JP6529875B2 - Method of creating exercise program, computer, program, and recording medium - Google Patents

Description

  The present invention relates to a motion program creation method, computer, program, and recording medium for creating a movement path of a nozzle in an apparatus that performs deburring, removal, or cleaning by a jet.

  There is an apparatus for pressurizing the liquid to a high pressure and performing cleaning and deburring which are ejected from a nozzle facing the object to be cleaned. In this type of cleaning device, the nozzle is disposed in a moving device having an XYZ axis, the object to be cleaned is fixed to a jig, and the moving device moves the nozzle, for example, a screw hole, cross hole, slot or the like of the object The burrs, chips and other foreign matter remaining on the work target site are removed by moving the nozzle while making the nozzle face the milling cutter (hereinafter referred to as “work target site”) and spouting liquid from the nozzle ( For example, Patent Document 1).

  When the jet of liquid contacts the surface of the object to be cleaned, the jet changes the flow direction along the surface of the portion to be cleaned that is in contact with the surface. At this time, burrs, chips and other foreign matter remaining at the contact point between the jet and the surface of the object to be cleaned are removed by dynamic pressure of the jet.

  In the above-described cleaning apparatus, it is desirable to apply a liquid jet to the entire surface of the object to be cleaned. However, in general, since the cleaning time is limited, the work target site is selected based on the cleaning effect to be obtained. Then, a moving program of the moving apparatus is created according to the sorted result. In such a cleaning apparatus, the selection of the nozzle path has a great influence on the processing result and the deburring effect.

  With regard to the path of the nozzle, the nozzle attached to the cleaning device is moved by a handle or the like with respect to the object to be cleaned to store position coordinates, or the coordinates of the nozzle from the reference point (work coordinate origin) of the object to be cleaned How to hand-calculate and create programs has been taken.

JP-A-8-90365

  When the user moves the nozzle attached to the cleaning device to store the position coordinates, there is a wrinkle in the determination of the position coordinates for each user, and it is not correct because it is determined visually. In addition, when manually calculating the coordinates of the nozzle, the calculation is difficult and very time-consuming. An object of the present invention is to provide a method of creating a motion program by accurately calculating the position coordinates of a nozzle using a computer.

  The jet is straight. The jet flow differs in its flow structure depending on the distance from the injection port. For this reason, in order to use a jet stream for various operations, the distance between the injection port and the object to be cleaned has an appropriate range depending on the operation and the jet stream. A second object of the present invention is to provide a method of creating a nozzle movement program suitable for a jet operation.

In view of the above problems, the present invention is a method of creating a motion program of a cleaning apparatus using a computer, wherein the cleaning apparatus includes a nozzle having a nozzle, and the nozzle and the object to be cleaned are relatively controlled by computer control. A shape model of an object to be cleaned having an opening edge portion of a work target portion having a two-dimensional shape and stored in a storage device of the computer, and a jet direction of jet flow from the nozzle to the nozzle A reference point of the nozzle, and an extension line of the jet vector starting from the reference point passes through the center of the injection port, the injection port and the opening edge The opening edge is included in the arithmetic device connected to the storage device of the computer based on the injection hole separation distance which is a setting value related to the distance to the unit. A step of computing the representative plane from置平surface, step the computing device, parallel to the representative plane, facing the representative plane and for calculating a work plane is spaced by said nozzle hole distance from the representative plane And the arithmetic unit calculates coordinates of the reference point on the work plane, the extended line of the jet vector starting from the coordinates passing through the centroid of the opening edge Step of creating an exercise program of the washing apparatus by creating a path along which the reference point of the nozzle continuously passes through the coordinates on the work plane . Here, "continuous" includes not only passing the coordinates 58a to 58e continuously but also inserting another route on the way.

Here, "cleaning" includes deburring and repelling.
The inventors have found that an optimum cleaning effect can be obtained when the central axis of the jet passes through the center (centre) of the opening edge of the work object having the opening edge. did.

According to the above configuration, the reference point corresponding to the position of the nozzle of the nozzle passes through the working plane spaced apart from the representative plane including the opening edge of the work target by the distance between the nozzle and the jet, A distance from the opening edge portion of the work target portion to be performed is secured by the injection hole separation distance stored in the storage device. The jet vector has the direction of the jet. The coordinates of the reference point of the nozzle are determined such that the center of the injection port is located on the extension of the jet vector starting from the reference point. That is, the jet flow spouted from the nozzle spouts from the nozzle centering on the jet vector starting from the reference point. Since the nozzle coordinates are calculated so that the extension line of the jet vector passes through the centroid of the opening edge, the jet ejected from the nozzle positioned at the calculated coordinates collides with the centroid of the opening edge Do. Since the coordinates are determined so that the jet collides with the centroid of the opening edge, coordinates suitable for cleaning the work target site are calculated.
Further, according to the above configuration, the path of the reference point of the nozzle created by the computing device continuously passes on the work plane separated from the surface of the object to be cleaned, so an exercise program suitable for cleaning by a jet is It can be created. The jet travels approximately straight until it collides with the surface of the object to be cleaned. As the nozzle moves along the path defined by the motion program, the jet freely expands and contracts its length according to the surface shape of the object to be cleaned which the jet collides. Therefore, it is desirable that the nozzle path be set so as to pass on the work plane even if the depth of the work target portion and the height of the opening edge change a little. The path continuously passing the calculated coordinates on the working plane also has the effect of shortening the path distance.

  Preferably, in the method of creating an exercise program according to the present invention, in the step of computing the representative plane, the computing device is the most cleaned object among the plurality of layout planes when a plurality of layout planes are calculated. Selecting the arrangement plane projecting from the inside of the box as the representative plane.

  If a plurality of arrangement planes are calculated, the most projecting arrangement plane among the plurality of arrangement planes is taken as a representative plane, and if the nozzle moves in the working plane separated from the representative plane by the injection hole separation distance, There is little risk of interference with the object to be cleaned.

In addition, a strong cleaning effect can be expected in the range where the jet stream collides with the object to be cleaned. For example, as the shape of the jet is conical or fan-shaped, the jet expands as it leaves the nozzle. In the case of using these nozzles, the narrowest width of the jet spread at each opening edge can be easily estimated by defining the distance between the most projecting arrangement plane and the nozzles. According to the above configuration, it is possible to create an exercise program by planning in advance a range in which a strong cleaning effect can be expected.

In the method of creating an exercise program according to the present invention, preferably, in the step of calculating the representative plane, the opening is included in each arrangement plane when the arrangement plane is calculated in a plurality. a step of counting the number of edges, the arithmetic unit has the number of the most common the arrangement surface of the counted the opening edge includes a step of determining the representative plane.

  The distance between the injection ports is a distance on which the jet spreads and the dynamic pressure of the jet is based upon creating the motion program. According to the above configuration, among the plurality of arrangement planes, since the arrangement plane including the largest number of opening edges is selected as a representative plane, the cleaning effect can be easily estimated.

  In the method of creating an exercise program according to the present invention, preferably, the arithmetic device is based on an injection hole separation distance calculation function or an injection hole separation distance selection matrix associated with a nozzle type or injection hole stored in the storage device. The method further comprises the step of computing the separation distance.

