JPH06242816A - Profiling controller - Google Patents

Abstract

PURPOSE:To provide a tracer controller which can tracer even a plane having an optional slope to an X-Y plane. CONSTITUTION:The velocities are calculated in both tangential and normal directions on the surface of a model according to the deviation between the reference displacement amount of a tracer head 34 set by a command generating part 38 and the synthesizing result of a displacement amount synthesizing part and also according to a tracing range set by the part 38. Then these tangential and normal velocities are converted into the velocity components of a machine coordinate system based on an optional tracing direction set in a three- dimensional space by the part 38 and the displacement amount of the triaxial direction obtained by the head 34.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a copying control device for measuring the surface shape of a model.

[0002]

2. Description of the Related Art FIG. 14 shows, for example, Japanese Patent Publication No. 60-23938.
FIG. 3 is a configuration diagram showing a conventional copying control device disclosed in Japanese Patent Publication No. 1-A, 1X, 1Y, 1Z outputs displacement amounts ε _X , ε _Y , ε _Z in three axial directions according to the surface shape of a model. Tracer head differential transformer, 2 differential transformer 1
Excitation circuit for X, 1Y, 1Z, 3 is a differential transformer 1X, 1
Displacement amounts ε _X , ε in the three axis directions output by Y, 1Z
Displacement synthesis circuit for synthesizing _Y and ε _Z , 4 is a displacement synthesis circuit 3
Deviation of the reference displacement amount ε ₀ of the tracer head
_An adder for obtaining _t , 5 is a velocity component calculation circuit for calculating the velocity V _N in the normal direction of the model surface from the output ε _t of the adder 4, and 6 is a tangent line of the model surface from the output ε _t of the adder 4. It is a speed component calculation circuit for calculating the speed V _T in the direction.

Further, 7 is a coordinate converter, and 8 is a digital signal D / A which indicates cos α (where α is the scanning direction angle).
A D / A converter for conversion, 9 is a D / A converter for D / A converting a digital signal indicating sin α, 10 to 13 are multipliers, and 14 and 15 are adders.

Reference numeral 16 is a displacement component signal εα (displacement component signal in the A-axis direction, which is the scanning direction), εα + 90 °, which are outputs of the adders 14 and 15, and a directional displacement indexing circuit 17 of the next stage, if necessary. Switching circuit for outputting to
Based on either the displacement component signal εα or εα + 90 ° output from the differential transformer 1Z and the displacement amount ε _Z of the Z axis output from the differential transformer 1Z, the angle β in the AZ plane is calculated, and the cosine of the displacement amount ε _Z is calculated. Signal cos β · sin ωt and sine signal s
Directional displacement indexing circuit for calculating inβ · sinωt, 18
Is the normal velocity V _N calculated by the velocity component calculation circuits 5 and 6,
A based on the tangential velocity V _T and the cosine signal / sine signal
The control signal distribution circuit outputs the velocity Vα in the axial direction (scanning direction) and the velocity V _Z in the Z-axis direction.

Reference numeral 19 is a coordinate converter, and 20 is a cos α output from the D / A converter 8 and a speed V α in the A axis direction output from the control signal distribution circuit 18 to a speed V _{X in the} X axis direction.
, 21 is the output of the D / A converter 9 s
a multiplier 22 for obtaining the speed V _Y in the Y-axis direction from the speed V α in the A-axis direction which is the output of inα and the control signal distribution circuit 22
X to 22Z are servo amplifiers, and 23X to 23Z are motors.

Next, the operation will be described. First, the differential transformers 1X, 1Y, 1Z output displacements ε _X , ε _Y , ε _Z in the three axial directions according to the surface shape of the model, but are excited by the excitation circuit 2 with an alternating current of frequency f. Therefore, the displacement amounts ε _X , ε _Y , ε _Z are expressed as follows. ε _X = ε · cos Φ · cos θ · sin ωt ・ ・ ・ (1) ε _Y = ε · cos Φ · sin θ · sin ωt ・ ・ ・ (2) ε _Z = ε · sin Φ · sin ωt ・ ・ ・ (3) where ε Is the displacement vector of the tracer head (see FIG. 15) ωt = 2πft

Next, the displacement synthesis circuit 3 includes the differential transformer 1
The displacement amounts ε _X , ε _Y and ε _Z , which are the outputs of X, 1Y and 1Z, are combined and output as follows.

[0008]

[Equation 1]

Then, the combined displacement amount ε and the reference displacement amount ε
The deviation ε _t of ₀ is obtained by the adder 4, and the deviation ε _t is input to the speed component calculation circuits 5 and 6, respectively. here,
The velocity component calculation circuits 5 and 6 are based on the function shown in FIG. 17, and the velocity V _N in the normal direction of the model surface and the velocity V in the tangential direction
Calculate _T.

On the other hand, the coordinate converters 7 and 19 set the components in the A-axis direction to the X-axis and Y-axis so that the scanning direction (the A-axis direction in FIG. 15) can be set to any direction in the XY plane.
Decompose into axial and Z-axis components. That is, as shown in FIG. 15, when the copying is performed in the A-axis direction, cos α, D is set in the D / A converters 8 and 9 in order to set the scanning direction angle α.
Enter sin α. Then, the conversion result of the D / A converter 8 is input to the multipliers 10 and 13, and the conversion result of the D / A converter 9 is input to the multipliers 11 and 12. Also,
The displacement amount ε _X which is the output of the differential transformer 1X is multiplied by the multiplier 1
The displacement amount ε _Y which is the output of the differential transformer 1Y is input to the multipliers 11 and 13 as well as being input to the multipliers 0 and 12.

