JP5489586B2 - Deformation detection method of modeling object and deviation correction method of modeling object based on the detection - Google Patents

Description

  The present invention provides a position closest to a modeling object from a position farthest from the center of rotation of a tool in a two-dimensional plane direction (x, y plane direction) orthogonal to a predetermined one-dimensional direction (Z-axis direction). In the three-dimensional modeling method by sequentially cutting while moving the tool along a plurality of preset trajectories within the region range, a method for detecting that the position of the modeling object is deviated, and The present invention relates to a method of correcting deviation based on the detection.

The three-dimensional modeling method is already well-known, and as shown in FIG. , Y direction), a trajectory in which the rotation center 11 of the plurality of tools moves is set in a region by the closest position from the farthest position of the modeling object 2, and the tool 1 moves while rotating along the trajectory. In recent years, the cutting method has been frequently employed.

  In such a three-dimensional modeling method, it is a natural premise that an object to be modeled is arranged at a predetermined position with respect to an apparatus for moving the tool, and the tool rotates (rotates) according to such a premise. Although cutting is sequentially performed while performing the above, it may occur, although extremely exceptional, that the object to be shaped is not arranged at the originally planned position due to an accidental accident.

  In such a case, since it is arranged at a position deviated from the originally planned position, it is naturally impossible to realize the originally planned modeling.

  Therefore, in the case of the above arrangement, it is essential to correct the deviation after finding the deviation as soon as possible, stopping the movement accompanied by the rotation and revolution of the tool.

  However, in the three-dimensional modeling method, a technique for detecting such a deviation at the operation stage and correcting the deviation based on the detection has not been developed so far.

  Incidentally, in Patent Document 1, in the operation of the machine tool, the load current of the drive motor is detected and compared with the current value of the load current and the reference of the allowable range, an abnormality occurs when the allowable range is exceeded. However, what can actually be detected by such detection is breakage of the tool, breakage, or seizure of the object to be modeled, and deviation from the original position. It doesn't extend to detection.

  Similarly, in Patent Documents 2 and 3, an abnormal value is detected after comparing the load current value or the power consumption value with the reference value, respectively. This is an abnormal state such as the prediction of a breakage of a tool, and this has not led to the detection of the deviation of the modeling object.

Japanese Patent Application Laid-Open No. 5-116056 JP-A-6-99335 JP 2005-22052 A

  The present invention relates to a modeling object in a three-dimensional modeling method by cutting caused by movement accompanied by rotation of a tool along a plurality of trajectories set in a region from the farthest position to the closest position with respect to the modeling object. It is an object of the present invention to provide a method for detecting a state where an object is deviated from the position of the originally planned arrangement as soon as possible and correcting the deviation based on the detection.