  In the cleaning operation, the nozzle separation distance is largely related to the cleaning effect. According to the above configuration, since the computing device computes the injection hole separation distance based on the injection hole separation distance calculation function or the injection hole separation distance selection matrix stored in association with the nozzle type or the injection hole diameter, Even users who do not have sufficient knowledge of the selection can obtain the optimum distance between the injection ports.

In the method of creating a motion program according to the present invention, preferably, in the step of computing the coordinates, the computing device determines that the jet vector is perpendicular to the representative plane, and the jet vector is in the representative plane. The coordinates are calculated to be directed.

  By changing the attitude of the nozzle, the direction in which the jet flow with respect to the mounting position of the nozzle may change. At this time, it is desirable that the jet be jetted perpendicularly to the work target portion with respect to the arrangement plane of the opening edge of the work target portion. According to the above configuration, since the jet vector is calculated to be perpendicular to the representative plane, it is possible to create an exercise program suitable for cleaning.

  Also, when the user selects a group of opening edges, it is possible to calculate the posture of the object to be cleaned so that a representative plane including the selected group of opening edges is perpendicular to the jet vector. Since the posture of the object to be cleaned can be calculated according to the selected group of opening edges, the exercise program can be more easily created.

In the method of creating a motion program according to the present invention, preferably, the nozzle is provided so as to index an angle around a rotation axis provided on a nozzle mounting surface, and the reference point is viewed from the direction of the rotation axis The coordinates are set based on the index angle of the nozzle and the offset vector of the nozzle at the origin coordinates, which are further stored in the storage device when they are separated by the offset distance from the rotation axis. The calculating step includes the step of calculating an offset coordinate of the sum of the offset vector obtained by rotating the offset vector by the indexing angle and the coordinates, and in the step of creating a motion program of the washing apparatus The computing device is configured to create the path such that the rotation axis passes the offset coordinates.

  According to the above configuration, for the nozzle whose reference point indicating the position of the injection port is provided at the position offset from the rotation axis of the nozzle, the path passing the offset coordinates is calculated based on the indexing angle and the offset vector it can.

The computer according to the present invention includes instruction set storage means for executing the above-mentioned exercise program creation method, and wash object model storage means for storing a shape model of the wash object having the two-dimensional shape of the opening edge. A storage unit having a nozzle model storage unit for storing a nozzle model having the jet vector and the reference point; and a parameter storage unit for storing the injection hole separation distance; and the storage unit connected to the storage unit; The arithmetic device having a representative plane arithmetic means for calculating a plane, a work plane arithmetic means for calculating the work plane, a coordinate arithmetic means for calculating the coordinates, and a path creating means for creating the path An input device connected to a storage device, and a display device connected to the storage device.

The present invention includes to the computer, a program for executing the method of creating the above-mentioned exercise program, and a computer-readable record medium storing the program.

  According to the present invention, the position coordinates of the nozzle can be easily and accurately calculated using a computer. In addition, the present invention can provide a method of creating an exercise program that calculates the relative position between the nozzle suitable for cleaning and the object to be cleaned.

It is a perspective view showing the washing device which is a controlled object in an embodiment of the present invention. It is a block diagram showing a computer of a 1st embodiment of the present invention. Fig. 3 shows a representative graphical user interface of the display of Fig. 2; It is a perspective view which shows the downward injection nozzle of 1st Embodiment of this invention. It is a flowchart which shows the program production method of 1st Embodiment of this invention. It is a schematic diagram which shows the program production method of 1st Embodiment of this invention. It is a schematic diagram which shows the to-be-cleaned object model of 1st Embodiment of this invention. It is a perspective view which shows the sideways injection | spray nozzle of 2nd Embodiment of this invention. It is a schematic diagram which shows the program production method of 2nd Embodiment of this invention. Fig. 10 shows a projection of the XY plane of Fig. 9; It is a schematic diagram which shows the program production method of 2nd Embodiment of this invention. It is a schematic diagram which shows the program production method of the modification 1 of 2nd Embodiment of this invention. It is a perspective view which shows the offset injection | spray nozzle of 3rd Embodiment of this invention. It is a schematic diagram which shows the program production method of 3rd Embodiment of this invention.

First Embodiment
(Target device)
With reference to FIG. 1, the cleaning apparatus 10 which is the target of calculation will be described. The cleaning apparatus 10 includes a quill 11 numerically controlled and freely movable in the XYZ directions, a turret 12 provided on the quill 11, and nozzles 21, 23 and 24 attached to the turret surface of the turret 12 together with the spindle 13, respectively. There is. The number of indices of the turret 12 is six. Among the nozzles 21, 23, 24, one of the nozzles (the nozzle 21 in FIG. 1) that is indexed downward can rotate in the C-axis direction about the rotation axis 18. Furthermore, one nozzle 21 indexed downward can position its rotation angle. In addition, the cleaning apparatus 10 is provided with a table 16 on which the object to be cleaned 17 is placed. The table 16 can be freely rotated in the A-axis direction with the object 17 being placed. The table 16 can also determine the rotation angle.

  The cleaning device 10 sprays the cleaning liquid only from the nozzle 21 which is indexed downward by the turret 12 among the nozzles 21, 23, 24. The indexed nozzle 21 is connected to the turret 12 so as to be able to index the position in the rotational direction or rotational direction about the rotational shaft 18.

  The cleaning device 10 includes the position coordinates of the quill 11, the rotation angle (A-axis coordinates) of the mounting table 16, the positions (X, Y, Z-axis coordinates) of the nozzles 21, 23, and the indexing angle (C-axis) in the rotation direction. Among the nozzles 21, 23, 24, the downwardly indexed nozzle is made to face the object to be cleaned 17 by computer control of the coordinates) or the rotational speed of the nozzle. The cleaning device 10 sprays the cleaning liquid from the determined nozzle 21 toward the object 17 to be cleaned, so that the cleaning material 17 is subjected to the jet 31 a of the cleaning liquid. The jet 31a enters the work target site. The dynamic pressure of the jet 31 a acts on the foreign matter adhering to the work target site which is the work target site, and the foreign substance is removed.

  The inventors show the highest cleaning effect when the center of the jet 31 a hits the center 57 of the opening of the work target (hereinafter referred to as “opening edge 51”) as a result of many cleaning tests. I found it to be done.

  The number of indexes on the turret surface and the types of nozzles 21, 23, 24 attached to the turret surface can be changed as appropriate. Also, a plurality of nozzles may be attached to one turret surface. Although the five-axis device in which the nozzle 21 is moved in the XYZC axial directions and the mounting table in the B axial direction has been described as an example, the number of axes, the arrangement of the axes, and the combination can be freely changed.

  With reference to FIG. 4, the nozzle 21 which ejects the jet stream 31a downward is demonstrated. The nozzle 21 includes a flange 29 fixed to the spindle 13 and a shaft 21 b extending along the rotation axis of the spindle 13. The reference point 27 at the position of the nozzle 21 is a point at the tip of the shaft 21 b and on the axis of the rotation shaft 18. The reference point 27 represents the center of the injection port 28. The extension of the jet vector 14 starting from the reference point 27 passes through the center of the injection port 28. The jet 31 a ejects from the reference point 27 and ejects along the rotation axis 18.

The reference point 27 may be set so that an extension of the jet vector 14 starting from the reference point 27 passes through the injection port 28.

  The jet vector 14 of the rod-like jet 31 a is set parallel to the rotation axis 18 and downward. The direction of jet vector 14 coincides with the direction of jet 31a. The extension line of the jet vector starting from the reference point 27 is the center line of the jet 31a.