The outputs of the multipliers 10 and 11 are input to the adder 14, and the outputs of the multipliers 12 and 13 are added to the adder 15.
By inputting into the, the displacement component signals εα and εα + 90 ° are obtained as shown below. _{εα = ε X · cosα + ε} Y · sinα ··· (5) εα + 90 ° = ε Y · cosα-ε X · sinα = ε X · cos (α + 90 °) -ε Y · sin (α + 90 °) ··· (6 )

Next, the switching circuit 16 includes adders 14 and 15
The displacement component signals .epsilon..alpha. And .epsilon..alpha. + 90.degree., Which are the outputs of the above, are switched as necessary to be output to the directional displacement indexing circuit 17, which makes it possible to change the directional angle by 90.

Next, when the displacement component signal εα is output from the switching circuit 16, the directional displacement indexing circuit 17 and this displacement component signal εα and the Z-axis displacement amount ε _Z which is the output of the differential transformer 1Z. Then, the angle β in the AZ plane is calculated from the above, and the cosine signal cos β · sin ωt and the sine signal sin β · sin ωt of the displacement amount ε _Z are calculated.

Next, the control signal distribution circuit 18 uses the multiplication circuit, the combination circuit, etc. in the control signal distribution circuit 18 to calculate the normal velocity V _N and the tangential velocity V _T calculated by the velocity component calculation circuits 5 and 6. Also, the velocity Vα in the A-axis direction and the velocity V _Z in the Z-axis direction are output based on the cosine signal / sine signal. And Z
The speed V _{Z in the} axial direction is the servo amplifier 22Z as a control signal.
The motor 23Z is driven by its output.

Further, the speed Vα in the A-axis direction and cosα which is the conversion result of the D / A converter 8 are input to the multiplier 20, and the speed Vα and D in the A-axis direction are input to the multiplier 21.
By inputting sinα which is the conversion result of the / A converter 9, the speed V _{X in} the X-axis direction and the speed V _Y in the Y-axis direction are obtained. Then, the velocity V _X , Y in the X-axis direction
The axial speed V _Y is applied as a control signal to the servo amplifiers 22X and 22Y, respectively, and the output thereof drives the motors 23X and Y.

Finally, to summarize the above description, the conventional scanning control device determines the scanning direction by cos α and sin α input to the D / A converters 8 and 9, and the scanning is performed on the A axis of FIG. Along the way. Here, when there is an obstacle such as a model in the traveling direction (A-axis direction) as shown in FIG. 16, a velocity component also occurs in the Z-axis direction, and as a result, the scanning is a plane including the A-axis and the Z-axis. (Points A ₀ , A ₁ , A ₂ , A
It will move on the plane that passes through ₃ ).

[0017]

Since the conventional copying control device is constructed as described above, the copying direction angle with respect to the X axis and the Y axis can be arbitrarily set by changing the value of α. , Z-axis, only a plane perpendicular to the XY plane can be copied. For example, points A ₀ and A in FIG.
There is a problem in that it is not possible to perform copying on a plane having an arbitrary inclination with respect to the XY plane, such as a plane passing through ₁ , B ₂ , and B ₃ .

The inventions of claims 1 and 3 have been made to solve the above-mentioned problems, and it is possible to perform copying even on a plane having an arbitrary inclination with respect to the XY plane. An object is to obtain a copying control device that can be performed.

Further, in addition to the above objects, the inventions of claims 2 and 4 can perform smooth acceleration / deceleration control so that unreasonable acceleration or torque is not applied to the motor at the time of starting and stopping the control. An object is to obtain a copying control device that can be performed.

Further, the inventions of claims 5 to 10 are:
An object of the present invention is to obtain a copying control device capable of easily setting a copying range or a copying direction.

[0021]

According to a first aspect of the present invention, there is provided a copying control apparatus, wherein a deviation between a reference displacement amount of a tracer head set by a command creating unit and a synthesis result of a displacement amount synthesizing unit, and the command creating unit. Based on the scanning range set by, the tangential and normal velocities of the surface of the model are calculated, and the scanning direction in the three-dimensional space set by the command creating unit and output by the tracer head are output. The velocity in the tangential direction and the normal direction of the surface of the model is converted into the velocity component of the machine coordinate system based on the displacement amount in the triaxial direction.

According to a second aspect of the present invention, there is provided a copying control apparatus which calculates a non-copying distance based on a velocity component of a machine coordinate system and a copying range set by a command creating section, and calculates a model according to the non-copying distance. The tangential speed of the surface is accelerated and decelerated.

According to a third aspect of the present invention, there is provided a copying control apparatus in which the deviation between the reference displacement amount of the tracer head set by the command creating section and the synthesis result of the displacement synthesizing section, and the copying range set by the command creating section. Based on the above, the tangential and normal velocities of the surface of the model are calculated, and at the same time the arbitrary scanning directions within the three-dimensional space set by the command creating unit and the three axial directions output by the tracer head are calculated. The tangential and normal velocities of the surface of the model are converted into position components in the machine coordinate system based on the displacement amount.

According to a fourth aspect of the present invention, there is provided a copying control apparatus which calculates a remaining copying distance based on a position component of a machine coordinate system and a copying range set by a command creating unit, and calculates a model remaining distance according to the remaining copying distance. The tangential speed of the surface is accelerated and decelerated.

In the copying control apparatus according to the invention of claim 5, the copying range is set by using the normal vector of the copying range plane showing the copying range.

In the copying control apparatus according to the invention of claim 6, the copying direction is set by using the normal vector of the copying direction plane indicating the copying direction.