In order to solve the above problems, the basic configuration of the present invention is as follows.
(1) An area at a position closest to a modeling object in a two-dimensional plane direction (x, y plane direction) orthogonal to a predetermined one-dimensional direction (Z-axis direction) with reference to the rotation center of the tool In the three-dimensional modeling method by sequentially cutting while moving a tool along a plurality of preset trajectories within a range, the trajectory ( hereinafter referred to as the farthest position from the modeling object) among the plurality of trajectories Abbreviated as “scheduled far locus”), the load current or load power generated by the movement accompanied by the rotation of the tool is measured, and the measured value is lower than the reference range when cutting is performed. by sudden change to a higher state than the reference range, detects a state in which the installation position of the shaped object is displaced from the original position, it will stop movement of the tool, the rotation center of the tool is pre At the stage of terminating the movement of the distant trajectory deviation detection method of a shaped object to be automatically stopped measurement of the load current or the load power,
(2) In the detection method of (1), a position (P ₁ ) in which the measured value suddenly changes from a lower value than a reference position to a higher value is detected in the process until the movement of the tool is stopped . Later, by moving the tool along the surface of the object without making the rotation necessary for cutting along the object, the outer side of the object is offset by the cutting radius of the tool. Is set, and the coordinates of the center coordinate position (O ′) of the displacement outer locus are calculated, and on the displacement outer locus, While calculating the coordinate position (R) that is furthest from or closest to the center coordinate position (O ′), the center coordinate position (O) of the figure surrounded by the planned far locus is calculated, and the center coordinates The farthest or closest seat from position (O) The position (S) is calculated, the center coordinate position (O ′) resulting from the deviation of the object to be modeled is matched with the center coordinate position (O) by the planned far locus, and the center coordinates calculated in the deviation outer locus Modeled by the NC controller so that the coordinate position (R) that is the farthest from the position (O ') is the farthest or the closest coordinate position (S) from the center coordinate position (O) of the planned far locus. A deviation correction method for a modeling object by moving the object.
(3) Among the detection methods of (1) above, in the process up to stopping the movement of the tool, the coordinates of the position (P ₁ ) where the measured value suddenly changes from a lower value to a higher value than the reference range, A position (P _{2) at which the} measured value is suddenly changed from a value lower than the reference range to a value higher than the reference range by recording in the computer of the NC controller and moving the tool in the reverse direction along the planned far locus. ) And the coordinates of the position (P ₂ ) are recorded in the computer, and from one of the two rapidly changing coordinate positions (P ₁ , P ₂ ) toward the other, Displacement outer trajectory by moving while making contact with the surface located on the side away from the region of the planned far trajectory moved in the opposite direction among the surface of the object without rotation of the tool necessary for cutting Each coordinate of Along several sections it is recorded in the computer, the excursion on the outer track, there the same length as the straight line (P ₁ P ₂₎ joining the coordinate position of the two positions the suddenly changes (P _1, P ₂₎ And two coordinate positions (Q ₁ , Q ₂ ) that can form a straight line parallel to the straight line are calculated by the computer, and the two rapidly changing coordinate positions (P ₁ , P ₂ ) and By calculating the center coordinate position of the rhombus (◇ P ₁ P ₂ Q ₂ Q ₁ ) formed by the _two coordinate positions (Q ₁ , Q ₂ ) calculated by the computer as described above, the deviation outside While calculating the coordinate of the center coordinate position (O ′) of the locus and calculating the coordinate position (R) that is the farthest or closest to the center coordinate position (O ′) on the deviation outer locus, Center coordinate position of the figure surrounded by the planned far locus (O) is calculated, and the coordinate position (S) farthest from or closest to the center coordinate position (O) is calculated, and the center coordinate position (O ′) due to the deviation of the object to be modeled is scheduled. Match the center coordinate position (O) by the far locus and set the coordinate position (R) farthest or closest to the center coordinate position (O ′) calculated in the deviation outer locus to the center coordinate position ( O) The deviation correction method of the modeling object by moving the modeling object by the NC controller so as to match with the closest coordinate position (S) from
(4) A CAM system that works with a CAD system and creates the following software.
1. In the stage where the tool is moving along a planned far locus, an operation start command with the sudden change state of the measured value of load current or load power described in (1) as an input,
2 With respect to the CAD system and the command to make a round without the rotation necessary for cutting along the deviation outer locus with respect to the outer surface of the modeling object that is displaced from the original position with respect to the tool , A command to create the rounded deviation outer locus, and a command to record each coordinate of the deviation outer locus along a plurality of sections,
3. A calculation command for the center coordinate position (O ′) of the deviation outer locus based on the plurality of two loci, and a recording command for the calculated center coordinate position (O ′).
4 Calculation of the coordinate position (R) that is farthest or closest to the center coordinate position (O ′) according to 3 and a recording command for the calculated coordinate position;
5. Calculation of the center coordinate position (O) of the figure surrounded by the planned far locus and the recording command of the calculated center coordinate position (O).
6 Calculation of the coordinate position (S) that is farthest from or closest to the central coordinate position (O) according to 5 and a recording command for the calculated coordinate position;
7 With respect to the external mechanism for moving the modeling object, the center coordinate position (O ′) of the deviation outer locus is shifted to the center coordinate position (O) of the planned far locus, and the center coordinate position (O ') A movement command corresponding to shifting the coordinate position (R) that is furthest from or closest to the center coordinate position of the planned far-off locus,
(5) A CAM system that works with a CAD system and creates the following software.
1. In the stage where the tool is moving along a planned far locus, an operation start command with the sudden change state of the measured value of load current or load power described in (1) as an input,
2. Recording command of coordinates of the position (P ₁ ) where the measured value suddenly changes in the planned far locus,
3 A position where the measured value of the load current or load power suddenly changes again with the movement command in the direction opposite to the originally set movement direction and the movement in the reverse direction along the planned far locus (P _2). ) Coordinate recording command,
4 With respect to the tool, from the one of the _two coordinate positions (P ₁ , P ₂ ) that change suddenly toward the other, the reverse direction of the surface of the modeled object is not accompanied by the rotation of the tool necessary for cutting. For the command and the CAD system that is moving while being in contact with the surface located on the side away from the region of the planned far locus that has moved to the CAD system, the deviation outer locus creation command by the movement, and the displacement A command to cause the computer to record each coordinate of the outer trajectory along a plurality of sections;
5. A straight line that is the same length as the straight line (P ₁ P ₂ ) connecting the _two regions (P ₁ , P ₂ ) that suddenly change on the planned out-of-vibration locus can be formed. coordinates of two points (Q _1, Q ₂₎ calculated instruction to calculate the, and recording command of the coordinate position of the coordinate position of the specified two points on the basis of the calculation (Q _1, Q _2),
6 Diamond shape (◇ P ₁ P ₂ ) formed by the _two coordinate positions (P ₁ , P ₂ ) where the measured value changes suddenly and the two coordinate positions (Q ₁ , Q ₂ ) calculated and recorded Q ₂ Q ₁ ) center coordinate position (O ′) calculation command ((P ₁ , Q ₂ ) or (P ₂ , Q ₁ ) center coordinate position coordinate (O ′) calculation command), and the relevant coordinates Command to record position (O '),
7 Calculation of the coordinate position (R) that is farthest from or closest to the center coordinate position (O ′) according to 6 and a recording command for the calculated coordinate position;
8. Calculation of the center coordinate position (O) of the figure surrounded by the planned far locus and the recording command of the calculated center coordinate position (O).
9 Calculation of a coordinate position (S) that is farthest from or closest to the central coordinate position (O) according to 8 and a recording command for the calculated coordinate position;
10 With respect to the external mechanism for moving the modeling object, the center coordinate position (O ′) of the deviation outer locus is shifted to the center coordinate position (O) of the planned far locus, and the center coordinate position (O ') A movement command corresponding to shifting the coordinate position (R) that is furthest from or closest to the center coordinate position of the planned far-off locus,
Consists of.