  The length of the jet vector 14 may be arbitrarily decided. For convenience, the length of the jet vector 14 may be set to one. The jet vector 14 is defined for the nozzle 21. The cleaning device 10 freely moves in the coordinate space (X, Y, Z, A, C). The jet vector 14 starting from the reference point 27 changes its direction (X, Y, Z) according to the A-axis coordinate and C-axis coordinate of the reference point 27.

  However, in the nozzle 21 of the present embodiment, since the jet vector 14 is parallel to the Z-axis direction, even if the C-axis coordinate rotating about the Z-axis changes, the direction is not changed. In the following description, “coordinates” refers to the absolute position coordinates of the five axes with respect to the coordinate origin (work coordinate origin) of the object to be cleaned 17 (see FIG. 1) unless otherwise specified.

  In FIG. 4, the jet stream 31a is in the form of a straight rod, but it may spread in a fan-shaped flat plate shape or in a conical shape. In this case, the jet vector 14 has the same direction as the center of the jet spread.

(Configuration of CAM system)
As shown in FIG. 2, the CAM (computer aided manufacturing) system 40 is cleaned so that the jet 31 a ejected from the cleaning device 10 collides with the centroid 57 of the opening edge 51 of the work target portion of the object 17 to be cleaned. A system for creating a numerical exercise program of the apparatus 10, which comprises a workstation or a general purpose personal computer.

  In the CAM system 40, an arithmetic unit 41, an input unit 42, a display unit 43, an output unit 45, and a storage unit 47 are connected by a bus 48. The input device 42 includes a keyboard, a switch, a touch panel, a mouse or other pointing device, or a USB port, an optical drive, a LAN connection port, an Internet connection port or other input / output port. The display device 43 includes a GUI (Graphical User Interface) 46. The output device 45 includes a speaker, a printer, or a USB port, an optical drive, a LAN connection port, an Internet connection port, and other input / output ports. The storage device 47 includes a RAM and other main storage devices, and a magnetic drive, flash memory and its auxiliary storage device.

  The storage device 47 includes (1) an instruction set storage unit 47a for storing an instruction set for creating an exercise program according to an embodiment described later, and (2) reference points 27 of positions of respective nozzles for the nozzles 21 and the like. And a nozzle model storage means 47b for storing a nozzle model M1 consisting of a jet vector 14 (see FIG. 4) relative to the turret 12 and (3) a three-dimensional shape of an object to be cleaned, An object model storage means 47c for storing the object model M2 including the opening edge 51 (see FIG. 6) calculated by the arithmetic device 41, and (4) a cleaning device model for storing the axial configuration of the cleaning device 10 Storage means 47d, (5) position coordinate storage means 47e for storing the position coordinates of the nozzle 21 and the like and the object to be cleaned 17 and the cleaning order, and (6) parameter storage means It has a 7f.

  (1) The representative plane computing means 41e for computing the representative plane 521 including the opening edge 51 of the work target portion of the workpiece 17 (see FIG. 1) in the workpiece model M2 ((1) 2) Work plane calculation means 41b for calculating a work plane 55 (see FIG. 7) through which the nozzles 21 and the like pass, and (3) Centric calculation means 41a for calculating a centroid 57 (see FIG. 6); Coordinate calculation means 41c for calculating coordinates of coordinates 58 (see FIG. 7) consisting of postures and positions of the nozzles 21 and the like, and (5) path creation means 41d for creating a path 59 (see FIG. 7) of the nozzles 21; (6) An exercise program creating means 41f for creating an exercise program of the cleaning apparatus 10 (see FIG. 1) to be controlled.

  A graphical user interface (hereinafter referred to as "GUI 46") displayed on the display device 43 will be described with reference to FIG. The display device 43 displays an object model M2 including a three-dimensional shape. The user designates, through the GUI 46, the opening edge 51 of the work target portion of the object 17 to be cleaned to which the jet device collides with the cleaning device 10 to be controlled on the three-dimensional shape model. Further, the GUI 46 can display the position of the reference point 27 (see FIG. 4) such as the nozzle 21, the jet vector 14, the path 59 of the reference point 27 (see FIG. 7), etc.

(How to create exercise program)
With reference to FIGS. 5 and 7, a method of creating an exercise program of the washing apparatus 10 (see FIG. 1) using the CAM system 40 (see FIG. 2) will be described. The user inputs the shape data of the mounting table 16 and the axis configuration data of the cleaning device 10 to the CAM system 40 from the input device 42 (see FIG. 2). The cleaning device model storage means 47d (see FIG. 2) stores the cleaning device model (S1).

  Furthermore, the user inputs the position of the jet vector 14 (see FIG. 4), the position of the reference point 27, etc. into the CAM system 40. The nozzle model storage unit 47b (see FIG. 2) stores the nozzle model M1 (S2). The storage device 47 may store in advance the position of the jet vector 14, the position of the reference point 27, and the like. At this time, the storage device 47 stores the dimension as an argument, and the user can store the nozzle model M1 by inputting a real number to the argument.

  The user then enters the aperture edge 51 into the CAM system 40 via the GUI 46 and the input device 42 of the display 43 in association with the respective nozzles. The storage device 47 stores the opening edge 51 in association with the to-be-cleaned object model M2 and the posture of the to-be-cleaned object 17 (S3). Here, the posture means B-axis coordinates in the present embodiment. The centroid computing means 41a of the computing device 41 computes the centroid 57 from the stored opening edge 51 (S4). The representative plane calculation means 41 e calculates the arrangement plane 52 for each opening edge 51.

  When a plurality of arrangement planes 52 (52a, 52b, 52c) are calculated, the representative plane calculation means 41e performs predetermined selection among the plurality of arrangement planes 52 (52a, 52b, 52c) calculated. Based on the reference, the representative plane 521 which is the reference of work is calculated (S5).

  The work plane calculation unit 41b determines the work plane 55 based on the various data stored in the storage device 47, the nozzle model M1 and the cleaning object model M2. The storage device 47 stores the work plane 55 (S6).

  The coordinate computing means 41 c of the computing device 41 determines the coordinates 58 of the nozzle 21 and the like corresponding to the respective centroids 57 based on the centroids 57, the work plane 55 and the jet vector 14 stored in the storage device 47. The position coordinate storage means 47e stores the coordinates 58 of the nozzle 21 and the like corresponding to each opening edge 51 (S7). The path creating means 41d of the arithmetic device 41 creates the path 59 of the cleaning device 10 based on the order of designation of the coordinates 58 of the nozzle 21 and the like and the opening edge 51 stored in the storage device 47 (S8). The exercise program creation means 41f of the arithmetic device 41 creates an exercise program of the washing device 10 based on the path 59 and parameters stored in the storage device 47 (S9).

  Below, the input in each step and arithmetic processing will be described in detail.

A step S1 will be described in which the storage device 47 stores the cleaning device model and the cleaning object model M2 and the computing device 41 computes work coordinates.

  The cleaning device model includes the three-dimensional shape of the cleaning device 10, the stroke and origin position of each axis, and the jig rotation center from the origin position. The storage device 47 stores the cleaning device model. The stroke and the like are given as variables, and the user may be configured to determine the washing device model by inputting values for the variables from the input device 42.