According to a seventh aspect of the invention, there is provided a copying control device in which at least two or more copying direction designating vectors are set and the copying direction is determined from the copying direction designating vectors.

According to another aspect of the present invention, there is provided a copying control device, wherein at least two or more copying direction designating vectors are set, each component of the copying direction designating vector is smoothed, and then the copying direction designating vector is used. Is decided.

According to a ninth aspect of the present invention, there is provided a copying control device comprising:
Set two scanning direction designation vectors and input the displacement amount in the three axis directions output by the tracer head,
The scanning direction is determined from the scanning direction designating vector and the displacements in the three axial directions.

According to a tenth aspect of the present invention, there is provided a copying control device including:
In addition to setting the target position, the current position of the tracer head is input from the drive unit, and the scanning direction is determined from the current position and the target position.

[0031]

According to another aspect of the invention, in the copying control apparatus, the deviation between the reference displacement amount of the tracer head set by the command creating unit and the combined result of the displacement amount combining unit and the copying range set by the command creating unit are set. Based on this, the tangential and normal velocities of the surface of the model are calculated, and the arbitrary scanning directions within the three-dimensional space set by the command creating unit and the displacements in the three axial directions output by the tracer head are calculated. A plane having an arbitrary inclination with respect to the XY plane is provided by providing an arithmetic unit that converts the tangential and normal velocities of the surface of the model into velocity components of the machine coordinate system based on the quantity. Is also copied.

According to the second aspect of the present invention, there is provided a copying control device,
A calculation unit is provided to calculate the unprinted distance based on the velocity component of the machine coordinate system and the copying range set by the command creation unit, and to accelerate or decelerate the tangential speed of the model surface according to the unprinted distance. Therefore, the tracer head is
It is gradually accelerated at the start and gradually decelerated at the stop.

According to a third aspect of the present invention, there is provided a copying control device,
Based on the deviation between the reference displacement amount of the tracer head set by the command creating unit and the synthesis result of the displacement amount synthesizing unit and the scanning range set by the command creating unit, the tangential direction and the normal direction of the surface of the model The velocity is calculated, and the tangential direction and the normal line of the surface of the model are calculated based on the arbitrary scanning direction in the three-dimensional space set by the command creating unit and the displacement amount in the three axial directions output by the tracer head. By providing the arithmetic unit that converts the velocity in the direction into the position component of the machine coordinate system, copying is performed even on a plane having an arbitrary inclination with respect to the XY plane.

According to another aspect of the invention, there is provided a copying control device,
A calculation unit is provided to calculate the unprinted distance based on the position component of the machine coordinate system and the copying range set by the command creation unit, and to accelerate or decelerate the tangential velocity of the surface of the model according to the unprinted distance. Therefore, the tracer head is
It is gradually accelerated at the start and gradually decelerated at the stop.

According to a fifth aspect of the present invention, there is provided a copying control device,
The provision of the command creating unit that sets the scanning range using the normal vector of the scanning range plane indicating the scanning range facilitates the setting of the scanning range.

According to a sixth aspect of the present invention, there is provided a copying control device,
The provision of the command creating unit for setting the copying direction by using the normal vector of the copying direction plane indicating the copying direction facilitates the setting of the copying direction.

According to a seventh aspect of the present invention, there is provided a copying control device,
Set at least two scanning direction designation vectors,
By providing the command creating unit that determines the copying direction from the copying direction designating vector, it becomes easy to set the copying direction.

According to the eighth aspect of the present invention, there is provided a copying control apparatus,
Set at least two scanning direction designation vectors,
The smoothing process is performed on each component of the scanning direction designating vector, and the command creating unit that determines the scanning direction from the scanning direction designating vector is provided. Since the direction of the determined copying direction does not change suddenly, the direction of copying control does not change suddenly.

According to a ninth aspect of the present invention, there is provided a copying control device,
A command creating unit is provided which sets one scanning direction designating vector, inputs the displacement amounts in the three axis directions output from the tracer head, and determines the scanning direction from the scanning direction designating vector and the displacement amounts in the three axis directions. The provision makes it easy to set the copying direction, and the plane in the copying direction is always perpendicular to the surface of the model.

According to the tenth aspect of the present invention, there is provided a command control unit for setting the target position, inputting the current position of the tracer head from the drive unit, and determining the scanning direction from the current position and the target position. This facilitates the setting of the scanning direction.

[0041]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. 1 is a block diagram showing a copying control apparatus according to a first embodiment of the present invention. In the figure, the same reference numerals as those of the conventional one indicate the same or corresponding portions, and therefore the description thereof will be omitted.

31 is a machine tool, 32X is an X-axis table,
32Y is a Y-axis table, 32Z is a Z-axis table, 34 is a displacement amount ε _X in three axial directions according to the surface shape of the model 36,
A tracer head such as a scanning probe that outputs ε _Y and ε _Z , 35 is a stylus attached to the tip of the tracer head 34, and 36 is a model.

Further, 37 is a displacement synthesizing circuit (displacement synthesizing section) for synthesizing the displacements ε _X , ε _Y , ε _Z in the three axial directions output from the tracer head 34, and 38 is the scanning range and the tracer head 34. It is a command creating unit that sets the reference displacement amount ε ₀ and sets an arbitrary scanning direction in the three-dimensional space.

