JP4616853B2 - Model processing method and model processing system - Google Patents

Description

  The present invention relates to a model processing method and a model processing system that can accurately and quickly produce a clay model that needs to be processed by handwork.

  For example, when developing a design of a product such as a motorcycle or an automobile, it is normal to create a full-scale clay model and examine the design. Also, since these products are almost symmetrical, when making a clay model, first half of the symmetrical shape is formed by handwork, and after determining the shape of this half, the opposite part is made by handwork. Mold. As a result, the clay model is temporarily formed. Based on this clay model, the designer cuts or builds up the clay model in detail and precision, and determines the final shape.

  On the other hand, design CAD is now widespread, and it is now possible to create any complex shape on a computer. Finally, humans can intuitively understand what the product is like. To do this, it is difficult without a full-scale clay model. For this reason, clay models are necessary even with the spread of design CAD, and now it is possible to manufacture products with more complex shapes due to advances in processing technology. ing.

  In order to form such a clay model, half of the clay model is formed by handwork, the opposite side to be symmetrical is similarly formed, and this is repeated to determine the final design. When forming the opposite side, it becomes a simple work, not time for design activities, and time is wasted. In the actual design field, we face the problem that over 30% of the total production time of the clay model over several months is devoted to the molding work on the opposite side. In addition, it is difficult to accurately form a symmetrical shape, and it tends to be uncomfortable overall. For this reason, in order to perform the process on the opposite side relatively accurately, a considerable skill level is required for the clay model creator, and it takes time to train these persons.

  Therefore, in the conventional modeling model reversal system, when forming a modeling model that is symmetric with respect to the reference surface, a reversal model obtained by inverting this half-surface model is formed from the model work based on the half-surface model on one side of the reference surface. A measuring device for measuring the positions of a plurality of representative points on the half-surface model, a corresponding point calculating means for obtaining corresponding points symmetrical to the representative points with respect to the reference surface, and a processing mark at the position of the corresponding points on the model workpiece A marking device for marking, a trajectory calculating means for calculating a moving trajectory when moving the marking device from a corresponding point to another corresponding point, and a moving means for moving the marking device according to the calculated moving trajectory. Is used as information indicating points on the inverted model (see, for example, Patent Document 1).

JP-A-10-161721

  However, there is no conventional modeling model reversal system that can automatically transfer the color to the opposite shape when the clay model is colored.

  In view of the above-described points, an object of the present invention is to provide a model processing method and a model processing system capable of accurately producing a colored clay model in a short time.

First, the model processing method of the present invention obtains the model material der torque ray, of the portion of the resin other soft workpiece was subjected to a processed color by handwork the shape and color cameras, shape Inversion coloring information acquisition step for acquiring inversion coloring information by inverting the color position data corresponding to the shape of the soft workpiece acquired in the shape and color acquisition step, and inversion coloring. generating a machining path corresponding to the information, the machining path generating step, a portion of the symmetrical positions with respect to the portion of the soft workpiece according machining path generated by the machining path generation step, multi-axis arm robot And a processing step of performing processing with a processing head at the tip.

According to the model processing method described above, in the step of obtaining the shape and color, and acquires the color which has been subjected and processed parts of the shape by handwork with a camera, colored positions corresponding to the shape of the soft workpiece Is inverted (inverted so as to be a mirror image) to obtain inverted coloring information. Furthermore, to generate a machining path corresponding to the inverted colored information in machining path generating step. Then, in the processing step, a portion of the symmetrical positions with respect to the portion of the soft workpiece according machining path for machining by a multi-axis arm robot tip machining head. Thus, the designer, if the design subjected to color only a portion of the soft workpiece clays such, portions of the symmetrical positions with respect to the portion of the soft workpiece is automatically painted by the multi-axis arm robot Since the color is applied, the work time for applying the color to the portion at the symmetrical position with respect to the model portion can be greatly shortened. As a result, a model such as a clay model can be manufactured accurately and efficiently in a short time. As a result, the working efficiency of model processing can be improved. Incidentally, in the case of the acquisition of parts of the shape of the soft workpiece with a stereo camera can acquire data between the shape and color simultaneously.

Second, the model processing method of the present invention, the shape of acquiring model material der torque ray, of the portion of the resin other soft workpiece was subjected to a processed color by handwork the shape and color camera From a point cloud data representing the shape of the soft workpiece obtained in the color obtaining step, the shape and color obtaining step, a curved surface shape obtaining step for obtaining STL data, and a curved surface represented by the STL data are inverted. Inversion coloring that inverts the coloring position data corresponding to the shape of the soft workpiece acquired in the inversion step of generating STL data of the inversion shape and the acquisition step of acquiring the shape and color to acquire inversion coloring information an information acquisition step, based on the STL data and the inverted colored information of the inverted shape, to set the machining conditions, to generate a machining path, a machining path generating step, machining path generating step In the processing step portions of the symmetric position with respect to the soft workpiece according generated machining path for machining by a multi-axis arm robot tip machining head, characterized by having a.