  The user inputs a three-dimensional shape model of the mounting table 16 and the object 17 from the input device 42. The user places the input three-dimensional shape model of the mounting table 16 and the cleaning object 17 on the cleaning device model on the GUI.

  The user inputs possible postures of the object to be cleaned 17, that is, the B-axis command value through the input device 42 on the cleaning program. The arithmetic device 41 calculates an absolute position coordinate from the machine coordinate origin of the reference point of the workpiece 17 for each posture of the workpiece 17, that is, a so-called workpiece coordinate. The storage device 47 stores the calculated work coordinates.

Step S2, in which the storage device stores the nozzle model M1, will be described in detail.
The user inputs the type and shape of the nozzle for each turret number into the CAM system 40 through the GUI and the input device 42.

  The nozzle model storage means 47b of the storage device 47 stores, for the nozzle 24, the relative position of the position reference point 27 (see FIG. 4) to the turret 12 (see FIG. 1) and the nozzle model M1 consisting of the jet vector 14 . The storage unit 47 stores the nozzle model M1 in association with the turret number.

  Here, the nozzle model M1 can store the relative position of the reference point 27 with respect to the turret 12, with the distance as a variable and the direction as the rotation axis direction. In this case, the user inputs the relative distance from the input device 42 to determine the nozzle model M1.

  Step S3 of storing the opening edge 51 by the arithmetic device 41 will be described in detail with reference to FIG. The opening edge 51 is designated for each posture of the object to be cleaned 17.

  The user inputs the posture of the object to be cleaned 17 via the input device 42 (see FIG. 2). The user designates the opening edge 51 on the wash object model M2 via the GUI 46 and the input device 42 of the display device 43 (see FIG. 2) in accordance with the inputted posture of the wash object 17. The opening edge portion 51 is selected as a two-dimensional contour of the object model M2 or a two-dimensional figure drawn on the object model M2. For example, the opening edge 51 is given as an outline shape of an edge of an opening of a through hole, a bottomed hole, a slot or other work target portion. The position coordinate storage means 47e stores the designated order of the opening edge 51 designated by the user.

  The opening edge 51 does not have to be composed of only a single drawing element that is closed. If it is a drawing element that is partially open, the centroid processing means 41a supplements the opening with a straight line, and corrects the opening edge 51 to a closed area (hereinafter referred to as "closed area"). it can.

  In the case where the opening edge 51 constitutes a closed area by a combination of a plurality of drawing elements, the user may select those components to set as the opening edge 51 forming one closed area. However, in this case, a plurality of drawing elements need to be on the same plane. In this case, the user designates the opening edge 51 with one drawing element constituting the closed area, and the centroid processing means 41a combines the respective drawing elements to form the opening edge 51 having the closed area. Can be calculated.

  The opening edge 51 does not have to be plural, and the present embodiment can be used for a single opening edge 51.

  Further, the following configuration can be adopted instead of storing the opening edge 51 by the storage device 47 in accordance with the posture of the cleaning object 17 input by the user. The user designates the opening edge 51 on the to-be-cleaned object model M2 through the group of opening edges 51 via the GUI 46 and the input device 42 of the display device 43. The storage unit 47 stores a group of opening edges 51 designated by the user. Arithmetic device 41 has wash target model M2 such that a group of arrangement planes 52 (52a, 52b, 52c) is perpendicular to jet vector 14 and the surface of arrangement plane 52 faces jet vector 14. Calculate the attitude of The storage device 47 stores the opening edge 51 corresponding to the calculated attitude of the object model M2. At this time, the arithmetic unit 41 can select the representative plane 521 from the group of arrangement planes 52 as described later, and calculate the attitude so that the representative plane 521 is perpendicular to the jet vector 14 and faces the jet vector 14.

  Step S4 in which the arithmetic device 41 calculates the centroid 57 (57a, 57b,... 57e) will be described.

The centroid computing means 41a computes the centroid 57 (the center of gravity of the plane figure) of each opening edge 51. Since the opening edge 51 is a two-dimensional figure, the centroid processing means 41a can calculate the plane on which the opening edge 51 exists. The storage unit 47 stores the calculated position coordinates of the centroid 57 of the opening edge 51 corresponding to each opening edge 51.

Step S5 in which the arithmetic device 41 calculates the representative plane 521 will be described in detail.
The plane in which the opening edge 51 exists is the arrangement plane 52 in which the opening edge 51 is included. The user uses the input device 42 on the GUI 46 of the display device 43 to designate the opening edge 51 of the object model M2 in the order of cleaning.

The representative plane computing means 41b computes the arrangement planes 52a, 52b,... In which the opening edges 51a, 51b,... Are provided corresponding to the respective opening edges 51a, 51b,. Do. The storage unit 47 stores the calculated information of the placement plane 52 corresponding to each opening edge.

  When a plurality of arrangement planes 52 are calculated, the representative plane calculation means 41e can select, as the representative plane 521, an arrangement plane 52a that protrudes the highest from the surface of the object 17 among the arrangement planes 52a to 52c.

  The representative plane computing means 41e may select, as the representative plane 521, among the arrangement planes 52a to 52c, the arrangement plane 52 having the largest number of the opening edge 51 included in the arrangement plane 52. . At this time, when there are a plurality of arrangement planes 52 having the largest number of opening edges 51 included in the arrangement plane 52, the representative plane calculation means 41e is the largest among the arrangement planes having the maximum number of opening edges 51. The high arrangement plane 52 b is selected as the representative plane 521.

Step S6 of computing device 41 computing work plane 55 will be described in detail.
The user inputs the injection port separation distance L into the CAM system 40 via the input device 42. The nozzle separation distance L is input by the user via the input device 42 and the GUI 46 within a range suitable for work. The parameter storage means 47 f stores the injection hole separation distance L. The work plane calculation unit 41 b calculates a plane parallel to the representative plane 521 and separated by a predetermined injection hole separation distance L as the work plane 55.

  The injection hole separation distance L relates to the distance between the nozzle 21 and the object 17 to be cleaned. In the present embodiment, the injection port separation distance L indicates the distance between the representative plane 521 and the injection port 28. The state of the flow of the jet 31 a is determined by the diameter of the injection port 28, the injection pressure, and the distance from the injection port 28 to the object to be cleaned. The nozzle separation distance L is closely related to the cleaning effect. The nozzle separation distance L may be appropriately selected by the user and may be input to the CAM system 40 via the input device 42. The injection port separation distance L inputted is stored in the parameter storage means 47 f.

  The work plane calculation means 41b defines an input range of the injection hole separation distance L, and when the injection hole separation distance L input by the user deviates from the input range, a warning can be issued via the display device 43 or the like.

  The input range of the injection hole separation distance L can be calculated in accordance with the inter-plane distance of the plurality of arrangement planes 52 and the effective range of the predetermined jet flow. For example, the upper limit of the input range is the effective length of the jet 31 a and the arrangement plane 52 at the lowest position farthest from the representative plane 521 and from the inside of the object 17 and the representative plane 521. The difference between the distance and can be the upper limit. The lower limit range can be determined by the sum of the difference between the arrangement plane 52 most projecting out and the representative plane 521 and the interference prevention length as viewed from the inside of the object to be cleaned 17. Here, the interference prevention length may be calculated in relation to the positioning accuracy of the cleaning apparatus 10, the servo gain, the allowable deviation and other servo parameters.