  With the basic configuration (1), it is possible to quickly detect that the object to be modeled is deviated from the originally planned arrangement position, an accident due to the deviation can be avoided, and the basic With the configurations (2) and (3), it is possible to automatically and accurately correct the displaced position of the tool, and it is possible to perform effective and efficient correction as compared with the case of manual work. As in configurations (4) and (5), the correction can be generally used based on software created by the CAM system.

It is a sectional side view which shows the state which a tool starts a movement and moves along a planned far locus | trajectory in relation to the structure of the said basic structure (1), (a) is a modeling object's original position (B) shows the case where the modeling object deviates from the original position. It is a flowchart which shows the operating condition of the said basic structure (1) . It is a sectional side view which shows the state which a tool moves in order to implement | achieve the structure of the said basic structure (2). It is a sectional side view which shows the state which a tool moves in order to implement | achieve the structure of the said basic structure (3) . It is a flowchart corresponding to the software of the basic configuration (4) . It is a flowchart corresponding to the software of the said basic structure (5) . 10 is a flowchart illustrating an operation state of the third embodiment . It is a side view which shows the basic concept regarding the modeling system based on the cutting for each layer which is a typical example of the three-dimensional modeling method.

Cutting by rotation (rotation) of the tool, as shown in FIG. 1 (a), from a pre-arranged position, it entered the cutting position, the rotation center 11 of the tool moves along the trajectory from the shaped object 2 When the cutting is performed by the movement and the rotation accompanying the movement, the load current or load power necessary for the cutting is within a predetermined reference range, and such a reference range is naturally set by an empirical rule. Is possible.

When the shaped object 2 is displaced from the setting position which is scheduled originally, as shown in FIG. 1 (b), should the rotation center 11 is moving along the planned distal locus 3 In spite of this, while the idling of the tool 1 continues (the idling state is indicated by a dotted arrow along the rotation direction), the tool 1 does not necessarily start to enter the inside of the modeling object 2. (The position of the center of rotation where such an entry occurs is indicated by P ₁ ).

  However, when the modeling object 2 is completely away from the planned far locus 3, the idling is only continued. In such a case, the deviation of the present invention is not possible. It is out of scope.

  In the case of the idling, the load current or the load power is clearly detected to be lower than the reference range. On the contrary, when the rush starts, the current value or the power value is clearly higher than the reference range. The measured value of the current or power will change suddenly when it exceeds the reference range.

  Reflecting such a situation, the basic configuration (1) requires that the detected current value or power value suddenly change from a state below the reference range to a state above the reference range.

  However, when forming a groove having a predetermined depth in the modeling object 2, the tool 1 rotates into the modeling object 2 with a predetermined distance range while rotating, and enters the modeling object 2. It seems to be confused with the above requirements.

  However, the groove is not usually formed at the stage of movement along the planned far locus 3.

  Even if a groove is formed during the movement along the planned far locus 3 as an exception, in this case, the movement speed of the tool 1 is reduced to avoid a sudden increase in load and the detected current. This can be dealt with by taking measures such that the value or power value does not exceed the reference range (this measure is described in, for example, Japanese Patent Application Laid-Open No. 2001-154718).

  When the tool 1 is bent and the tip portion does not exist, the idling may continue even if the tool 1 enters the planned far locus 3.

  However, in this case, even if the tool 1 moves along the entire circumference of the trajectory, since the idling continues, the tool 1 can be distinguished from the deviation of the modeling object 2.

  On the other hand, when the tool 1 is bent, a protruding portion due to the bending locally enters the surface of the modeling object 2 and an excessive current or an excessive power exceeding the reference range may be detected.

  However, in such a bent state, an abnormal cutting sound is generated. Further, in the case of a simple bend, the rotation center 11 of the tool starts moving along the planned far locus 3. Since the abnormal sound is generated immediately, it is sufficiently possible to distinguish from the sudden change of the measured value in the case of the displacement of the modeling object 2.

  Thus, the basic configuration (1) can be distinguished from other accidents and has objectivity as an actual detection method.

  In the basic configuration of (1), the measurement of the load current or the load power is automatically stopped at the stage where the rotation center 11 of the tool has finished moving the planned far locus 3, and the operation sequence is as follows: This is as shown in the flowchart of FIG.

  The fact that the modeling object 2 is deviated from the original position is detected when the tool 1 moves along the planned far locus 3, so that when the tool 1 moves along the inner locus, the load current or load Measuring power is not only unnecessary, but meaningless.

  In consideration of such a situation, in the basic configuration (1), after the rotation center 11 of the tool moves on the planned far locus 3, control is performed so as to stop the measurement. Thus, the detection of the displacement of the modeling object 2 and the efficient operation of the tool 1 are made compatible.

  The basic principle of the basic configuration (2) will be described.

In the basic configuration (2), as shown in FIG. 3 , based on a computer command, the model 1 is not subjected to the rotation necessary for cutting from the beginning on the basis of a computer command. (2) Based on a predetermined division (actually, a division by numerical display of equal intervals in either the x-direction or the y-direction) for the moved position while making contact with the surface. The coordinate position is set sequentially, and by setting such a coordinate position, only the rotation diameter (r) of the tool 1 is applied to the surface of the object 2 that has been deviated without being cut. The separated deviation outer locus 4 is recorded in the computer.

  After forming the deviation outer locus 4 based on the above round, the center coordinate position (O ′) of the deviation outer locus 4 is calculated.