According to the model processing method described above, the machining step, the portion of the symmetrical positions with respect to the portion of the soft workpiece according machining path for machining by a multi-axis arm robot tip machining head. As a result, if the designer designs a part of the soft workpiece such as clay with color, the multi-axis arm robot automatically paints the portion in the symmetrical position with respect to the soft workpiece. Since the color is applied, the work time for applying the color to the portion symmetrical to the model portion can be greatly shortened. As a result, a model such as a clay model can be manufactured accurately and efficiently in a short time. Further, in machining path generating step, based on the STL data and the inverted colored information of the inverted shape, to set the machining conditions, to generate a machining path. The STL used here represents a curved surface as a collection of triangular patches, and has a simple data structure. This STL data can be converted automatically and easily from the acquired point cloud data, and has an advantage that the processing can be performed easily and at a higher speed than the case of creating a curved surface. In particular, in the case of a model having a complicated shape, the processing amount becomes enormous, but if point cloud data is converted into STL data and a machining path is generated from the curved surface expressed thereby, processing can be performed in a short time. Become. As a result, even if a complicated shape is machined by handwork, the time until the machining path is generated can be shortened. As a result, the molding time of the portion at the symmetrical position with respect to the model portion can be greatly shortened, so that the model can be manufactured accurately and in a short time. As a result, the working efficiency of model processing can be improved. The acquisition of parts of the shape of the soft workpiece when performing a stereo camera can acquire the data between the shape and color simultaneously.

Shape Third, model processing system of the present invention, to obtain a model of the material der torque Ray, parts resin other soft workpiece was subjected to a processed color by handwork min the shape and color camera Inversion coloring information acquisition means for inverting coloration data corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means to acquire inversion coloring information, and inversion coloring generating a machining path corresponding to the information, the machining path generation means, a portion of the symmetrical positions with respect to the portion of the soft workpiece according machining path generated by the machining path generation means, the tip machining head And a multi-axis arm robot that performs machining .

By configuring as described above, in the acquisition means with the shape and color, and acquires the color which has been subjected and processed parts of the shape by handwork with a camera, colored positions corresponding to the shape of the soft workpiece Is inverted (inverted so as to be a mirror image) by the inverted coloring information acquisition means to acquire the inverted coloring information. Furthermore, to generate a machining path corresponding to the inverted colored information in machining path generation means. By working head attached to the tip of the multi-axis arm robot performs processing for part of the symmetric positions with respect to the portion of the soft workpiece according machining path. Thus, the designer, if the design subjected to color only a portion of the soft workpiece clays such, portions of the symmetrical positions with respect to the portion of the soft workpiece is automatically painted by the multi-axis arm robot Color is applied. Therefore, according to this configuration, it is possible to greatly reduce the work time for applying the color to the portion at the symmetrical position with respect to the model portion , and it is possible to accurately and efficiently produce the model such as the clay model. Incidentally, in the case of the acquisition of parts of the shape of the soft workpiece with a stereo camera can acquire data between the shape and color simultaneously.

Fourth, the model processing system of the present invention, the shape of acquiring model material der torque ray, of the portion of the resin other soft workpiece was subjected to a processed color by handwork the shape and color camera The shape acquisition means for color, the shape of the soft workpiece acquired by the acquisition means for shape and color is acquired by point cloud data, and the STL data is obtained from the curved surface shape acquisition means for acquiring STL data from the point cloud data. Inversion means for inverting the curved surface and acquiring STL data of the inverted shape, and acquiring the inverted coloring information by inverting the color position data corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means an inverted colored information acquisition means, based on the STL data and the inverted colored information of the inverted shape, to set the machining conditions, to generate a machining path, a machining path generating means is generated in machining path generation means pressurized Kopa It characterized by having a portion of the symmetrical positions with respect to the portion of the soft workpiece with a multi-axis arm robot for machining by the tip machining head according to.

By configuring as described above, in the processing step, a portion of the symmetrical positions with respect to the portion of the soft workpiece according machining path for machining by a multi-axis arm robot tip machining head. Thus, the designer, if the design subjected to color only a portion of the soft workpiece clays such, portions of the symmetrical positions with respect to the portion of the soft workpiece is automatically painted by the multi-axis arm robot Since the color is applied, the work time for applying the color to the portion at the symmetrical position with respect to the model portion can be greatly shortened. As a result, a model such as a clay model can be manufactured accurately and efficiently in a short time. Further, in machining path generating means, based on the STL data and the inverted colored information of the inverted shape, to set the machining conditions, to generate a machining path. STL (Stereo Lithography) used here represents a curved surface as a collection of triangular patches, and has a simple data structure. This STL data can be converted automatically and easily from the acquired point cloud data, and has an advantage that the processing can be performed easily and at a higher speed than the case of creating a curved surface. In particular, in the case of a model having a complicated shape, the processing amount becomes enormous, but if point cloud data is converted into STL data and a machining path is generated from the curved surface expressed thereby, processing can be performed in a short time. Become. As a result, even if a complicated shape is machined by handwork, the time until the machining path is generated can be shortened. As a result, the molding time of the portion at the symmetrical position with respect to the model portion can be greatly shortened, so that the model can be manufactured accurately and in a short time. As a result, the working efficiency of model processing can be improved. The acquisition of parts of the shape of the soft workpiece when performing a stereo camera can acquire the data between the shape and color simultaneously.