  The arithmetic device 41 determines the injection port separation distance L based on the injection port separation distance calculation function or the injection port separation distance selection matrix related to the type of the nozzle 21 inputted by the user, the cleaning pressure and the shape of the opening edge 51. Also good. Further, the arithmetic unit 41 calculates the optimum range according to the shape of each opening edge 51, and the injection hole separation is performed from the overlapping range of the position of the arrangement plane 52 including the opening edge 51 and the optimum range. The distance L can be calculated.

  Step S7 in which the arithmetic device 41 calculates the coordinates of the nozzle 21 will be described with reference to FIG. The jet vector 14 of the nozzle 21 is always parallel to the Z axis. Then, the jet vector 14 is directed downward in the Z axis. The attitude of the nozzle 21 is determined by the rotational direction about the Z axis, that is, the C coordinate.

  However, for the nozzle 21, since the jet vector 14 coincides with the rotation axis 18 of the C axis, the jet vector 14 does not change even if the C coordinate changes. Therefore, as for the C-axis coordinates, the position coordinate storage means 47e stores the input value from the user's input device 42 as the nozzle attitude. When there is no input of C-axis coordinates by the user, the coordinate calculation means 41c can use the initial setting value.

  In the coordinate calculation means 41c, the extension line 32 of the jet vector 14 starting from the coordinate 58 (58a, 58b,... 58e) passes the image center 57 (57a, 57b,... 57e) and the coordinate The coordinates of the coordinates 58 are calculated so that 58 is above the work plane 55. In the actual cleaning apparatus 10, the jet 31a (see FIG. 4) spouted from the nozzle 21 at the coordinate 58 is the centroid 57 (57a, 57b,...) Of the opening edge 51 (51a, 51b,.・ It collides with 57e).

Step S8 in which the arithmetic device 41 creates the path 59 will be described. The route creating means 41d creates a route 59 of the reference point 27 (see FIG. 4). The path 59 is created so that the reference point 27 continuously passes the coordinates 58a to 58e of the nozzle 21 corresponding to the opening edges 51a to 51e in the order specified by the user of the opening edge 51 stored in the storage device 47. Be done. Here, continuous includes not only passing the coordinates 58a to 58e continuously but also inserting another route on the way. It should not be interpreted that the route passes continuously only through the calculated coordinates 58a to 58e. The path 59 connects the coordinates 58 (58a, 58b,... 58e) by fast forward or linear interpolation in the cleaning order. The selection between fast forward and linear interpolation is made based on the initial settings. The path creating means 41 d may be configured such that the user can change the cleaning order of the opening edge 51 after selecting the opening edge 51 (51 a, 51 b,... 51 e). At this time, the storage device 47 stores the cleaning order changed by the user. The display device 43 displays the changed cleaning order stored in the storage device 47.

  The path creating means 41d is a locus corresponding to the outline shape of the opening edge 51 immediately after the coordinates 58 (58a, 58b,... 58e) corresponding to the opening edge 51 (51a, 51b,... 51e). May be inserted. For example, trajectories (not shown) corresponding to the contour shapes of 51a and 51d designated by the user can be inserted immediately after 58a and 58d, respectively. The trajectory corresponding to this contour shape need not be limited to being on the work plane 55. In this case, the trajectory created by the route creation unit 41d is in the order of the trajectory corresponding to the contour shape of 58a and 51a, the trajectory corresponding to the contour shape of 58b, 58c, 58d and 51d, and 58e.

  Step S9 in which the arithmetic device 41 creates an operation program will be described. The exercise program creating means 41f creates a numerical exercise program, which is an exercise program, in accordance with the path 59 and the coordinates 58 stored in the position coordinate storage means 47e. At this time, the coordinate definition, the velocity definition and the control code stored in the parameter storage means 47f are embedded in the exercise program so as to be applicable to the cleaning device 10 to be controlled.

  Here, the motion program creating means 41f can use the distance between the turret 12 (see FIG. 1) and the reference point 27 (see FIG. 4) of the nozzle 21 in the nozzle model M1 as tool length correction. The tool length correction amount may be embedded in the motion program. In addition, the computing device 41 can output the set value correction value from the output device 45 as a set value, instead of embedding it in the exercise program. The computing device 41 can display the tool length correction amount and other parameters on the GUI 46.

(effect)
According to the program creation method of the present embodiment, the reference point 27 of the jet vector 14 corresponding to the position of the injection port 28 of the nozzle 21 is the injection port separation distance L from the representative plane 521 including the opening edge 51 a of the object 17 to be cleaned. The distance between the injection port 28 and the opening edge 51 of the work target portion where the jet stream 31a (see FIG. 4) should collide is the separation distance L of the injection port stored in the storage device 47 in order to pass through the work plane 55 spaced apart by Only secured. The jet vector 14 has the same direction as the jet 31a. The reference point 27 of the nozzle 21 is determined such that the center of the injection port 28 is located on the extension of the jet vector 14 starting from the reference point 27. That is, the jet flow 31 a jetted from the injection port 28 of the nozzle 21 jets from the nozzle 21 with the jet vector 14 starting from the reference point 27 as the center. Since the coordinates 58 of the nozzle 21 are calculated so that the extension line of the jet vector 14 passes the centroid 57 of the opening edge 51, the jet 31a jetted from the nozzle 21 positioned at the calculated coordinates 58 is It collides with the centroid 57 of the opening edge 51. Since the coordinates 58 are determined so that the jet 31 a collides with the centroid 57 of the opening edge 51, the coordinates 58 of the reference point 27 of the nozzle 21 suitable for cleaning the work target portion are calculated.

  Since the path 59 of the reference point 27 of the nozzle 21 created by the arithmetic unit 41 passes on the work plane 55 separated from the surface of the object 17 to be cleaned, a motion program suitable for cleaning by the jet 31a (see FIG. 4) Can create The jet 31 a travels almost straight until it collides with the surface of the object to be cleaned 17. When the nozzle 21 moves along the path 59 defined by the motion program, the jet 31a freely expands and contracts its length in accordance with the shape of the wall or bottom of the work target portion. Therefore, it is desirable that the path of the nozzle 21 is set to pass over the working plane 55 even if the depth of the work target portion and the height of the opening edge 51 slightly change. The path 59 continuously moving the calculated coordinates 58 on the work plane 55 also has the effect of shortening the path distance.

  Among the plurality of arrangement planes 52 (52a, 52b, 52c), when a plurality of arrangement planes 52 are calculated, the arrangement plane 52a that protrudes most is taken as the representative plane 521, and is separated from the representative plane 521 by the injection hole separation distance L If the nozzle 21 moves in the working plane 55, there is little possibility that the nozzle 21 and the object 17 to be interfered with each other. The shape of the jet 31 a may be conical or fan-shaped, and the jet may expand as it leaves the injection port 28. In this case, the narrowest width of the spread of the jet stream 31a at each opening edge portion 51 can be easily estimated by defining the injection port separation distance L between the representative plane 521 and the nozzle that most project. A strong cleaning effect can be expected in a range where the jet 31 a collides with the object 17 to be cleaned. According to this embodiment, it is possible to create an exercise program by planning in advance a range where a strong cleaning effect can be expected.

  The injection port separation distance L is a distance which is a base of the dynamic pressure of the jet 31a and the spread of the jet 31a when creating a motion program. According to the present embodiment, among the plurality of arrangement planes 52, the arrangement plane including the largest number of the opening edge portions 51 can be selected as a representative plane, so that the cleaning effect can be easily estimated.