Further, 39 is a deviation ε _t between the reference displacement amount ε ₀ of the tracer head 34 set by the command creating unit 38 and the synthesis result ε of the displacement synthesizing circuit 37, and the command creating unit 38.
Based on the scanning range set by, the speed V _{T in} the tangential direction and the speed V _{N in the} normal direction of the surface of the model 36 are calculated, and the scanning direction set by the command creating unit 38 and output by the tracer head 34. The tangential velocity V _T and the normal velocity V _N of the surface of the model 36 are converted into velocity components V _X and V of the machine coordinate system based on the displacements ε _X , ε _Y , and ε _Z in the three-axis directions. An operation unit for converting into _Y and V _Z ,
Reference numeral 40 is the reference displacement amount ε ₀ of the tracer head 34 set by the command creation unit 38 and the synthesis result ε of the displacement synthesis circuit 37.
Adder for obtaining a difference epsilon _t the, the tangential velocity V _T of the surface of the model 36 based on the maximum velocity V _tmax by deceleration processing unit 46 a deviation epsilon _t and later determined by 41 the adder 40 A tangential velocity calculation unit for calculation 42 is a normal velocity calculation unit for calculating the velocity V _N in the normal direction of the surface of the model 36 based on the deviation ε _t obtained by the adder 40.

Reference numeral 43 is a model 3 based on displacements ε _X , ε _Y and ε _Z in the scanning direction set by the command creating unit 38 and in the three axis directions output by the tracer head 34.
The tangential velocity V _T and the normal velocity V _N of the surface of 6
The coordinate converter for converting the velocity component V _X of the machine coordinate system, V _Y, the V _Z, 44 is by integrating the velocity component V _X of the machine coordinate system converted by the coordinate conversion section 43, V _Y, the V _Z An integrator for obtaining the position components X _t , Y _t , Z _t of the machine coordinate system, and 45 is the scanning direction and the scanning range set by the command creating unit 38 and the position component X _t of the machine coordinate system obtained by the integrator 44. ，
A copy distance calculation unit for calculating a copy remaining distance (distance for copying from now on) based on Y _t , Z _t , and 46, a tangential velocity V _T , a normal line according to the copy remaining distance calculated by the copy distance calculation unit 45. An acceleration / deceleration processing unit that accelerates / decelerates the speed V _N.

Reference numeral 47 is a servo control unit (driving unit) which drives the motors 23X to 23Z of the machine tool 31 in accordance with the velocity components V _X , V _Y and V _{Z of} the machine coordinate system converted by the coordinate conversion unit 43. .

Next, the operation will be described. In this embodiment, as shown in FIG. 2, the tracer head 34 is moved from a point S along a scanning direction plane H1 that specifies a scanning direction to a point E that intersects a scanning range plane H2 that specifies a scanning range. Think about the case.

Here, a straight line formed by intersecting the scanning direction plane H1 and the scanning range plane H2 is defined as an intersection line L1. And
The equations of the scanning direction plane H1 and the scanning range plane H2 are shown below. a1 ・ X + b1 ・ Y + c1 ・ Z + d1 = 0 (7) a2 ・ X + b2 ・ Y + c2 ・ Z + d2 = 0 (8)

Therefore, the equation of the intersection line L1 can be expressed as follows.

[0050]

[Equation 2]

First, the command creating section 38 creates and outputs a scanning control command. As the command, the coefficients a1, b1, c1, d1 of the equation of the scanning direction plane H1 (normal vector V1
Is (a1, b1, c1)), the coefficients a2, b2, c2, d2 of the equation of the scanning range plane H2, the scanning speed command V _max ,
The reference displacement amount ε ₀ of the tracer head 34.

The tracer head 34 is a stylus.
X-axis, Y-axis, Z-axis depending on the contact state of 35 model 36
Direction displacement ε_X , Ε_Y , Ε_Z Is output (displacement ε
_X , Ε _Y , Ε_Z Let E be the displacement vector). This displacement
Quantity ε_X , Ε_Y , Ε_Z Stylus 35 contacts model 36
It corresponds to the inclination of the surface being touched. Na
The displacement amount ε of the tracer head 34_X , Ε_Y , Ε_Z But
0, that is, the stylus 35 is not in contact with the model 36
If it is assumed that the center coordinate of the stylus 35 is P0
(P0_X , P0_Y , P0_Z ), Then the stylus center
The coordinates are Pc (P0_X + Ε_X , P0_Y + Ε_Y , P0_Z + Ε
_Z ).

Next, the displacement synthesizing circuit 37 synthesizes the displacement amounts ε _X , ε _Y , ε _Z output from the tracer head 34 in the same manner as the conventional displacement synthesizing circuit 3, and the synthesis result ε.
Is output. Then, the adder 40 obtains the deviation between the reference displacement amount ε ₀ and the combined result ε.

Next, the tangential velocity calculation unit 41 and the normal velocity calculation unit 42, as well as the conventional velocity component calculation circuits 5 and 6, in FIG. 3 are arranged so that the deviation of the adder 40 becomes zero. The tangential velocity V _T and the normal velocity V _N are calculated by performing such a function calculation. However, the maximum values of the tangential velocity V _T and the normal velocity V _N are commanded by V _tmax and V _nmax of FIG. 3, but V _tmax is controlled by the acceleration / deceleration processing unit 46 (details will be described later).

Next, the coordinate conversion unit 43 converts the outputs V _T and V _N of the tangential velocity calculation unit 41 and the normal velocity calculation unit 42 into the normal vector V1 of the copying direction plane H1 output from the command generation unit 38. Using (a1, b1, c1) and the displacement vector E (ε _X , ε _Y , ε _Z ) output from the tracer head 34, the velocity components V _X of the X-axis, Y-axis, and Z-axis of the machine coordinate system. V
_Y and V _Z are calculated and output to control the servo control unit 47. Thereby, the motors 23X to 23Z of the machine tool 31
Is driven to move the tracer head 34, and the copying control is performed.