Shape Fifth, model processing system of the present invention, to obtain a model of the material der torque Ray, parts resin other soft workpiece was subjected to a processed color by handwork min the shape and color camera Inversion coloring information acquisition means for acquiring inversion coloring information by inverting the data of the coloring position corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means, and inversion coloring information generating a machining path corresponding to the machining path generating means, with a the shape and color can be obtained by the camera, in a portion of the soft workpiece according machining path generated by the machining path generation means On the other hand, a multi-axis arm robot configured to process a portion at a symmetrical position with a processing head, and a moving means for relatively moving the multi-axis arm robot and the soft workpiece are characterized.

By configuring as described above, in this model processing system, the shape and color acquisition means are provided at the tip of the multi-axis arm robot together with the processing means, and the shape and color acquisition means are used to perform processing by handwork . after obtaining the parts of the shape and color, as part of the symmetric position is located towards the multi-axis arm robot with respect to a multi-axis arm robot and the soft workpiece by relatively moving portion by the moving means, the A portion at a symmetric position is machined with respect to the portion of the soft workpiece by the machining head at the tip of the multi-axis arm robot. In this way, the installation location of the model processing system can be reduced, so that processing can be performed on the model even in a narrow location.

  According to the model processing method and the model processing system of the present invention, an accurate model can be created in a short time by performing an operation of efficiently producing a colored clay model.

  Hereinafter, the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. The constituent elements of this embodiment include those that can be easily replaced by those skilled in the art or those that are substantially the same.

(Embodiment 1)
FIG. 1 is a block diagram showing a model processing system according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing a CAD / CAM device of the model processing system shown in FIG. The model processing system 100 recognizes the shape of the clay model M as point cloud data, the multi-axis arm robot 1 controlled by 6 axes, the camera 2 that acquires the shape of one side of the clay model M such as a motorcycle, and the like. A three-dimensional CAD device 3 that converts this point cloud data into STL data composed of triangular patches, a CAM device 4 that generates a machining path from the CAD data of the three-dimensional CAD device 3 (a combination of the CAD device and the CAM device) A CAD / CAM device 5), a computer device 6 for displaying the three-dimensional shape and machining path of the clay model M and programming the multi-axis arm robot 1, and a drive unit 7 for the multi-axis arm robot 1. ing.

  The camera 2 can measure perspective by providing two lenses, and has a camera controller 21 that controls the focus and exposure of each lens. The camera 2 is installed on an installation table 22 whose height can be adjusted, and is arranged on the handwork side of the clay model M. The CAD / CAM device 5 is provided with display means 50 such as an LCD display for displaying the generated three-dimensional shape.

  The multi-axis arm robot 1 includes a tool 11 such as a drill for cutting the clay model M at the tip, and is disposed on the opposite side of the clay model M from the handwork side. This is because the shape formed by handwork is transferred and formed on the opposite side of the handwork. That is, the position of the multi-axis arm robot 1 may be a position where the reverse shape can be transferred and processed on the opposite side of the handwork, and even if it is not always located on the opposite side of the handwork, it is positioned at the time of processing. It should be. Further, even if the tool is installed apart from the clay model M, it is only necessary that the tools of the multi-axis arm robot 1 can be located in the region opposite to the handwork side.

  Moreover, since the cutting of the clay model M in this system can set the rigidity of the processing machine to be relatively low as compared with the cutting of metal, the multi-axis arm robot 1 can be reduced in weight and made compact. As a specific example, “general-purpose general-purpose intelligent arm: PA-10” marketed by the applicant of the present application is suitable. If the multi-axis arm robot 1 that is normally the heaviest is lightened, the model machining system itself can be transported. For example, the model processing system can be housed and transported in a vehicle container.

  Specifically, as shown in FIG. 7, a holder 15 for attaching a processing tool such as a drill to the rotating shaft 14 of the motor 13 housed in the housing 12 is provided at the tip of the multi-axis arm robot 1. A plurality of types of tools 11 are attached to the holder 15. Tools such as drills with multiple diameters, shapers and end mills are used. The holder 15 is not limited to the spindle axis, and the multi-axis arm robot 1 may be provided with a control axis serving as the seventh axis, and the holder 15 may be attached to the control axis.

  The computer device 6 stores a predetermined program programmed in an auxiliary storage device such as an HDD using a robot language. The computer device 6 controls the operation by issuing a predetermined command to the multi-axis arm robot 1 according to the machining path of the CAD / CAM device 5. The computer device 6 can be used to teach the position of the multi-axis arm robot 1 by inputting from a teaching box (not shown) or the like. The computer device 6 can be easily configured by incorporating a CPU board for motion control of the multi-axis arm robot 1 into a general-purpose personal computer, for example.