As described above, when forming the excursion outer locus 4 that makes a round, it is not always necessary to record the position (P ₁ ) where the sudden change in the measured value occurs. It is not always necessary to start from the detected position (P ₁ ) (however, in actuality, in many cases, it is started from the position for convenience of operation).

  The central coordinate position (O ′) is obtained by calculating an average value in the x-axis direction and the y-axis direction of a reference position (cutting location: usually abbreviated as “CL”) constituting the deviation outer locus 4. Can be identified.

  Naturally, the center coordinate position (O) of the planned far locus 3 also exists as shown in FIG.

  In such a case, the center coordinate position (O ′) of the figure by the deviation outer locus 4 is deviated from the original position of the center coordinate position (O) of the planned far locus 3.

  In consideration of such a situation, in the basic configuration (2), the center coordinate position (O ′) is moved to the center coordinate position (O) of the figure surrounded by the planned far-off locus 3 so that the deviation can be reduced. Correction is being performed.

  However, the correction of the deviation between the center coordinate positions alone does not correct the angle direction based on the center coordinate position (O ′) of the figure surrounded by the deviation outer locus 4.

  In consideration of such a situation, in the basic configuration (2), in the deviation outer locus 4 and the planned far locus 3, the coordinate position (R) that is the farthest from the center coordinate positions (O ′ and O) or the closest one (R). And the coordinate positions of S) are calculated, respectively, and these positions are also corrected for displacement, that is, moved so as to coincide with each other.

  The coordinate positions (R and S) that are the farthest or closest to the respective central coordinate positions (O ′ and O) are identified by the coordinate positions of the deviation outer locus 4 and the planned far locus 3 and the central coordinate positions ( The distance from O ′ and O) may be sequentially calculated, and the coordinate position where the distance is the maximum value or the minimum value may be selected.

  In this way, the center coordinate position (O ′) of the figure surrounded by the deviation outer locus 4 is made to coincide with the center coordinate position (O) of the figure surrounded by the planned far locus 3, and the center coordinate position (O ′) of the figure is the largest from the former center coordinate position. The modeling object 2 displaced by matching the far or closest position (R) with the nearest or closest position (S) from the latter central coordinate position is corrected to the original position. Become.

  However, when the shape in the planar direction of the modeling object 2 is circular, it is impossible to specify the farthest or the nearest position.

  However, in such a case, since it is possible to correct the deviation by matching both the central coordinate positions (O ′ and O), the farthest or closest position as described above. There is no need to consider that the problem cannot be identified.

  The basic principle of the basic configuration (3) will be described.

In the basic configuration (3), the coordinates of the position (P ₁ ) at which the measured value changed suddenly are initially recorded in the computer, and then on the planned far locus 3 where the rotation center 11 of the tool has been moved so far. As indicated by the dotted line arrow 5, the position is moved in the opposite direction, and the measured value changes abruptly in the same manner, that is, the position where the current value or power value changes suddenly from a lower value to a higher value than the reference range (P ₂ ). , And the coordinate position of the position is recorded in the computer. As shown in FIG. 5, the recorded far locus 3 and the rotation target 11 of the tool are displaced as shown in FIG. The coordinate positions of the _two intersections (P ₁ and P ₂ ) with the deviation outer locus 4 when moving along the periphery are recorded.

In the basic configuration (3), as shown by the solid line arrow in FIG. 4 , the tool 1 is shaped from one of the _two positions (P ₁ and P ₂ ) where the measured values suddenly change as described above from one to the other. The object 2 is moved while being in contact with the surface located on the side away from the region of the planned far locus 3 moved in the opposite direction, and the moved positions are sequentially based on a predetermined section. The coordinate position is set and the deviation outer locus 4 is recorded in the computer as in the case of the basic configuration (2).

In addition, among the surfaces of the modeling object 2, the surface on the side farther from the region in which the tool 1 is moved in the reverse direction is selected from the planned far locus 3 as described above. A straight line (Q ₁ Q ₂ ) that is parallel to the straight line (P ₁ P ₂ ) connecting the positions where the measured values change suddenly and has the same length exists on the deviated outer locus 4 surrounding the region as described above. However, by selecting the latter straight line, the center coordinate position (O ′) of the figure surrounded by the deviation outer locus 4 can be specified.

  When the tool 1 moves while in contact with the deformed modeling object 2, the contact and movement cause rotation without cutting.

In the basic configuration (2), the two measured values are equidistant from and parallel to the straight line (P ₁ P ₂ ) connecting the positions where the measured values change suddenly, and are on the deviation outer locus 4. A straight line (Q ₁ Q ₂ ) is calculated, and the central coordinate position (O ′) of the rhombus (◇ P ₁ P ₂ Q ₂ Q ₁ ) obtained by connecting both of the parallel straight lines is specified. The center coordinate position (O ′) corresponds to the center coordinate position of the figure surrounded by the deviation outer locus 4.

  That is, even in the figure, there is always a center coordinate position (average position in the x direction and y direction) on the two-dimensional direction plane (x, y direction plane), and the center coordinate position is the deviation outer locus. 4, all of a plurality of (two or more) arbitrarily selected combinations of two points are in a state that can correspond to the center of symmetry (in other words, with respect to any one point of the deviation outer locus 4). The symmetrical point with respect to the center coordinate position is selected on the deviation outer locus 4).