Here, the above calculation will be described in detail. The tangential velocity V _T can be decomposed into velocity components in each axis direction of the machine coordinate system, and when these are V _tX , V _tY , and V _tZ , the tangential velocity V _T
Can be represented by a velocity vector V _T (V _tX , V _tY , V _tZ ). Similarly, the normal velocity V _N is also the velocity vector V _N (V _nX , V _nY ,
V _nZ ). The velocity vector V _T is the current model 3
6 surface normal vector and the normal vector V
If a vector that is orthogonal to 1 is taken, the velocity vector V
_T is a vector parallel to the work surface and parallel to the scanning direction plane H1. Further, the surface normal vector of the current measurement point of the workpiece becomes a value which is almost close to the output of the tracer head 34, that is, the displacement vector E (ε _X , ε _Y , ε _Z ). Assuming the line vector E, V _T can be calculated by the cross product of E and V 1, as shown below.

[0057]

[Equation 3]

From equation (16), V _T is ((c1ε _Y −
b1 · ε _Z ), (a1 · ε _Z −c1 · ε _X ), (b1 ·
ε _X −a1 · ε _Y )), and the amounts V _tX , V _tY , and V _tZ of movement of each axis of the tangential velocity V _T are as _follows .

[0059]

[Equation 4]

Similarly, the velocity vector V _N (V _nX , V _nY ,
V _nZ ) is a vector orthogonal to the velocity vector V _T, and when taken to be orthogonal to the normal vector V1, it becomes a vector parallel to the scanning direction plane H1, and the velocity vector V _N is shown below. Thus, it can be calculated by the outer product of V _T and V 1.

[0061]

[Equation 5]

From the equation (20), V _N is (( _{c1V tY} −
b1 · V _tZ ), (a1 · V _tZ −c1 · V _tX ), (b1 ·
V _tX −a1 · V _tY )), and the movement amounts V _nX , V _nY , and V _nZ of each axis of the tangential velocity V _N are as _follows .

[0063]

[Equation 6]

Therefore, the velocity component V of each axis of the machine coordinate system
_X , V _Y and V _Z can be calculated as follows. V _X = V _tX + V _nX (24) V _Y = V _tY + V _nY (25) V _Z = V _tZ + V _nZ (26)

Next, the integrator 44 integrates the output of the coordinate conversion unit 43 and outputs the position command P _t (X _t , Y _t , Z _t ) of the stylus 35 at the current time t, that is, the machine coordinate system. Calculate the position component. Here, the position command before one sampling time of the position command _{P t P td (X td,} Y td, Z td) When the position command _{P t (X t, Y t} , Z t) is as follows Required. X _t = X _td + V _X · ΔT (27) Y _t = Y _td + V _Y · ΔT (28) Z _t = Z _td + V _Z · ΔT (29)

Next, the scanning distance calculation unit 45 uses the integrator 44.
Position command X _t , Y of the current stylus 35 calculated by
_{The unprinted} distance D _res from _t , Z _t until reaching the copy range plane H2 (copying end point) is calculated and output. Since the copying is performed along the copying direction plane H1, the shortest remaining uncopying distance until reaching the copying range plane H2 is from the position of the current position command P _t (X _t , Y _t , Z _t ) to the intersection. It is calculated by the length of the foot of the perpendicular line drawn to the line L1.

Here, the intersecting line L1 is calculated from the coefficients of the scanning range plane H2 and the scanning direction plane H1 designated by the command creating section 38 using the equations (10) to (15). If the perpendicular is the straight line L2 and the intersection of the straight line L2 and the intersecting line L1 is _PtC ( _XtC , _YtC , _ZtC ), the non- _copy distance D _res is obtained as follows.

[0068]

[Equation 7]

However, the method of _obtaining the intersection point P _tC (X _tC , Y _tC , Z _tC ) is to first obtain the equation of the straight line L2 and then obtain the intersection point of the straight line L2 and the scanning range plane H2. Good. The straight line L2 has a direction vector perpendicular to the normal vector V1 (a1, b1, c1) of the scanning direction plane H1 and the direction vector V3 (a3, b3, c3) of the intersection line L1. Therefore, the direction vector of the straight line L2 is V4 (a4
b4, c4), V4 becomes V1 as shown below.
And V3.

[0070]

[Equation 8]

From the equation (31), the direction vector V4 of the straight line L2 is (a4, b4, c4) = ((b1.c3-c1
.B3), (c1.a3-a1.c3), (a1.b3)
-B1 · a3)). The straight line L2 is a point (X
_t , Y _t , Z _t ), the equation of the straight line L2 is as shown below.

[0072]

[Equation 9]

Therefore, the intersection point P _tC (X _tC , Y _tC , Z _tC )
Is obtained using the equations (8) and (32) as follows.

[0074]

[Equation 10]

In this way, the copying distance calculation unit 45
Simultaneously with obtaining the unprinted distance, when the _unprinted distance D _res becomes 0, that is, the position command P _{t of the} stylus 35.
When reaches the scanning range plane H2, a signal of completion of scanning is transmitted to the command creating unit 38.