  The function of the CAD / CAM device 5 will be described with reference to FIG. 2. The CAD / CAM device 5 acquires a curved surface shape acquisition unit 51 that acquires the curved surface shape of the clay model M after handwork from the image acquired by the camera 2. And an inverted shape acquisition unit 52 for obtaining an inverted shape necessary for realizing the shape after the handwork of the clay model M acquired by the curved surface shape acquisition unit 51 on the opposite side of the clay model M, and a hand of the clay model M A three-dimensional image generation unit 53 that generates a three-dimensional image of the clay model M by synthesizing an actual curved surface shape on the workpiece side and an inverted shape of the curved surface shape, and a processing path generation unit 54 that generates a processing path from the curved surface shape. And a calibration execution unit 55 that calibrates the positional relationship between the multi-axis arm robot 1 and the clay model M. In FIG. 1, the CAD device and the CAM device are described as separate hardware. However, as shown in FIG. 2, a program for realizing each function of the CAD / CAM device 5 on a single general-purpose computer is shown. It can also be installed and configured.

  As will be described in detail later, the inverted shape acquisition unit 52 actually measures the surface of the clay model M with the camera 2 and uses the curved surface shape on the handwork side of the clay model M as point cloud data, and inverts the point cloud data. Thereafter, a triangular patch is formed from the inverted point group data, and an inverted curved surface is expressed by the triangular patch.

  FIG. 3 is a flowchart showing the operation of this model processing system. First, the user installs the camera 2 on one side of the clay model M to be processed, and installs the multi-axis arm robot 1 on the opposite side. If the installation position is within the range of the machining area of the multi-axis arm robot 1, it is not necessary to precisely align the positions. In this installed state or before that, the user designs the clay model M while adding a hand using a spatula or a mold (handwork). Since this design is generally roughly determined by design CAD or the like, a clay model M related to the determined design is first created, and handwork is added to the clay model M. And the curved surface shape acquisition part 51 image | photographs the shape of the side which added the handwork with the camera 2 among the clay models M (step S1).

  Image data taken by the camera 2 is sent to the CAD / CAM device 5 and acquired as point cloud data as shown in FIG. 4 (step S2). Here, the camera 2 that can be viewed stereoscopically is used as a method of acquiring the point cloud data, but may be acquired by measuring a number of points on the surface of the clay model M with a touch probe. However, it is preferable to acquire the point cloud data by the camera 2 that can be viewed stereoscopically because the processing speed is high and the soft clay is not touched, so that the probe does not make a mark.

  Next, the acquired point cloud data is inverted (step S3). The point cloud data is expressed by three-dimensional X, Y, and Z coordinates, and the reversal process can be easily calculated by inputting a reversal reference plane. Subsequently, the inverted point group data is converted into STL data composed of a plurality of triangular patches (step S4). FIG. 5 shows a case where a curved surface is expressed by a triangular patch converted into STL data. Generating a triangular patch from point cloud data is a technique adopted in a normal CAD device, and the curved surface shape of the clay model is expressed by an aggregate of the triangular patch. The inverted shape thus obtained corresponds to the opposite side of the clay model M on the handwork side. In the case of generating the inverted shape, STL data may be generated in the state of the point cloud data acquired first, and the STL data may be generated by inverting it.

  Next, the installation positions of the multi-axis arm robot 1 and the clay model M are calibrated (step S5). The calibration procedure will be described later. Subsequently, prior to generating the machining path, machining conditions are set (step S6). For example, a tool used for machining, a machining method, a machining area, machining parameters, and the like are set. Of course, data necessary for processing is stored in an auxiliary storage device or an external storage device of the CAD / CAM device 5.

  When the setting of the processing conditions is completed, the processing path generation unit 54 of the CAD / CAM device 5 generates a processing path of the clay model M based on the inverted STL data (step S7). FIG. 6 is an explanatory diagram showing an example of the generated machining path. Further, the trajectory data of the multi-axis arm robot 1 when executing the machining pass is generated (step S8). In other words, the multi-axis arm robot 1 is used only on the side opposite to the handwork side, and the robot itself performs processing without moving. Therefore, depending on the shape of the clay model M, the arm may interfere. It is necessary to create a trajectory to prevent. For example, according to the state of the clay model M to be processed, an approach method for the processed portion of the clay model M is determined in advance before processing, and an optimum approach is selected during actual processing. Also, the away trajectory may be selected from the same trajectory as the approach trajectory, or may be automatically generated based on the processed shape.

  The generated machining path is sent from the CAD / CAM device 5 to the computer device 6, and the computer device 6 issues a command based on the robot language of the multi-axis arm robot 1 according to the machining path. The driver unit 7 drives the multi-axis arm robot 1 according to a command from the computer device 6 to process the clay model M (step S9). By processing the side opposite to the handwork side by the multi-axis arm robot 1, the clay model M is in a state where the handwork shape is transferred to the opposite side. Further, the same shape as the three-dimensional image displayed by the display means 50 in this transferred state is obtained, and the user can actually recognize the full-scale clay model M.

