JPH09179620A - Method and device for deciding format of object to be interfered, automatic decision method for work supporting format and for tooling format - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and device for deciding the format of an object to be interfered with (hereinafter referred to as an object), an automatic deciding method for a work supporting format and an automatic decision method for a tooling format. SOLUTION: The system consists of an object virtually imaging means 1 for virtually imaging a part or all of the object, a relative moving means 2 for giving relative movement to an interfering body (hereinafter referred to as a body) and a virtual object in accordance with moving information, a virtual object updating means 3 for judging intersection between the body and the virtual object in moving, and at the time of judging their intersection, updating the format of the object, and an object format deciding means 4 for deciding the format of the object based upon the updated information of the virtual object at the end of all movement. Thereby the format of the object at the time of relative movement between the body consisting of one or plural elements and the object in accordance with moving information can be efficiently and accurately decided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining the form of an interfered object, an apparatus therefor, a method for automatically determining a work supporting form, and a method for automatically determining tooling forms. For example, the present invention relates to an automatic determination method and apparatus for determining a tooling configuration of a work for relatively moving a tool and a work according to movement path information, and more specifically, NC such as milling and turning.
The present invention relates to a method and apparatus for determining a tooling configuration in processing, determining a tooling configuration in a production line, and automatically determining a tooling configuration in a robot work.

[0002]

2. Description of the Related Art A conventional technique will be described by taking the determination of a tooling form as an example of the form of an interfered object. That is,
Conventionally, the decision of the tooling configuration of the work of relatively moving the tool and the work according to the moving path has been performed by human thinking work. Here, humans estimate the operating conditions of moving tools and workpieces, check the interference while checking the shape of the tooling part and the periphery of the workpiece with drawings etc., and determine the tooling configuration to be used for the work. Was. This decision was an advanced work requiring skill because there is a risk that the tooling part may collide with the work or a mounting jig around the work during the movement if there is a misjudgment.

The conventional technique will be described in more detail below by taking NC milling as an example. In NC milling, N
Based on C data, give relative movement to the tool and work,
Processing is done automatically. At this time, the tool is attached to the tool holder as required, and the tool holder is attached to the main shaft portion of the processing machine. In some cases, the tool may be directly mounted on the spindle of the processing machine. With respect to mounting, the tool is provided with a protrusion as required, and when a plurality of tool holders are used in combination, the tool holder is also provided with a protrusion as required. Further, when a quill or the like exists on the main shaft portion of the processing machine, the quill is also provided with a protrusion as necessary. The combined form of the tool support parts combined in this way is referred to herein as the tooling form.

The tooling section should not interfere with the work or the work mounting jig during processing, and it is desirable that the tooling section has high rigidity from the viewpoint of maintaining processing accuracy. Therefore, the above two conditions must be examined when making the determination, but they are also contradictory conditions. That is, within the range suitable for the tool diameter, it is preferable that the size be as small as possible in order to avoid interference, and that the size be as solid as possible in order to maintain rigidity.

Conventionally, the decision of the tooling form under the contradictory conditions has been performed by human thinking work. As a method for this, a skilled person estimates the presence or absence of interference from the positional relationship with the work or the work mounting jig by looking at the drawing or the CAD screen, and empirically determines the combination by considering the rigidity. In addition, when processing a three-dimensional complex shape, a cross section of the product and the shape of the tooling part are cut out to create a pattern for the part that may cause interference, and the pattern is verified by superimposing the two. It was Regarding this work, there are some cases where CAD is used, but the principle is also the same, and the cross-sectional shape of the product and the model of the tooling part are generated on the CAD, and this is superimposed on the screen. I was verifying.

[0006]

The above-mentioned conventional methods have a risk of causing mistakes in human judgment due to trial and error of brain labor, which takes time and people. If the shape of the interfered object is determined due to a misjudgment, for example, if an inappropriate tooling shape is determined, the tooling part collides with the work or work mounting jig during processing, and the area around the collision part is damaged. As a result, not only the loss of goods but also the situation involving human life is expected. For this reason, a high degree of suitability is required in the tooling decision from the viewpoint of accident prevention, and trial processing and the like have been frequently performed to ascertain safety. The trial machining is performed using a soft material that does not cause an accident even if it breaks before the main machining, but it is a work overlapping with the main machining and wastes man-hours.

[0007] In addition, too much priority is given to avoiding a collision accident,
Cases where inefficient machining cannot be achieved due to insufficient rigidity due to safety measures such as using a small tool holder and lengthening the protrusion of the tool when determining the tooling form. Was also seen a lot. At the same time, insufficient rigidity due to this safety measure was a factor that adversely affects the processing accuracy. These problems were not limited to the above NC milling processing, but also occurred in other NC processing, processing by an automatic machine in a production line, and robot work.