  In the method of creating an exercise program according to the present embodiment, the arithmetic device 41 is based on an injection port separation distance calculation function or an injection port separation distance selection matrix associated with the nozzle type or the injection port stored in the storage device 47. It may include the step of computing L.

  In the method of creating a motion program according to the present embodiment, in step S7 of calculating coordinates 58, coordinates such that jet vector 14 is perpendicular to representative plane 521 and jet vector 14 is directed to representative plane 521 It can be configured to calculate 58.

  According to the above configuration, the object to be cleaned is such that the representative plane 521 including the selected group of opening edges 51 is perpendicular to the jet vector 14 when the user selects the group of opening edges 51. 17 attitudes can be calculated. Since the posture of the object to be cleaned 17 can be calculated according to the selected group of opening edges 51, creation of an exercise program becomes easier.

  Unlike the processing tool, the distance between the injection holes varies with the movement of the injection holes 28 depending on the distance between the surface of the object to be cleaned 17 and the injection holes 28, and the length and shape thereof change every moment. In addition, a reference point 27 associated with the injection port 28 of the nozzle 21 is separated from a centroid 57 corresponding to the processing point. According to this embodiment, the concept of jet vector can be created and used to provide a CAM system 40 suitable for the above-mentioned characteristics of the jet.

  According to the method of creating an exercise program of the present embodiment, an exercise program created based on the coordinates of the reference point 27 of the nozzle related to the center of the injection hole 28 can be obtained. Therefore, the motion program can easily grasp the movement of the injection port 28.

  As described above, the present embodiment provides a CAM system 40 capable of easily creating an exercise program suitable for cleaning by the jet 31a (see FIG. 4). The computing method according to the present embodiment may be provided as a computer system including a program for causing a computer to calculate, a storage medium storing the program, and a storage device storing the program. Also, part of the program may be stored in a server that is isolated from the terminal used by the user and can communicate with the terminal. At this time, the server and the terminal can transmit intermediate data to each other, and the operation can be shared by the server and the terminal.

(Alternative example)
The cleaning apparatus can be used not only for numerically controlled objects but also for apparatuses using industrial robots capable of so-called off-line teaching. The computing device applies the computed coordinates to create a robot language based motion program that is compatible with the device to be controlled.

  Also, the computing device 41 may be configured to perform only one of the above-described calculation methods. In addition, the computing device 41 may be configured to use a combination of the above-described calculation methods in accordance with the user's selection.

"2nd Embodiment"
In the present embodiment, a cleaning apparatus 10 shown in FIG. 1 in which a horizontally oriented nozzle 24 shown in FIG. 8 is set is treated as a target. About the structure of the thing similar to 1st Embodiment, the site | part of a model, and the step of the method, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.

(Control target)
With reference to FIG. 8, the nozzle 24 which ejects the jet stream 31a sideways is demonstrated. The nozzle 24 includes a flange 29 fixed to the spindle 13 and a shaft 24 b extending along the rotation axis 18. The shaft portion 24 b is provided with the injection port 28 on a cylindrical surface in the vicinity of the tip thereof, and jets a rod-like jet 31 a in the lateral direction. An intersection of the center line of the jet 31 a and the rotation axis 18 is taken as a reference point 27.

  The jet vector 14 is set for the nozzle 24. The jet vector 14 has a direction along the center line of the jet 31 a. The extension of the jet vector 14 starting from the reference point 27 passes through the center of the injection port 28. The jet 31 a jets out along the jet vector 14 starting from the reference point 27. As the jet vector 14 rotates along the rotational axis 18 as the nozzle 24 rotates, the direction of the jet vector 14 changes as the nozzle 24 rotates.

(How to create exercise program)
The programming method for the horizontally oriented nozzle 24 will be described in detail with reference to FIGS. 9 to 12.

  FIGS. 9 and 10 are diagrams schematically representing a method of creating a motion program of the nozzle 24 when the arrangement plane 52 is parallel to the Z axis and the jet vector 14 has no Z direction component. FIG. 10 is a schematic view showing the object to be cleaned 17, the work plane 55, and the coordinates 58 (58f, 58g, 58h, 58i) obtained by projecting FIG. 9 from the Z direction.

  Step S5 of computing the representative plane 521 and step S6 of computing the work plane 55 will be described with reference to FIG. Similar to the first embodiment, the centroid processing means 41a of the computing device 41 (refer to FIG. 2) with respect to the opening edge 51 (51f, 51g, 51h, 51i) includes the arrangement plane 52 (52f) included therein. , 52g, 52h). The work plane computing means 41 b of the computing device 41 selects the placement plane 52 g closest to the nozzle 24 (the surface is high) among the placement planes 52 as the representative plane 521. Arithmetic unit 41 calculates a plane parallel to arrangement plane 52g and separated from arrangement plane 52g by injection port separation distance L as work plane 55.

Step S7 of calculating the coordinates 58 of the nozzle 24 will be described in detail.
As shown in FIG. 10, the coordinate calculation means 41c is perpendicular to the arrangement plane 52 and directed to the arrangement plane 52 from the vector 63 indicating the ejection direction of the nozzle 24 when the C-axis coordinate is 0 [°]. The direction of the jet vector 14 is calculated. At this time, the angle C1 along the direction of the C axis of the jet vector 14 is calculated as the C axis coordinate. The position coordinate storage means 47e stores the angle C1 as C-axis coordinates.

  The coordinate calculation means 41c is such that the extension line 32 of the jet vector 14 starting from the coordinate 58 (58f, 58g, 58h, 58i) passes the centroid 57f and the coordinate 58 passes the working plane 55. The coordinates of the coordinates 58f, 58g,... Are calculated corresponding to the opening edges 51f, 51g,. The position coordinate storage means 47e stores the calculated coordinates 58.

  Here, in FIGS. 9 and 10, the same applies to the case where the jet vector 14 has a Z-direction component. At this time, the coordinate calculation means 41c substitutes the jet vector 14 for determining the C-axis coordinate C1 perpendicularly to the arrangement plane 52, and the orthographic projection vector of the jet vector 14 on the XY plane is the arrangement plane 52, The C-axis coordinate C1 can be determined to be perpendicular to the line of intersection with the XY plane.

  In FIG. 11, the jet vector 14 of the nozzle 24 does not have a Z-direction component, but the arrangement plane 52m is schematically inclined to the Z axis when the motion program of the nozzle 24 is created. FIG.

  The coordinate calculation means 41c can calculate the C-axis coordinate C1 so that the jet vector 14 is perpendicular to the intersection line 523 between the arrangement plane 52m which is the representative plane 521 and the XY plane 522. The coordinates 58 (58m, 58n, 58p, 58q) of the nozzle 24 can be rationally determined by using the work plane 55 and the C-axis coordinate C1 calculated in this way.

  Even if the cleaning apparatus 10 can take the posture of the object to be cleaned 17 so that the arrangement plane 52m and the jet vector 14 are perpendicular, it takes time to change the posture of the object 17 to be cleaned. There are times when it is unreasonable to take. At this time, when the arrangement plane 52m of the opening edge 51 of the work target portion is slightly inclined from the Z axis, the inclination from the Z axis of the arrangement plane 52m is excluded and projected from the Z direction, If the arrangement plane 52m and the jet vector 14 are vertical, the jet jetted along the jet vector 14 is smoothly introduced into the opening edge 51 of the work target portion, and the inside can be cleaned.