  In the above description, a machining path for cutting with a drill is generated. However, it is also possible to generate a build-up processing path separately and perform build-up processing. When the build-up processing is performed, the build-up processing head is installed at the tip of the multi-axis arm robot 1. The head for overlaying will be described later.

  Next, the user determines whether or not to end the design work with reference to the clay model M after the actual processing (step S10). When it is necessary to redesign, one side of the clay model M is formed again by handwork (step S11). Since the handwork side shape of the clay model M is changed by this handwork, the above steps S1 to S9 are executed again to transfer the inverted shape of the handwork shape.

  Here, when the part corrected by the handwork is a part, a machining pass of only the part may be generated. That is, as shown in the flowchart of FIG. 8, the shape formed by handwork by the CAD / CAM device 5 and the shape formed by the previous handwork are compared as point cloud data (step S12) and redesigned this time. A portion corrected by the handwork is extracted (step S13). More specifically, the shape of the clay model corrected this time is acquired as point cloud data by the curved surface shape acquisition unit 51 of the CAD / CAM device 5, and the point cloud data of the current corrected shape and the point cloud data of the previous shape are obtained. Are sequentially compared (comparison unit 56) to extract different data. Then, STL data is generated by inverting the data, and a machining path is generated based on the inverted shape expressed by the STL data. At this time, it is determined whether or not there is a change in the necessity of calibration and the processing condition setting (step S14).

  By processing in this way, it is possible to prevent unnecessary processing paths from being generated and to trace the surface of the clay model M unnecessarily, and therefore it is possible to shorten the processing time of the inverted shape at the time of redesign. In particular, since the clay model M is usually redesigned many times, such a processing method is extremely suitable for shortening the processing time.

  As described above, if the shape formed by handwork is acquired, reversed, and transferred on the side opposite to the handwork based on the machining path of the reversed shape, the working time can be greatly reduced. Therefore, it is not necessary to require an operator with advanced skills for shape transfer, and accurate transfer processing is possible.

  Further, in the above embodiment, the shape is acquired from the handwork side without moving the clay model that is the object to be processed, and the inverted shape is transferred from the side opposite to the handwork side. As shown in the figure, after placing the clay model M on the rotary table 8 and designing the clay model M on the handwork side and acquiring the shape, the rotary table 8 is rotated 180 degrees to transfer the inverted shape from the handwork side. You may make it perform. In this case, the camera 2 and the multi-axis arm robot 1 are installed on the handwork side.

  The multi-axis arm robot 1 is preferably installed on a moving pallet 81 so that it can move along the rail 82. In that case, it is preferable that the rotary table 8 is formed in a drum shape. The multi-axis arm robot 1 can be brought close to the clay model M by the side portion 8 a of the rotary table 8.

  Further, the rotary table 8 is further preferably provided with a rotation angle positioning device 83. The positioning device 83 may be composed of, for example, an angle scale 84 provided on the side surface of the turntable 8 and a clamp device 85 that fixes the turntable 8. By positioning the rotation angle, it is not necessary to perform calibration for calibrating the relative position with the multi-axis arm robot 1 when the clay model M is rotated. Further, when machining the clay model M on the side opposite to the handwork, when the clay model M is moved, moving means other than the rotary table 8 can be employed. For example, the table may be moved on an arc-shaped rail (not shown).

  In this case, the camera 2 can be attached to the tip of the multi-axis arm robot 1. In this way, the installation base for the camera 2 can be omitted. Even when the shape of the clay model M is complicated, the angle of the camera 2 can be freely changed, so that the shape by handwork can be completely acquired.

  As shown in FIG. 10 (a), the build-up device 9 includes a build-up head 91 that puts out clay from the tip, a transfer pipe 92 that carries the build-up clay, and a tank 93 that stores clay. Have The clay is stored in a dry powder state in the tank 93. A pump 94 is provided at the end of the conveying pipe 92, and the powdered clay is forcibly conveyed from the tank 93 to the build-up head 91 by the pump 94. As shown in FIG. 10B, the build-up head 91 includes a storage unit 95 that temporarily stores dry powdered clay, and further includes a water supply device 96 that introduces water into the storage unit 95. In addition, the storage unit 95 is provided with a simple stirring impeller (not shown), and water is put into the storage unit 95 from the water supply device 96 in a state where powdery clay is stored in the storage unit 95. When the clay reaches a certain flow state, the clay is fed from the tip nozzle 97 of the build-up head 91 by a feeding means (not shown) such as a pump.

  The build-up device 9 is not limited to the above configuration. That is, any configuration may be used as long as the clay that has flowed from the build-up head 91 to the tip of the multi-axis arm robot 1 can be deposited on the surface of the clay model M to be processed. Further, when a model is manufactured from a resin material, a heater or the like for melting resin powder may be provided in the build-up head 91 and the melted resin may be fed out from the build-up head 91. Further, the build-up head may be configured as a spray gun, and the heated resin may be sprayed onto the model surface.