In such a case, since each vertex of the rhombus (◇ P ₁ P ₂ Q ₂ Q ₁ ) is on the deviation outer locus 4, the center coordinate position (O ′) of the opposite vertex is simply the rhombus center. Not only corresponds to the coordinate position, but also corresponds to the center coordinate position (O ′) of the figure surrounded by the deviation outer locus 4.

On the contrary, a position symmetrical to the positions (P ₁ and P ₂ ) where the two measured values change suddenly with respect to the central coordinate position (O ′) is always present on the locus, and A triangle (ΔP ₁ P ₂ O ′) by a central coordinate position and a position where the measurement values at the two locations change suddenly, and a position symmetrical to the sudden change position based on the central coordinate position (O ′). Since the triangle (ΔQ ₁ Q ₂ O ′) formed by a certain two points (Q ₁ and Q ₂ ) is congruent, what are the opposite sides (P ₁ P ₂ and Q ₁ Q ₂ ) of both sides? The angles of equal length and corresponding to each other (∠P ₁ P ₂ O 'and ∠Q ₂ Q ₁ O' and ∠P ₂ P ₁ O 'and ∠Q ₁ Q ₂ O') Is equal to

Therefore, the straight line (P ₁ P ₂ ) connecting the positions where the measured values change suddenly and the straight line connecting the two points at the symmetrical positions (actually Q ₁ Q ₂ ) are measured as described above. The straight line (P ₁ P ₂ ) connecting the positions where the values change suddenly is equal in length and parallel to the straight line (Q ₁ Q ₂ ) existing on the trajectory, and essentially matches.

In other words, as described above, the straight line (Q ₁ P ₂ ) connecting the positions where the measured values change suddenly is equal in length and parallel, and connects the two points existing on the locus (Q ₁ Q ₂ ) always exists as a straight line connecting symmetrical points with respect to the center coordinate position (O ′) of the figure by the locus.

As described above, a straight line (Q ₁ Q ₂₎ that connects two points on the locus that are equal in length and parallel to the straight line (P ₁ P ₂ ) that connects the positions where the measured values change suddenly. ₂ ) (Q ₁ and Q ₂ ) forming two coordinates ((x ₁ ′, y ₁ ′) and coordinates (x ₂ ′, The combination of y ₂ ′)) is realized by sequentially combining and selecting in accordance with the requirement of satisfying such a distance and parallel state, and the specific calculation method is described in the second embodiment. As described later.

The correction of the position of the modeling object 2 after calculating the center coordinate position (O ′) of the deviation outer locus 4 is the same as in the case of the basic configuration (2) .

The basic configuration operating functions software created by CAM systems (4), the corresponds to the basic configuration of (2), specific operation is as shown in the flowchart of FIG.

As shown in the flowchart of FIG. 5 , even if the modeling object 2 is deviated from its original position by an accident, it is based on a command from a computer that operates based on software created by a CAM system linked to the CAD system. Thus, the correction (2) can be objectively realized.

  In addition, as a movement that coincides with the shift of the center coordinate position (O ′) of the deviation outer locus 4 to the center coordinate position (O) of the planned far locus 3, the coordinate positions in the x-axis direction and the y-axis direction are changed. It is possible to select both a method for instructing an external mechanism to move corresponding to a change and a method for instructing an external mechanism by calculating a moving distance and a moving angle corresponding to the shift.

  Similarly, in the deviation outer locus 4, it is the farthest from the center coordinate position (O ′), the nearest coordinate position (R), the farthest from the center coordinate position (O) of the planned far locus 3, or the nearest coordinate position ( The selection is also possible in the case of a shift to S).

The basic configuration (5) software operating functions created by CAM systems, the corresponds to the basic configuration of (3), specific operation is as shown in the flowchart of FIG.

  As shown in the flowchart of FIG. 7, even if the modeling object 2 is deviated from its original position by an accident, it is based on a command from a computer that operates based on software created by a CAM system linked to the CAD system. The correction of (3) can be objectively realized.

  The movement corresponding to the shift of each coordinate position is performed based on the distance and angle between the respective coordinate positions to be shifted, as in the flowchart of FIG.

  In the following, description will be made in accordance with examples.

Example 1, in the basic configuration (3), first per fluctuating position measurements are further detected by the sudden change in the measurement value is moved to the detected position (P ₁₎ and backward (P ₂₎ , Each distance (x ₁ −x ₂ , y ₁ −y ₂ ) in the orthogonal coordinates (x, y coordinates) is calculated, and a plurality of coordinate positions in the deviation outer locus 4 are set in advance in the case of the planned far locus 3. After setting the same, subtraction calculation is performed for a combination of _two coordinates (coordinates (x ₁ ′, y ₁ ′) and coordinates (x ₂ ′, y ₂ ′)) (x ₁ ′ −x ₂ ′, y ₁ ′ −y ₂ ′), and the difference from each distance (x ₁ −x ₂ , y ₁ −y ₂ ) related to the calculation is less than δ which is a predetermined error. whether _{(| x 1 '-x 2'} -x 1 + x 2 |, and _{| y 1 '-y 2' -y} 1 + y 2 | is whether or less than a predetermined error [delta]) was determined In addition, the two measured values for a straight line connecting the two coordinates (coordinates (x ₁ ′, y ₁ ′) and coordinates (x ₂ ′, y ₂ ′)) within the error range. It is characterized in that a determination is made that the distance is the same distance as the straight line (P ₁ P ₂ ) connecting the sudden change positions, and is a parallel straight line (Q ₁ Q ₂ ).