  At this time, when the jet vector 14 is inclined with respect to the Z axis and perpendicular to the arrangement plane 52m, the jet vector 14 and the arrangement plane 52m are perpendicular according to the method described above.

  The coordinate calculation means 41 c is a nozzle 24 capable of rotating the direction of the jet vector 14 with respect to a certain rotation axis 18, and when projected from the direction of the rotation axis 18, a plane perpendicular to the rotation axis 18 and an arrangement plane 52 m The direction of the nozzle 24 can be calculated so that the jet vector 14 is perpendicular to the line of intersection of In the present embodiment, the orientation of the nozzle 24 is calculated as C-axis coordinate C1.

  Here, the coordinate calculation means 41c can calculate an angle α (see FIG. 11) between the jet vector 14 and the arrangement plane 52m. When the angle α deviates from the allowable angle range determined to be appropriate for the cleaning operation, the computing device 41 can issue a warning to the user via the display device 43 or the like. In this case, the allowable angle range can be stored in the parameter storage means 47f.

(Action effect)
In the method of creating a motion program according to the present embodiment, in step S7 of calculating coordinates 58, coordinates 58 are set such that jet vector 14 is perpendicular to representative plane 521 and jet vector 14 is directed to representative plane 521. Calculate

  The change of the C-axis coordinate of the nozzle 24 changes the direction of the jet vector 14 with respect to the mounting position of the nozzle 24. The jet is preferably jetted perpendicularly to the arrangement plane 52 of the opening edge 51 with respect to the work target site. According to this embodiment, since the coordinates 58 are calculated so that the jet vector 14 is perpendicular to the arrangement plane 52 including the opening edge 51, an exercise program suitable for cleaning can be created.

(Modification 1)
A first modification of the second embodiment will be described with reference to FIG. The coordinates 58 may be calculated so that the jet vector 14 is inclined from the vertical direction of the arrangement plane 52 including the opening edge 51 which is the work target portion. The user can adopt a cleaning method in which the jet vector 14 is inclined from the arrangement plane 52 when there is an obstacle 161 blocking the jet in front of the opening edge 51. At this time, this modification can be used. In this modification, the coordinate calculation step S7 in the case where the arrangement plane 52k and the work plane 55 are parallel to the Z axis and the jet vector 14 has no Z direction component will be described.

  FIG. 12 is a schematic view showing coordinates 58k of the object to be cleaned 17, the work plane 55, and the nozzle 24 projected from the Z direction.

  The coordinate calculation means 41c determines the working plane 55 parallel to the centroid 57k and the arrangement plane 52k of the opening edge 51k in the same manner as the method described above. The computing device 41 computes a virtual line 61 which is perpendicular to the arrangement plane 52k and passes through the centroid 57k. Next, the computing device 41 computes the coordinates of the intersection point 60 between the virtual line 61 and the work plane 55.

  The user inputs the offset amount L 2 from the intersection point 60 on the XY plane passing through the intersection point 60 and on the work plane 55 into the CAM system 40 via the input device 42. The sign of the offset amount L2 can be arbitrarily negotiated. For example, the right side may be input as positive from the positive Z direction along the jet vector 14. The parameter storage unit 47f stores the offset amount L2.

The coordinate calculation means 41c calculates the distance L1 between the arrangement plane 52k and the work plane 55 in the drawing in which the centroid 57k and the intersection 60 are projected on the XY plane. Arithmetic unit 41 calculates coordinates 58k shifted by an offset amount L2 on the line of intersection between the XY plane passing intersection point 60 and work plane 55. Arithmetic unit 41 determines coordinates 58k as the position of the nozzle. The arithmetic unit 41 calculates the angle β between the jet vector 14 and the virtual line 61 according to the following equation.
β = tan ⁻¹ (L2 / L1) (Expression 1)

  The coordinate calculation means 41c adds the angle β determined by the equation 1 and the angle C1 (see FIG. 10) between the imaginary line 61 and the direction of the vector 63 when the C-axis coordinate is 0 [°], The C-axis coordinates of the nozzle 24 are calculated. The position coordinate storage means 47e stores the coordinates 58k of the nozzle and the C-axis coordinates as nozzle coordinates with respect to the opening edge 51k.

  According to the above method, in the actual cleaning device 10, when the jet flow ejected from the direction (the direction of the imaginary line 60) perpendicular to the arrangement plane 52k is interrupted by the obstacle 161, the arithmetic device 41 The position and attitude of the nozzle 24 for jetting from a direction avoiding the obstacle 161 can be calculated.

The user can input the angle β to the CAM system 40 instead of inputting the offset amount L2. The storage device 47 stores the angle β. Arithmetic unit 41 obtains offset amount L2 according to the relationship of the following equation corresponding to angle β and distance L2, and calculates coordinates 58k.
L2 = L1 tan β (equation 2)

  When the jet vector 14 has a Z-direction component, the coordinate calculation means 41c causes the extension line 32 of the jet vector 14 to pass the centroid 57k, and the orthographic projection vector of the jet vector 14 on the XY plane The intersection point 60 is calculated so that the placement plane 52k is perpendicular to the placement plane 52k. Then, a point shifted by the offset amount L2 on the XY plane and on the work plane 55 from the intersection point 60 is set as the coordinates 58k of the nozzle 24. The C-axis coordinate C1 can be calculated based on Equation 1 described above on a figure obtained by orthographically projecting these positions.

"3rd Embodiment"
(Control target)
The nozzle 23, which is an offset nozzle, will be described with reference to FIG. The nozzle 23 is composed of a spindle 13, a block 23a, and a shaft portion 23b. The injection port 28 is provided at the tip of the shaft portion 23 b. The jet 31 a is ejected from the injection port 28 in parallel to the Z direction. The nozzle 23 rotates about the rotation axis 18 and is angularly indexed. When the nozzle 23 is viewed in the direction of the rotation axis 18, the reference point 27 is separated from the rotation axis 18 by the offset distance LO. The jet vector 14 is provided parallel to the Z axis. The nozzle 23 is attached so as to be offset in the X axis direction at the coordinate origin.

  Referring to FIG. 14, the offset vector 71 is given as a vector starting from the reference point 27 and ending at the center of the rotation axis 18 at the nozzle 23o located at the machine coordinate origin. For example, in the nozzle 23, the offset vector 71 is (X, Y, Z, A, C) = (-LO, 0, 0, 0, 0). The nozzle model M1 is configured of a three-dimensional shape model of the nozzle, an offset vector 71, a jet vector 14, and a reference point 27.

(How to create exercise program)
Step S7 of calculating the coordinates 58 will be described with reference to FIG. The computing device 41 computes the position coordinates 58 of the reference point 27 excluding the C-axis coordinates, as in the first embodiment. The user inputs C-axis coordinates for each opening edge 51 via the input device 42. At this time, the arithmetic device 41 may give the same value as the first opening edge of the selection order of the opening edge 51 to an opening edge 51 as an initial setting value. The position coordinate storage means 47e stores the input C-axis coordinate Cs as the C-axis coordinate of the coordinate 58 corresponding to each opening edge.

The coordinate calculation means 41 c calculates an offset amount when the offset vector 71 is rotated at the C-axis coordinate Cs with respect to each opening edge 51. In this case, when the indexing angle is Cs, the offset amount OF is
OF (X, Y, Z, A, C) = (-LOcosCs, -LOsinCs, 0, 0, 0)
Is calculated.