  Also, as shown in FIG. 11, a hand 101 is provided at the tip of the multi-axis arm robot 1, and various hands, build-up heads, cameras, etc. are selected and gripped by this hand 101 for processing. Also good. Specifically, reference numeral 103 is a drill head, reference numeral 104 is a camera head, reference numeral 105 is a build-up head, and reference numeral 106 is a coating head. The drill head 103 and the overlay head 104 are stocked in a stocker installed in the vicinity. The hand 101 is operated by an actuator such as a motor or a cylinder provided in the hand 101, and is controlled by a command from a computer device. On the other hand, the processing tool 11 or the like is provided with a grip portion 102 for gripping by the hand 101. The hand 101 grips and fixes the grip portion 102 of each head and performs processing.

  Next, when a color is applied to the clay model M, transferring the color to the opposite shape is an extremely laborious operation as in the case of cutting. In the present invention, when the handwork shape is colored, the camera 2 obtains the color on the handwork side, inverts the coloring position to obtain the inversion coloring information, and reverses the clay model M based on the inversion coloring information. The shape may be colored (not shown). These processes are performed by the CAD / CAM device 5 and the computer device 6. In addition, the coloring operation can be performed by the painting head 106 that is gripped by the tip of the multi-axis arm robot 1. More specifically, processing conditions necessary for painting are set based on STL data having an inverted shape, and a machining path for painting is generated. Then, the multi-axis arm robot 1 is controlled according to this machining path, and coating is automatically performed by the coating head 106 held at the tip. In this way, even if it is necessary to color the clay model M, by coloring the half of the clay model M, the other half can be automatically colored, so the work time can be shortened and the color can be accurately set. Can be transferred to.

  Further, when the drill head 103 at the tip of the multi-axis arm robot and the build-up head 105 are used in combination, the following processing is possible. FIG. 12 is an explanatory diagram showing a processing example when a tool and a build-up head are used in combination. When a predetermined redesign has been applied to the handwork side of the clay model (Fig. (A)) by cutting and building up with handwork (Fig. (B)), the shape HD of the handwork is shown in the camera. 2 and is obtained as point cloud data in the same manner as described above. Next, the newly acquired point cloud data is inverted and compared with the previous point cloud data (the point cloud data obtained by inversion during the previous machining), and the cut portion and the overlaid portion are extracted (same as above). Figure (c)). For example, as shown in (c), the A part is extracted as a cutting part and the B part is extracted as a build-up part (actually, it is extracted three-dimensionally).

  Then, STL data is generated from the point cloud data of each extracted part, a predetermined processing condition is set, and then a processing path is generated. As shown in FIG. 11, a hand 101 that can selectively use the drill head 103 and the build-up head 105 is provided at the tip of the multi-axis arm robot. Processing is performed by holding or changing to the build-up head 105. That is, the cutting portion A is processed by the drill head 103 and the build-up portion B is processed by the build-up head 105 to transfer the inverted shape on the handwork side ((d) in the figure). In addition, when dimensional accuracy falls remarkably by build-up, it is preferable to carry out cutting after applying build-up. In this way, redesign by handwork can be performed freely, and the inverted shape of the handwork shape can be transferred accurately and in a short time. In an actual design site, there may be a case where cutting is performed again after adding clay to an excessively cut portion. Therefore, the combined use of the drill head 103 and the build-up head 105 is suitable for manufacturing the clay model M. It will be a thing.

Next, the positional relationship between the multi-axis arm robot and the clay model is calibrated. As a first method, a touch probe is provided at the tip of the multi-axis arm robot 1 (may be gripped by a hand), and on the other hand, a reference position of the coordinate system of the clay model M is set at a specific position on the installation base of the clay model M. Set a reference point. The multi-axis arm robot 1 acquires the positional relationship with the clay model M by touching the reference point with a touch probe. Then, the coordinate system of the multi-axis arm robot 1 is matched with the coordinate system of the clay model M by a matching method.
In this way, the positional relationship between the multi-axis arm robot 1 and the clay model M can be calibrated by a simple calculation.

  As a second method, the reference point of the clay model M is measured by a three-dimensional measuring device, the same reference point is measured by a touch probe provided at the tip of the multi-axis arm robot 1, and the clay model M and the multi-axis arm robot 1 are measured. The positional relationship between the two is acquired, and the positional deviation between the two is calculated. The calculated positional deviation is added as calibration data to the coordinate system of the multi-axis arm robot 1. In this way, it is necessary to install the clay model M with reference to the coordinate system of the multi-axis arm robot 1, but the machining can be continued without moving the clay model M. For this reason, distortion and distortion do not arise in the clay model M after processing.