As already described in the section of the embodiment, the length (P ₁ P ₂ ) is the same as and parallel to the straight line (P ₁ P ₂ ) connecting the two points where the measured value changes suddenly, and is on the deviation outer locus 4. There is always a straight line (Q ₁ Q ₂ ) that exists.

In the second embodiment, combinations of coordinates (coordinates (x ₁ ′, y ₁ ′) and coordinates (x ₂ ′, y ₂ ′) on the deviation outer locus 4 already recorded in the computer are used. By sequentially selecting the combination) and performing the subtraction calculation, two coordinate positions that can satisfy the straight line (Q ₁ Q ₂ ) are specified and selected.

The distance and direction of the straight line (P ₁ P ₂ ) connecting the sudden change positions of the two measured values are already determined by the difference between the coordinate positions of the two places (x ₁ −x ₂ , y ₁ −y ₂ ). Yes.

In such a case, two coordinates are selected on the deviation outer locus 4 recorded by the computer, and the same difference (x ₁ ′ −x ₂ ′, y ₁ ′ −y ₂ ′) is calculated. Even if it is performed, the difference (x ₁ −x ₂ , y ₁ −y ₂ ) based on the coordinates of the straight line (P ₁ P ₂ ) connecting the sudden change positions of the two measured values, that is, satisfying the distance and direction. ) Is not always realized (this is because each coordinate on the deviation outer locus 4 is set in accordance with a predetermined section).

However, even if the numerical values of the two subtraction calculations do not completely match, in the predetermined error range, specifically, in the deviation outer locus 4, the division unit dividing each coordinate (x-axis direction or y-axis direction) By setting a numerical value less than or equal to the error range, two coordinates within the error range can be selected (specifically, (x ₁ ', y ₁ ') After the selection, the other coordinates (x ₂ ′, y ₂ ′) on the deviation outer locus 4 are sequentially set, and | x ₁ ′ −x ₂ ′ −x ₁ + x ₂ | and | y ₁ It is sufficient to determine whether any of “−y ₂ ” −y ₁ + y ₂ | is equal to or less than the error δ and select a combination of two corresponding coordinate positions).

  By selecting the two coordinate positions on the deviation outer locus 4 as described above, in the second embodiment, the central coordinate position (O ′) of the figure surrounded by the deviation outer locus 4 can be quickly calculated. It becomes possible.

Example 2 Oite the basic configuration (5), the CAM system which joins the CAD system are characterized in that to create the following software corresponding to Example 1, the operating sequence is , it is shown in the flowchart of FIG.
1. Calculation of each distance (x ₁ -x ₂ , y ₁ -y ₂ ) in orthogonal coordinates (x, y coordinates) of the sudden change positions (P ₁ , P ₂ ) of two recorded measurement values, and the calculation Recording of values in a shift register,
2 In the deviation outer locus created by the CAD system, the first coordinate (x ₁ ′, y ₁ ′) is close to either one of the _two coordinate positions (P ₁ , P ₂ ) where the measured value has suddenly changed. A command indicating that the _first coordinate position (x ₁ ′, y ₁ ′) should be sequentially selected from the position and the second coordinate position (P ₁ , P ₂ ) in the order of the position closer to the other. A command to sequentially select coordinate positions (x ₂ ', y ₂ '),
3 first coordinate position _{(x 1 ', y 1'} ) after having sequentially identified a second coordinate position _{(x 1 ', y 1'} ) while sequentially changing the first coordinate position and a second each distance in each coordinate of the coordinate position _{(x 1 '-x 2',} y 1 '-y 2') and the distance in Cartesian coordinates fluctuating position of the measured value of the two locations (x ₁ -x _2, y ₁ −y ₂ ) (x ₁ ′ −x ₂ ′ −x ₁ + x ₂ , y ₁ ′ −y ₂ ′ −y ₁ + y ₂ )
4 Judgment whether or not the absolute value of the difference of 3 is a predetermined error δ (| x ₁ '−x ₂ ' −x ₁ + x ₂ | ≦ δ, | y ₁ '−y ₂ ' −y ₁ + y ₂ │ ≦ δ judgment),
5 Identification of the first coordinates (x ₁ ′, y ₁ ′) and the second coordinates (x ₂ ′, y ₂ ′) satisfying the determination requirement 4 and the recording of these coordinate positions.

Thus, the second embodiment, the point that concrete to create the software, and so actually identified the parallel straight lines required for the particular parallel straight Example ₁ (Q 1 Q ₂₎ There is technical value.

  The present invention can be used in all fields of three-dimensional modeling methods based on cutting movement of a tool in a two-dimensional plane direction.