Next, the acceleration / deceleration processing unit 46 causes the command generation unit 3
Speed command V _max output from 8 and the copy distance calculation unit 45
The tangential velocity V _T according to the _unprinted distance D _res obtained in
Control the maximum value V _tmax of The acceleration / deceleration processing unit 46 first determines whether the speed command V _max is valid as a speed command. That is, in the current speed command V _max , the deceleration distance required for gradually decelerating and stopping so as not to increase the acceleration is D _decel, and it is determined whether the following formula is satisfied. D _res ≧ D _decel + V _max · ΔT (36)

When the equation (36) is satisfied, the speed command V
_Judge that _max is a valid speed command. this is,
Even if V _max is commanded as a speed command, the unprinted distance D
It means that _res has enough distance to slow down and stop. Therefore, the acceleration / deceleration processing unit 46 determines that the speed command V
_max is output as the maximum value V _tmax of the tangential velocity V _T. V _tmax = V _max (37)

On the contrary, when the expression (36) is not satisfied, that is, in the following case, D _res <D _decel + V _max · ΔT (38) The acceleration / deceleration processing unit 46 determines that the speed command V _max is too high. The maximum value V _tmax of the tangential velocity V _T is output as the following. V _tmax = (D _res −D _decel ) / ΔT (39)

[0079] However, upon acceleration or deceleration processing unit 46 outputs the maximum value V _tmax of the tangential velocity V _T as described, V _tmax
Acceleration / deceleration processing is performed so that changes smoothly. As the acceleration / deceleration processing method, for example, a conventionally well-known exponential function acceleration / deceleration method or a trapezoidal acceleration / deceleration method (for example, JP-A-1-237806) may be used.

As described above, since V _tmax is subjected to acceleration / deceleration control, the tangential velocity V calculated by the tangential velocity calculating section 41 is calculated.
_T becomes to that acceleration and deceleration control, the tangential speed V _T is the time is also stopped during startup is also smooth acceleration, deceleration control is performed, when it reaches the range plane H2 copying control is scanning, the tangential speed V _T
Is controlled to be zero. That is, in FIG. 2, the point S starts at a velocity of 0 and the tangential velocity V _T is gradually accelerated (maximum V
₍ accelerated to _max ), the tangential velocity V _T is gradually reduced when approaching the scanning range plane H2 while performing scanning along the scanning direction plane H1, and when the point E is reached (the scanning range plane H2 is reached). When the tangential velocity V _T is controlled to 0.

Example 2. Although the coordinate conversion unit 43 outputs the velocity components (V _X , V _Y , V _Z ) of the machine coordinate system to the servo control unit 47 to control the tracer head 34 in the first embodiment, FIG. , The integrator 44 outputs the position component (X _t , Y _t , Z _t ) of the machine coordinate system to the servo control unit (driving unit) 51 to output the tracer head 3
4 may be controlled.

Example 3. In the first embodiment, the scanning direction plane H1 that specifies the scanning direction is defined by the normal vector V1 (a1,
I explained the method of setting b1 and c1) directly.
As shown in FIG. 5, the normal vector V1 is converted into two scanning direction designation vectors V3 (a3, b3, c3) and V4 (a4.
You may make it set using b4, c4).

That is, in the command creating section 52, instead of the scanning direction plane H1, two scanning direction designating vectors V3, V are used.
Set 4. The normal vector calculation unit 53 inputs the outputs V3 and V4 of the command generation unit 52 and calculates the normal vector V1 of the scanning direction plane H1.

Here, this calculation will be described in detail. V1
As shown in FIG. 6, the relationship between V3 and V3 and V3 has the following relationship. V1 = V3 * V4 (40)

For example, as shown in FIG. 7, when the scanning direction plane H1 is set to be always perpendicular to the XY plane, the scanning direction designation vector V3 should be set in the direction perpendicular to the XY plane. . The traveling direction may be designated by another scanning direction designation vector V4. When the scanning direction designating vectors V3 and V4 are taken as shown in FIG. 7, the normal vector V1 of the scanning direction plane H1 is as shown in FIG. 7, and the traveling direction of the scanning is determined from the point O to the point S. .

Example 4. In the third embodiment, the normal vector V1 of the scanning direction plane H1 is set from two scanning direction designating vectors, but it may be set from three or more scanning direction designating vectors.

Example 5. In the first embodiment, the speed command V
_{Although the method} of directly setting _max has been described, as shown in FIG. 8, two scanning direction designation vectors V3 (a3, b
3, c3) and V4 (a4, b4, c4) may be used for setting.

Next, the operation will be described. The speed command calculation unit 55 determines the length | V of the scanning direction designation vectors V3 and V4.
3 |, | V4 | are combined, and the combined result | V3 + V4 |
_{Is the} speed command V _max .

[0089] In the case of Figure 8, following the length of the direction designated vector V3 | V3 | an example of calculating a speed command V _{ma x} with, are calculated as follows.

[0090]

[Equation 11]

For example, the scanning direction designation vector V4 is set to X
-The vector (1, 0, 0) perpendicular to the Y plane is set, and the a3, b3, c3 of the scanning direction designating vector V3 are set to the X-axis, Y-axis, and Z-axis feed velocity commands V _X1 , V of the machine coordinate system. _Y1 , V _Z1
When set to, the scanning direction plane H1 is always orthogonal to the XY plane, while the scanning direction plane H1 is oriented in the directions V _X1 , V _Y1 , V
_Since the direction corresponds to the ratio of _Z1 , and the speed command V _max is set as follows, it becomes possible to set a free copying path and speed by changing V _X1 , V _Y1 , and V _Z1 .