(Embodiment 2)
FIG. 13 is a block diagram showing a model processing system according to Embodiment 2 of the present invention. This model machining system 200 is suitable for a large-sized vehicle such as a clay model MC of an automobile, and when the machining area when the multi-axis arm robot 1 is fixed at one place is insufficient, the multi-axis arm is used. The machining area is expanded by moving the robot 1 on the rail 201 laid along the clay model MC. The multi-axis arm robot 1 is installed on a table 202 that moves on a rail 201. The movement on the rail 201 is performed by a linear motion device. The linear motion device can be configured by, for example, providing a motor and a speed reducer on the table 202, providing a gear on the rotating shaft, and meshing with a rack provided on the rail 201 (not shown).

  The position of the table 202 may be detected by a sensor, but a clamp device is provided on the table 202, marks are provided at a plurality of specific positions on the rail 201, and the table 202 is fixed according to an arbitrary mark. It is economical to do. In addition, any combination other than the combination of the mark and the clamp device may be used as long as the mechanism can position the table 202 mechanically without using a sensor. However, even when mechanically positioned, the CAD / CAM device 5 needs to recognize the position of the multi-axis arm robot 1. For example, a user inputs a position, or a contact type switch such as a limit switch or a non-contact type switch such as an ultrasonic sensor is installed at each predetermined position, and the CAD / CAM device 5 is output by the output of this switch. The position information may be input to.

  Moreover, although the rail 201 is linearly arranged in the figure, it may be curved along the periphery of the clay model MC (not shown). Thus, by moving the multi-axis arm robot 1 on the rail, the machining area can be expanded with a simple configuration.

(Embodiment 3)
FIG. 14 is a block diagram showing a model processing system according to Embodiment 3 of the present invention. This model processing system 300 has a configuration in which model processing systems 100A and 100B at remote locations are connected to each other via a communication line 301. In this model processing system 300, a computer modem or other DCE (data circuit terminating device) 302 constituting the CAD / CAM device 5A is connected to other devices via a communication line 301 such as a telephone line, LAN, WAN, or the Internet. It is connected to a DCE 302 of a computer constituting the CAD / CAM device 5B. Each model processing system 100A, 100B has substantially the same configuration as that described in the first or second embodiment.

  FIG. 15 is a flowchart showing the operation of the model processing system. First, on the model processing system 100A side existing at the point A, the user forms the clay model MA by handwork (step S31). The handwork side shape of the clay model MA is acquired by the camera 2A (step S32), and the image data is compressed (step S33). The compressed image is modulated by the DCE 302 of the CAD / CAM device 5A and transmitted to the computer of the clay processing system 100B existing at the point B, which is another place, via the Internet 301, for example. The computer that has received the image data decompresses the compressed clay model MA image data (step S34), temporarily stores it in the storage device of the CAD / CAM device 5B, and acquires the shape as point cloud data (step S35). .

  Next, the CAD / CAM device 5B inverts the point cloud data to generate the entire shape of the clay model MB on the handwork side, and converts the point cloud data into STL data (steps S36 and S37). As a result, the entire shape of the clay model MA molded by handwork in a remote place is represented by a triangular patch. Next, the CAD / CAM device 5 of the clay processing system 100B at the point B calibrates the unprocessed clay that has not been hand-worked with the multi-axis arm robot 1 (step S38), and sets processing conditions. Is performed (step S39). Subsequently, a machining path for machining the entire shape of the clay model MB is generated (step S40), and the clay model MB is machined with the tool at the tip of the multi-axis arm robot 1 (step S41). Thereby, the clay model MA of the whole shape reflecting the handwork shape at the point A can be reproduced and molded at the point B.

  Further, the inverted shape formed in the CAD / CAM device 5B at the point B may be returned to the CAD / CAM device 5A at the point A (step S42). The CAD / CAM device 5 at the point B performs transfer processing on the clay model M from the processing path having the inverted shape (step S43). Further, a reverse processing path may be generated on the CAD / CAM device 5 side at the point A to transfer the clay model M.

  Next, the redesign at point B can be reflected in the clay processing system at point A. First, at the point B, the entire clay model is examined, and handwork is performed on the clay model (step S44). In the clay processing system at the point B, the handworked shape is photographed by the camera 2 and the image data is compressed (steps S45 and S46). The compressed image is modulated by the DCE 302B of the CAD / CAM device 5B, and transmitted to the computer of the clay processing system 100A existing at the point A via the Internet 301, for example. The computer that has received the image data decompresses the compressed clay model image data (step S47), temporarily stores it in the storage device of the CAD / CAM device 5A, and acquires the shape as point cloud data (step S48). The subsequent processes are the same as those in steps S36 to S41.

  As described above, in this clay processing system 300, the remote clay processing systems 100A and 100B can be connected to each other by communication means, and work can be performed while reflecting the mutual design on the clay models MA and MB. For this reason, it is not necessary for designers or the like to gather at a specific point. For example, by connecting a clay processing system 100A installed overseas and a clay processing system 100B installed in Japan, joint design development is possible on a global scale.