DESCRIPTION OF SYMBOLS 1 Tool 11 Rotation center of a tool 2 Modeling object 3 Planned far locus 4 Deflection outer locus

Claims (7)

Within the region range of the position closest to the modeling object from the position farthest from the center of rotation of the tool in the two-dimensional plane direction (x, y plane direction) orthogonal to the predetermined one-dimensional direction (Z-axis direction) In the three-dimensional modeling method by sequentially cutting while moving the tool along a plurality of preset trajectories, a trajectory at a position farthest from the modeling target among the plurality of trajectories ( hereinafter referred to as “scheduled distant”). The load current or load power generated by the movement accompanied by the rotation of the tool is measured when moving along the trajectory.), And the measured value is lower than the reference range when cutting is performed. by sudden change to a higher state than to detect a state in which the installation position of the shaped object is displaced from the original position, it will stop movement of the tool, the rotational center plan distant tool At the end the movement of the mark phase, the load current or deviation detection method of a shaped object to be automatically stopped measured load power. In the detection method according to claim 1, after the position (P ₁ ) at which the measured value suddenly changes from a lower value to a higher value than the reference position is detected in the process up to stopping the movement of the tool , the object to be shaped By moving the tool along the surface without making the rotation necessary for cutting, the tool is positioned on the outside of the offset object by the cutting radius of the tool. The coordinates of the center coordinate position (O ′) of the deviation outer locus are calculated, and the center coordinate position on the deviation outer locus is calculated. While calculating the coordinate position (R) that is furthest from or closest to (O ′), the center coordinate position (O) of the figure surrounded by the planned far locus is calculated, and the center coordinate position (O) The furthest or nearest coordinate position ( ) And the center coordinate position (O ′) resulting from the deviation of the modeling object is matched with the center coordinate position (O) of the planned far locus, and the center coordinate position (O ') The object to be modeled is controlled by the NC controller so that the closest coordinate position (R) is the farthest or closest coordinate position (S) from the center coordinate position (O) of the planned far locus. A method for correcting a deviation of a modeling object by moving. The coordinates of the position (P ₁ ) at which the measured value suddenly changes from a value lower than the reference range to a higher value in the process up to stopping the movement of the tool in the detection method according to claim 1 is the computer of the NC controller. And a position (P ₂ ) where the measured value suddenly changes from a value lower than the reference range to a value higher than the reference range is detected by moving the tool in the reverse direction along the planned far locus. The coordinates of the position (P ₂ ) are recorded in the computer, and are necessary for cutting from either one of the two rapidly changing coordinate positions (P ₁ , P ₂ ) toward the other. By moving the surface of the object to be moved away from the area of the planned far locus moved in the opposite direction without rotating the tool while moving it, the coordinates of the deviation outer locus are changed. Multiple Min is recorded in the computer along in deflection on the outer track, and the same length as the straight line (P ₁ P ₂₎ joining the coordinate position of the two positions the suddenly changes (P _1, P _2), and Two coordinate positions (Q ₁ , Q ₂ ) that can form a straight line parallel to the straight line are calculated by the computer, the two rapidly changing coordinate positions (P ₁ , P ₂ ), and the like By calculating the center coordinate position of the diamond (◇ P ₁ P ₂ Q ₂ Q ₁ ) formed by the _two coordinate positions (Q ₁ , Q ₂ ) calculated by the computer, the center of the deviation outer locus While calculating the coordinates of the coordinate position (O ′) and calculating the coordinate position (R) that is farthest or closest to the center coordinate position (O ′) on the deviation outer locus, the planned far locus The center coordinate position (O) of the figure surrounded by In addition to the calculation, the coordinate position (S) that is farthest from or closest to the center coordinate position (O) is calculated, and the center coordinate position (O ′) due to the deviation of the object to be modeled is the center of the planned far locus. The coordinate position (O) is the farthest from the center coordinate position (O ′) calculated in the deviation outer locus, or the closest coordinate position (R) is the farthest from the center coordinate position (O) of the planned far locus. A deviation correction method for a modeling object by moving the modeling object by an NC controller so as to match the coordinate position (S) that is far away or closest. For each position (or x, y coordinates) in the orthogonal coordinates (x, y coordinates) for the position (P ₁ ) where the sudden change of the measured value is first detected and the sudden change position (P ₂ ) of the measured value further detected by moving in the reverse direction. x ₁ −x ₂ , y ₁ −y ₂ ), and a plurality of coordinate positions are preliminarily farther in the deviated outer locus located on the side away from the region of the planned far locus moved in the opposite direction. After setting the same as in the case of the locus, a subtraction calculation is performed for a combination of _two coordinates (coordinates (x ₁ ′, y ₁ ′) and coordinates (x ₂ ′, y ₂ ′)) (x ₁ '-x _2', performs calculation of y ₁ '-y _2'), the difference between the distance _{(x 1 -x 2, y 1} -y 2) according to the calculation is, among the predetermined error Whether or not (| x ₁ '−x ₂ ' −x ₁ + x ₂ | and | y ₁ '−y ₂ ' −y ₁ + y ₂ | are equal to or less than a predetermined error δ. The straight line connecting the positions of the _two coordinates ((x ₁ ', y ₁ ') and coordinates (x ₂ ', y ₂ ')) within the error range. , claim 3, characterized in that the determination that the the same distance between the straight line (P ₁ P ₂₎ joining the fluctuating position of the measured value of the two locations, and a parallel straight line (Q ₁ Q ₂₎ The deviation correction method of the modeling target object of description. A CAM system that works with a CAD system and creates the following software.