[0092]

[Equation 12]

Example 6. In the fifth embodiment described above, the speed command V _max is set using the two scanning direction designating vectors V3 and V4. However, when the direction of the scanning direction designating vector V3 suddenly changes, the scanning direction suddenly changes, and the machine tool 31. As a result of excessive acceleration being applied to the motor 2,
Since overcurrent may be applied to 3X to 23Z and damage the machine tool 31, in this embodiment, the copying direction designating vector V3 (a3, b3, a3, a3, b3) in order to prevent a sudden change in the copying direction.
c3) and V4 (a4, b4, c4) are provided with smoothing filters 57 and 58 (composed of three filters) (see FIG. 9).

Example 7. In this embodiment, the tracer head 3 is added to one of the two scanning direction designating vectors V3 and V4.
The displacement vector E of 4 (ε _X , ε _Y , ε _Z ) is used. Since the displacement vector E is a normal vector of the surface near the measurement point of the model 36, when the scanning direction designating vector V3 is taken as the displacement vector E, FIG.
As shown in 0, the scanning direction plane H1 is always perpendicular to the surface of the model 36, and thus a good scanning is possible. The traveling direction may be determined by the scanning direction designation vector V4.

The configuration of this embodiment is as shown in FIG. 11, but in the normal vector calculation unit 53, the scanning direction designation vector V4 (a4, b4, c4) and the displacement vector E (ε
_X , ε _Y , ε _Z ) is input and the normal vector V1 of the scanning direction plane H1 is calculated by E * V4 as in the third embodiment.

Example 8. In the present embodiment, one of the two scanning direction designation vectors of the third embodiment is calculated from the target point and the current position of the tracer head 34, and the other is used as in the seventh embodiment. The displacement vector E (ε _X , ε _Y , ε _Z ) is used. Further, the speed command V _max is configured to be accelerated or decelerated by setting the distance from the current position of the tracer head 34 to the target point as an _unprinted distance D _res .

By adopting such a configuration, FIG.
As shown in FIG. 5, the copying direction plane H1 is always kept perpendicular to the surface of the model 36, and a good copying is possible, and the copying direction is the direction of the target point, Since the range is obtained by the distance to the target point, the scanning direction and range can be easily set.

The configuration of the present embodiment is as shown in FIG. 13, but the scanning direction vector calculation unit 61 includes the command generation unit 69.
Target point P _tg (X _tg , Y _tg , Z _tg ) and the current position command P _t (X _t of the tracer head 34, which is the output of the integrator 44.
_t , Y _t , Z _t ) and the direction vector V5 (a5, b5, c5) to the target point is calculated as shown below. _{a5 = X tg -X t ··· (} 43) b5 = Y tg -Y t ··· (44) c5 = Z tg -Z t ··· (45)

It should be noted that the scanning distance calculation unit 45 uses the a5, b
The distance D _res to the target point is calculated using 5 and c5.

[0100]

[Equation 13]

[0101]

As described above, according to the first aspect of the invention, the deviation between the reference displacement amount of the tracer head set by the command creating unit and the synthesis result of the displacement amount synthesizing unit, and the setting by the command creating unit. The tangential and normal velocities of the surface of the model are calculated based on the traced range, and are output by the tracer head and any traceable direction in the three-dimensional space set by the command creating unit. Since the tangential and normal velocities of the surface of the model are converted into velocity components of the machine coordinate system based on the displacements in the three axis directions, the model has an arbitrary inclination with respect to the XY plane. There is an effect that copying can be performed even on a flat surface.

According to the second aspect of the present invention, the non-copying distance is calculated based on the velocity component of the machine coordinate system and the copying range set by the command creating unit, and the tangent line of the surface of the model is calculated according to the non-copying distance. Since the speed in the direction is configured to be accelerated / decelerated, the acceleration / deceleration at the time of starting and stopping becomes smooth, and it is possible to prevent an unreasonable acceleration or torque from being applied to the machine tool or the motor.

According to the third aspect of the invention, based on the deviation between the reference displacement amount of the tracer head set by the command creating unit and the synthesis result of the displacement amount synthesizing unit, and the scanning range set by the command creating unit. , The tangential direction and the normal direction of the surface of the model are calculated, and the displacement amounts in the arbitrary scanning directions in the three-dimensional space set by the command creating unit and the three-axis directions output by the tracer head are calculated. Based on the configuration, the tangential and normal velocities of the surface of the model are converted into the position components of the machine coordinate system.
There is an effect that copying can be performed even on a plane having an arbitrary inclination with respect to the −Y plane.

According to the fourth aspect of the present invention, the non-copying distance is calculated based on the position component of the machine coordinate system and the copying range set by the command creating unit, and the tangent line of the surface of the model is calculated according to the non-copying distance. Since the speed in the direction is configured to be accelerated / decelerated, the acceleration / deceleration at the time of starting and stopping becomes smooth, and it is possible to prevent an unreasonable acceleration or torque from being applied to the machine tool or the motor.

According to the fifth aspect of the present invention, since the copying range is set using the normal vector of the copying range plane indicating the copying range, the copying range can be easily set. effective.

According to the sixth aspect of the invention, since the scanning direction is set by using the normal vector of the scanning direction plane indicating the scanning direction, it is possible to easily set the scanning direction. There is.

According to the invention of claim 7, at least two or more scanning direction designating vectors are set, and the scanning direction is determined from the scanning direction designating vectors. Therefore, the scanning direction can be set more easily. There is an effect that can be done.

According to the present invention, at least two or more scanning direction designating vectors are set, each component of the scanning direction designating vector is smoothed, and then the scanning direction is determined from the scanning direction designating vector. With this configuration, the copying direction can be easily set, and the direction of the copying direction determined by the copying direction designation vector does not suddenly change, so that the direction of the copying control does not suddenly change. This has the effect of preventing unreasonable acceleration and torque from being applied to the motor.