Step S8 of creating a route will be described.
The path creating means 41d creates the path 59 so that the rotation axis 18 passes the offset coordinates 58s1. The offset coordinates 58s1 are given by the sum of the coordinates 58s of the reference point and the offset amount OF.

  Step S9 of creating an exercise program will be described. The exercise program creating means 41 f can create an exercise program based on the coordinates 58 including C-axis coordinates. In this case, immediately before the program line of the movement instruction to the coordinate 58 for changing the C-axis coordinate, an instruction to offset the position coordinate by the coordinate offset amount OF is inserted. That is, the description of the program is performed based on the coordinates 58s of the reference point which is not offset. Then, along with the change of the C-axis coordinate Cs, an input command of the coordinate offset amount is inserted immediately before the move command to the coordinate 58s.

  If it comprises as mentioned above, the exercise program corresponding to the position of the reference point 27 of the nozzle 23 can be created. Each row of the exercise program directly indicates the position of the orifice 28. The user who sees the program can easily understand the reference point position of the line because the description of the exercise program is based on the reference points 27. On the other hand, since the coordinates are offset each time the C axis moves (the nozzle angle is determined), the substantial work coordinate origin position becomes unclear.

  The exercise program creating means 41 f may create an exercise program based on the movement trajectory of the rotating shaft 18 instead of the above description. That is, the exercise program creating means 41 f can create an exercise program based on the sum of the coordinates 58 s of the reference point 27 and the offset amount OF. At this time, since the offset amount OF is incorporated into the movement command value, the workpiece coordinate origin is not offset.

(Action effect)
According to the present embodiment, indexing of the rotary shaft 18 with respect to the nozzle 23 provided with the reference point 27 indicating the position of the injection port 28 at a position offset from the rotary shaft 18 when viewed from the direction of the rotary shaft 18 Appropriate coordinates can be calculated based on the angle Cs and the offset amount OF.

  Even when the opening edge 51 of the work target portion exists at a position beyond the strokes SX and SY of the cleaning device 10 by the use of the nozzle 23, the offset direction is substantially directed out of the stroke. Stroke can be increased. The present embodiment provides a method for easily and accurately creating an exercise program when using such a nozzle 23.

  In addition, although this embodiment demonstrated the offset nozzle of downward injection, it can be similarly applied to the offset nozzle of horizontal injection.

As mentioned above, although several embodiment was described, the CAM system 40 can be comprised so that these embodiments can be used properly according to the kind of selected nozzle. In addition, the user can divide the opening edge 51 on one cleaning object 17 into a plurality of groups, and create an exercise program for each group. At this time, the CAM system 40 can be configured to create an exercise program using any of the above-described embodiments for each group, and combine the exercise programs of each group to create one exercise program. .

DESCRIPTION OF SYMBOLS 10 Cleaning apparatus 14 Jet vector 17 To-be-cleaned object 21, 23 , 24 nozzle 27 Reference point 28 Injection port 40 CAM system (computer)
41 Arithmetic device 41a Center-of-center arithmetic means 41b Work plane arithmetic means 41c Coordinate arithmetic means 41d Path generation means 41e Representative plane arithmetic means 41f Motion program preparation means 42 Input device 43 Display device 45 Output device 47 Memory device 47a Instruction set storage means 47b Nozzle Model storage means 47c Washable object model storage means 47d Working device model storage means 47e Position coordinate storage means 47f Parameter storage means 51 Opening edge 52 Arrangement plane 521 Representative plane 55 Work plane 57 Illustration center 58 Coordinate 60 Intersection 61 Virtual line 71 Offset Vector M1 Nozzle model M2 Object model to be cleaned

Claims (9)

A method of creating an exercise program for a washing apparatus using a computer, comprising:
The cleaning device is a device including a nozzle having a nozzle and relatively moving the nozzle and the object to be cleaned by computer control,
A shape model of an object to be cleaned having an opening edge portion of a work object having a two-dimensional shape and stored in a storage device of the computer, and a jet having a direction along a jet direction of jet from the nozzle to the nozzle A vector and a reference point of the nozzle, and an extension of a jet vector starting from the reference point relates to the distance between the nozzle and the opening edge and the reference point through which the center of the nozzle is passed. Based on the set value, ie, the nozzle separation distance,
An arithmetic unit connected to the storage unit of the computer;
Computing a representative plane from an arrangement plane including the opening edge;
Computing the work plane parallel to the representative plane, facing the representative plane, and separated from the representative plane by the injection hole separation distance;
Computing the coordinates of the reference point on the work plane, the extension of the jet vector starting from the coordinates passing through the centroid of the opening edge; ,
Creating a path in which the reference point of the nozzle continuously passes through the coordinates on the work plane to create an exercise program of the washing apparatus;
How to create an exercise program, including: A method of creating an exercise program according to claim 1, wherein
The step of calculating the representative plane is:
In the case where a plurality of arrangement planes are calculated,
A method of creating an exercise program, comprising the step of the computing device selecting, as the representative plane, the placement plane that protrudes most from the inside of the object to be cleaned among the plurality of placement planes. A method of creating an exercise program according to claim 1, wherein
The step of calculating the representative plane is:
In the case where a plurality of arrangement planes are calculated,
Said computing device counting the number of said opening edges included in each said placement plane;
The operation device determines the arrangement plane with the largest number of the counted opening edges as the representative plane. A method of creating an exercise program according to any one of claims 1 to 3,
The motion program further includes the step of computing the injection hole separation distance based on an injection hole separation distance calculation function or an injection hole separation distance selection matrix associated with the nozzle type or the injection hole stored in the storage device. How to make. A method of creating an exercise program according to any one of claims 1 to 4, wherein
In the step of computing the coordinates, the computing device computes the coordinates such that the jet vector is perpendicular to the representative plane and the jet vector is directed to the representative plane.
How to make an exercise program. A method of creating an exercise program according to any one of claims 1 to 5 ,
The nozzle is provided to index an angle around a rotation axis provided on a nozzle mounting surface, and the reference point is provided to be separated from the rotation axis by an offset distance when viewed from the direction of the rotation axis. When
Based on the index angle of the nozzle and the offset vector of the nozzle at origin coordinates, which are further stored in the storage device,
The step of calculating the coordinates includes
The arithmetic operation unit calculates an offset coordinate of a sum of the offset vector obtained by rotating an offset vector at an index angle and the coordinate;
In the step of creating an exercise program for the cleaning device, the arithmetic device may
Creating the path such that the rotation axis passes through the offset coordinates;
How to make an exercise program. A computer,
An instruction set storage means for executing the method of creating an exercise program according to any one of claims 1 to 6, and a shape model of the object to be cleaned having the two-dimensional shape of the opening edge. The storage device having stored object model storage means for storing, nozzle model storage means for storing a nozzle model having the jet vector and the reference point, and parameter storage means for storing the injection hole separation distance;
Representative plane computing means connected to the storage device for computing the representative plane, work plane computing means for computing the work plane, coordinate computing means for computing the coordinates, and route creating means for creating the route The arithmetic unit having
An input device connected to the storage device;
A display device connected to the storage device;
Computer with The program for making the said computer perform the creation method of the exercise program of any one of Claims 1-6 . Computer readable record medium storing a program according to claim 8.

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