  As described above, the model processing method and the model processing system according to the present invention is a CAD / CAM device or the like for a three-dimensional soft workpiece that is created by machining a curved surface shape and is further colored by painting. This is useful as a means for automatic production using

It is a block diagram which shows the model processing system which concerns on Embodiment 1 of this invention. It is a block diagram which shows the CAD / CAM apparatus of the model processing system shown in FIG. It is a flowchart which shows operation | movement of this model processing system. It is a conceptual diagram which shows an example of point cloud data. It is a conceptual diagram which shows an example of STL data. It is a conceptual diagram which shows an example of a process path. It is a simplified block diagram of the processing axis provided at the tip of the multi-axis arm robot. It is a flowchart which shows the modification of operation | movement of this model processing system. It is explanatory drawing which shows the modification of this model processing system. It is a block diagram which shows an example of a build-up apparatus. It is explanatory drawing in the case of holding a drill head etc. selectively with a hand. It is explanatory drawing which shows the process example at the time of using a tool and a build-up head together. It is a block diagram which shows the model processing system which concerns on Embodiment 2 of this invention. It is a block diagram which shows the model processing system which concerns on Embodiment 3 of this invention. It is a flowchart which shows operation | movement of a model processing system.

Explanation of symbols

100 Model processing system 1 Multi-axis arm robot 2 Camera 3 3D CAD device 4 CAM device 5 CAD / CAM device 6 Computer device 7 Drive unit

Claims (5)

Obtaining a model of the material der torque Lei, the processed areas in a color resin other soft workpiece by handwork the shape and color cameras, an acquisition step of the shape and color,
Inversion coloring information acquisition step of inverting the coloring position data corresponding to the shape of the soft workpiece acquired in the shape and color acquisition step to acquire inversion coloring information;
Generating a machining path corresponding to the inversion colored information, the machining path generating step,
A processing step of a portion of the symmetrical position, for machining by a multi-axis arm robot tip machining head relative to the portion of the soft workpiece according to the previous SL before Symbol machining path generated by the machining path generation step,
A model processing method characterized by comprising: Model Material der torque Ray, an acquisition step of the shape and color of the shape and color of the resin other portions of the soft workpiece was subjected to a processed color by handwork acquired by the camera,
From the point cloud data representing the shape of the soft workpiece obtained in the obtaining step of the shape and color, a curved surface shape obtaining step for obtaining STL data;
An inversion step of inverting the curved surface expressed by the STL data to generate STL data having an inverted shape;
Acquiring the shape and the soft workpiece shape inverted colored information by inverting the data of the colored position corresponding to the acquired at the acquisition step of acquiring the color, the inverted colored information acquisition step,
Based on the STL data and the inversion colored information of the reverse shape, to set the machining conditions, to generate a machining path, a machining path generating step,
A processing step of performing processing of the symmetric position by the multi-axis arm robot tip machining head relative to the portion of the soft workpiece according to the previous SL machining path generated in the previous SL machining path generating step,
A model processing method characterized by comprising: Model Material der torque Ray acquisition means between the shape and color of the resin processed part fraction subjected to color by other soft workpiece handwork shape and color to get the camera,
Reversal coloring information acquisition means for reversing the data of the coloring position corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means and acquiring reverse coloring information;
Generating a machining path corresponding to the inversion colored information, the machining path generation means,
A multi-axis arm robot portions of symmetrical positions, for machining the tip processing head with respect to the portion of the soft workpiece according to the previous SL machining path generated in the previous SL machining path generating means,
A model processing system characterized by comprising: Model material Der torque Ray acquisition means between the shape and color of the shape and color of the processed areas in a color resin other soft workpiece by handwork acquired by the camera,
Curved surface shape acquisition means for acquiring the shape of the soft workpiece obtained by the shape and color acquisition means by point cloud data, and acquiring STL data from the point cloud data;
Reversing means for reversing the curved surface expressed by the STL data to obtain STL data having a reversed shape;
Reversal coloring information acquisition means for reversing the data of the coloring position corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means and acquiring reverse coloring information;
Based on the STL data and the inversion colored information of the reverse shape, to set the machining conditions, to generate a machining path, a machining path generating means,
A multi-axis arm robot portions of symmetrical positions, for machining the tip processing head with respect to the portion of the soft workpiece according to the previous SL machining path generated in the previous SL machining path generating means,
A model processing system characterized by comprising: Model Material der torque Ray acquisition means between the shape and color of the resin processed part fraction subjected to color by other soft workpiece handwork shape and color to get the camera,
Reversal coloring information acquisition means for reversing coloring position data corresponding to the shape of the soft workpiece acquired by the shape and color acquisition means to acquire reverse coloring information;
Generating a machining path corresponding to the inversion colored information, the machining path generation means,
Thereby enabling obtaining the shape and color by the camera, the portions of the symmetrical position with respect to the portion of the soft workpiece according to the previous SL machining path generated by the machining path generation means, is processed by a processing head A multi-axis arm robot configured as described above,
Moving means for relatively moving the multi-axis arm robot and the soft workpiece;
A model processing system characterized by comprising:

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