According to the ninth aspect of the present invention, one scanning direction designating vector is set, and the displacement amounts in the three axial directions output by the tracer head are input, and the scanning direction designating vector and its three axial directions are input. Since the scanning direction is determined from the amount of displacement, the scanning direction can be set easily, and the plane of the scanning direction is always perpendicular to the model surface. The optimum direction plane is automatically selected, and good scanning control can be performed.

According to the tenth aspect of the invention, the target position is set, the current position of the tracer head is input from the drive unit, and the scanning direction is determined from the current position and the target position. The effect is that the direction can be easily set.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a copying control apparatus according to a first embodiment of the present invention.

FIG. 2 is a vector diagram illustrating the operation of FIG.

FIG. 3 is a graph showing functions for calculating tangential velocity and normal velocity.

FIG. 4 is a configuration diagram showing a copying control apparatus according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a copying control apparatus according to a third embodiment of the present invention.

FIG. 6 is a vector diagram illustrating the operation of FIG.

FIG. 7 is a vector diagram illustrating the operation of FIG.

FIG. 8 is a configuration diagram showing a copying control device according to a fifth embodiment of the present invention.

FIG. 9 is a configuration diagram showing a copying control device according to a sixth embodiment of the present invention.

FIG. 10 is a vector diagram illustrating the operation of FIG.

FIG. 11 is a configuration diagram showing a copying control device according to a seventh embodiment of the present invention.

FIG. 12 is a vector diagram illustrating the operation of FIG.

FIG. 13 is a configuration diagram showing a copying control device according to an eighth embodiment of the present invention.

FIG. 14 is a configuration diagram showing a conventional control device.

FIG. 15 is a vector diagram illustrating the operation of FIG.

16 is a vector diagram illustrating the operation of FIG.

FIG. 17 is a graph showing a function for calculating a tangential velocity and a normal velocity.

[Explanation of symbols]

 36 Tracer Head 36 Model 37 Displacement Synthesizing Circuit (Displacement Amount Synthesizing Section) 38, 52, 56, 59, 60 Command Creating Section 39, 50 Computing Section 47, 51 Servo Control Section (Drive Section)

Claims (10)

[Claims] 1. A tracer head that outputs displacement amounts in the three axial directions according to the surface shape of a model, a displacement amount combining unit that combines displacement amounts in the three axial directions output by the tracer head, a scanning range, and The reference displacement amount of the tracer head is set, and the command generation unit that sets an arbitrary scanning direction in the three-dimensional space, the reference displacement amount of the tracer head set by the command generation unit, and the displacement amount synthesis unit are set. The tangential and normal velocities of the surface of the model are calculated based on the deviation from the combined result and the scanning range set by the command creating unit, and the scanning direction set by the command creating unit and the tracer are set. An arithmetic unit for converting the tangential and normal velocities of the surface of the model into velocity components of the machine coordinate system based on the displacements in the three axis directions output by the head, and And a drive unit for driving the tracer head according to the velocity component of the machine coordinate system converted by the arithmetic unit. 2. The calculation unit calculates a non-copying distance based on a velocity component of the machine coordinate system and a copying range set by the command creating unit, and calculates a surface of the model according to the non-copying distance. 2. The copying control device according to claim 1, wherein the speed in the tangential direction is accelerated / decelerated. 3. A tracer head that outputs displacement amounts in the three axis directions according to the surface shape of the model, a displacement amount combining unit that combines the displacement amounts in the three axis directions output by the tracer head, a scanning range and The reference displacement amount of the tracer head is set, and the command generation unit that sets an arbitrary scanning direction in the three-dimensional space, the reference displacement amount of the tracer head set by the command generation unit, and the displacement amount synthesis unit are set. The tangential and normal velocities of the surface of the model are calculated based on the deviation from the combined result and the scanning range set by the command creating unit, and the scanning direction set by the command creating unit and the tracer are set. An arithmetic unit that converts the tangential and normal velocities of the surface of the model into position components of the machine coordinate system based on the displacements output by the head in the three axial directions. And a drive unit that drives the tracer head according to the position component of the machine coordinate system converted by the arithmetic unit. 4. The computing unit computes a non-copying distance based on a position component of the machine coordinate system and a copying range set by the command creating unit, and calculates a surface of the model according to the non-copying distance. 4. The copying control device according to claim 3, wherein the speed in the tangential direction is accelerated or decelerated. 5. The copying control apparatus according to claim 1, wherein the command creating unit sets the copying range using a normal vector of a copying range plane indicating the copying range. 6. The copying control apparatus according to claim 1, wherein the command creating unit sets the copying direction by using a normal vector of a copying direction plane indicating the copying direction. 7. The command creating unit sets at least two or more scanning direction designation vectors instead of the scanning direction, and determines the scanning direction from the scanning direction designation vectors. The copying control device according to claim 1. 8. The command creating unit sets at least two or more scanning direction designating vectors instead of the scanning direction, performs smoothing processing on each component of the scanning direction designating vector, and then, the scanning direction designating vector. 5. The copying control apparatus according to claim 1, wherein the copying direction is determined from the scanning direction. 9. The command creating section sets one scanning direction designating vector instead of the scanning direction and inputs the displacement amounts in the three axial directions output from the tracer head to designate the scanning direction. 5. The copying control device according to claim 1, wherein the copying direction is determined from the vector and the displacement amount in the three axial directions thereof. 10. The command creating unit sets a target position instead of the scanning direction, inputs the current position of the tracer head from the driving unit, and determines the scanning direction from the current position and the target position. The copying control device according to any one of claims 1 to 4, characterized in that.