is simulated on the monitor, it is provided with an informing means for informing that if the operating range of the arm cannot follow the movement of the processing tool. The NC processing apparatus according to claim 5. The NC processing apparatus according to claim 1, wherein a contact angle of the processing tool with respect to the workpiece in the processing tool contact portion determination unit can be changed by setting. One or a plurality of the processing tools include a plurality of the processing portions having different attributes for each processing tool or in a single same processing tool, and the processing tool contact state display means displays the processed part of the predetermined workpiece The NC machining apparatus according to claim 1, wherein only the machining part having a specific attribute is displayed in a state of being brought into contact with the monitor.

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