1. In a stage where the tool is moving along a planned far locus, an operation start command with the sudden change state of the measured value of the load current or load power according to claim 1 as an input,
2 With respect to the CAD system and the command to make a round without the rotation necessary for cutting along the deviation outer locus with respect to the outer surface of the modeling object that is displaced from the original position with respect to the tool , A command to create the rounded deviation outer locus, and a command to record each coordinate of the deviation outer locus along a plurality of sections,
3. A calculation command for the center coordinate position (O ′) of the deviation outer locus based on the plurality of two loci, and a recording command for the calculated center coordinate position (O ′).
4 Calculation of the coordinate position (R) that is farthest or closest to the center coordinate position (O ′) according to 3 and a recording command for the calculated coordinate position;
5. Calculation of the center coordinate position (O) of the figure surrounded by the planned far locus and the recording command of the calculated center coordinate position (O).
6 Calculation of the coordinate position (S) that is farthest from or closest to the central coordinate position (O) according to 5 and a recording command for the calculated coordinate position;
7 With respect to the external mechanism for moving the modeling object, the center coordinate position (O ′) of the deviation outer locus is shifted to the center coordinate position (O) of the planned far locus, and the center coordinate position (O A movement command corresponding to shifting the coordinate position (R) that is furthest from or closest to ') to the center coordinate position of the planned distant locus. A CAM system that works with a CAD system and creates the following software.
1. In a stage where the tool is moving along a planned far locus, an operation start command with the sudden change state of the measured value of the load current or load power according to claim 1 as an input,
2. Recording command of coordinates of the position (P ₁ ) where the measured value suddenly changes in the planned far locus,
3 A position where the measured value of the load current or load power suddenly changes again with the movement command in the direction opposite to the originally set movement direction and the movement in the reverse direction along the planned far locus (P _2). ) Coordinate recording command,
4 With respect to the tool, from the one of the _two coordinate positions (P ₁ , P ₂ ) that change suddenly toward the other, the reverse direction of the surface of the modeled object is not accompanied by the rotation of the tool necessary for cutting. For the command and the CAD system that is moving while being in contact with the surface located on the side away from the region of the planned far locus that has moved to the CAD system, the deviation outer locus creation command by the movement, and the displacement A command to cause the computer to record each coordinate of the outer trajectory along a plurality of sections;
5. A straight line that is the same length as the straight line (P ₁ P ₂ ) connecting the _two regions (P ₁ , P ₂ ) that suddenly change on the planned out-of-vibration locus can be formed. coordinates of two points (Q _1, Q ₂₎ calculated instruction to calculate the, and recording command of the coordinate position of the coordinate position of the specified two points on the basis of the calculation (Q _1, Q _2),
6 Diamond shape (◇ P ₁ P ₂ ) formed by the _two coordinate positions (P ₁ , P ₂ ) where the measured value changes suddenly and the two coordinate positions (Q ₁ , Q ₂ ) calculated and recorded Q ₂ Q ₁ ) center coordinate position (O ′) calculation command ((P ₁ , Q ₂ ) or (P ₂ , Q ₁ ) center coordinate position coordinate (O ′) calculation command), and the relevant coordinates Command to record position (O '),
7 Calculation of the coordinate position (R) that is farthest from or closest to the center coordinate position (O ′) according to 6 and a recording command for the calculated coordinate position;
8. Calculation of the center coordinate position (O) of the figure surrounded by the planned far locus and the recording command of the calculated center coordinate position (O).
9 Calculation of a coordinate position (S) that is farthest from or closest to the central coordinate position (O) according to 8 and a recording command for the calculated coordinate position;
10 With respect to the external mechanism for moving the modeling object, the center coordinate position (O ′) of the deviation outer locus is shifted to the center coordinate position (O) of the planned far locus, and the center coordinate position (O A movement command corresponding to shifting the coordinate position (R) that is furthest from or closest to ') to the center coordinate position of the planned distant locus. The CAM system for creating software according to claim 6 , wherein the software is linked with a CAD system and the following software is created.
1. Calculation of each distance (x ₁ -x ₂ , y ₁ -y ₂ ) in orthogonal coordinates (x, y coordinates) of the sudden change positions (P ₁ , P ₂ ) of two recorded measurement values, and the calculation Recording of values in a shift register,
2 In the deviation outer locus created by the CAD system, the first coordinate (x ₁ ′, y ₁ ′) is close to either one of the _two coordinate positions (P ₁ , P ₂ ) where the measured value has suddenly changed. A command indicating that the _first coordinate position (x ₁ ′, y ₁ ′) should be sequentially selected from the position and the second coordinate position (P ₁ , P ₂ ) in the order of the position closer to the other. A command to sequentially select coordinate positions (x ₂ ', y ₂ '),
3 first coordinate position _{(x 1 ', y 1'} ) after having sequentially identified a second coordinate position _{(x 1 ', y 1'} ) while sequentially changing the first coordinate position and a second each distance in each coordinate of the coordinate position _{(x 1 '-x 2',} y 1 '-y 2') and the distance in Cartesian coordinates fluctuating position of the measured value of the two locations (x ₁ -x _2, y ₁ −y ₂ ) (x ₁ ′ −x ₂ ′ −x ₁ + x ₂ , y ₁ ′ −y ₂ ′ −y ₁ + y ₂ )
4 Judgment whether or not the absolute value of the difference of 3 is a predetermined error δ (| x ₁ '−x ₂ ' −x ₁ + x ₂ | ≦ δ, | y ₁ '−y ₂ ' −y ₁ + y ₂ │ ≦ δ judgment),
5 Identification of the first coordinates (x ₁ ′, y ₁ ′) and the second coordinates (x ₂ ′, y ₂ ′) satisfying the determination requirement 4 and the recording of these coordinate positions.

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