(Objective) The present invention has an object to provide a method for determining the form of an interfered object, an apparatus therefor, a method for automatically determining a work support form, and a method for automatically determining a tooling form. It is an object of the present invention to provide a method and an apparatus for automatically determining a tooling configuration of a work in which a tool and a work are relatively moved according to movement path information, by a machining simulation on a computer.

[0009]

[Means for Solving the Problems]

According to a method of determining the shape of an interfered object according to claim 1, as shown in FIG. 1, the interfered object composed of one or a plurality of elements and the interfered object when the interfered object relatively moves in accordance with movement information. In the determination of the form, the method is characterized by comprising the following steps. Step 1: The interfered object virtual means 1 virtualizes a part or all of the interfered object. Step 2: The relative movement means 2 for moving the interfering body and the interfered body gives relative movement to the interfering body and the virtual interfered body according to the movement information. Step 3: The virtual interfered object updating means 3 determines the intersection of the moving interferer and the virtual interfered body, and when they intersect, the form of the virtual interfered body is updated. Step 4: The form of the interfered object is determined based on the information of the virtual interfered object updated when all the movements are completed by the form determination means 4 of the interfered object.

According to a second aspect of the present invention, there is provided a method for determining the shape of an interfered object, as shown in FIG. 2, in which the interfered object composed of one or a plurality of elements and the interfered object move relative to each other according to movement information. In the determination of the form, the method is characterized by comprising the following steps. Step 1: The interfered object virtual means 1 virtualizes a part or all of the interfered object. Step 2: The relative moving means 2 for moving the interfering body and the interfered body gives relative movement to the interfering body and the virtual interfered body according to the movement information. Step 3: The virtual interfered object updating means 3 determines the intersection of the moving interferer and the virtual interfered body, and when they intersect, the form of the virtual interfered body is determined by deleting the intersection of the virtual interfered body. Update. Step 4: The virtual interfered object updated when all the movements are completed by the appropriate interfered object registration means 5 is registered as the appropriate interfered object. Step 5: The interfered object candidate adequacy determining unit 6 selects an interfered object candidate and superposes it on an ap- proximate interfered object to determine the suitability of the interfered object candidate. Step 6: The form of the interfered body is determined by the form determining means 7 of the interfered body based on this determination.

According to a third aspect of the present invention, there is provided an apparatus for determining the form of an interfered object, as shown in FIG. 1, in which the interfered object composed of one or a plurality of elements and the interfered object move relative to each other according to movement information. In the determination of the form, the interfered object virtual means 1 that virtualizes a part or all of the interfered object, and the relative movement between the interfered object and the interfered object that gives relative movement to the interfered object and the virtual interfered object according to the movement information. Means 2 and virtual interference receiving means updating means 3 for determining the crossing of the moving interferer and the virtual interfered body and updating the form of the virtual interfered body when they intersect, and updating when all the movements are completed And a form determining means (4) for determining the form of the interfered object based on the information of the virtual interfered object.

As shown in FIG. 2, the interfered object morphology determining apparatus according to a fourth aspect of the invention determines an interfered body composed of one or a plurality of elements and the interfered body when the interfered body relatively moves in accordance with movement information. In the determination of the form, the interfered object virtual means 1 that virtualizes a part or all of the interfered object, and the relative movement between the interfered object and the interfered object that gives relative movement to the interfered object and the virtual interfered object according to the movement information. The means 2 and the virtual interfered object are updated by determining the intersection of the moving interferer and the virtual interfered body during movement and deleting the intersection of the virtual interfered body when intersecting the virtual interfered body. Means 3, a suitable interfered object registration means 5 for registering the updated virtual interfered body as an appropriate interfered body when all movements are completed, and an interfered object candidate is selected and superimposed on the suitable interfered body. In addition, the interference of the candidate of the interfered object is judged. A candidate appropriateness determination means 6, a format determining unit 7 of the interfered object that determines the form of the interferer this determination on the basis, characterized in that it consists of.

The invention according to claim 5 is a method for automatically determining a work supporting form, but not limited to this, a device is also possible (hereinafter referred to as a method and a device), and a virtual work supporting model is inputted to input a virtual work supporting device. Part model is generated, the tooling part information is input to generate the tooling part model, and relative movement is given to these models according to the movement path information, and the intersection of the virtual work support part model with the tooling part model during movement is determined. However, when intersecting, the virtual work support part model is updated by the method of deleting the intersection part of the virtual work support part model, and when all the movements are completed, the updated virtual work support part model is used as the aptitude work support part model. Register, input the information of the work support tool candidate, generate the work support tool candidate model, and select the work support tool candidate model and the suitable work support section. By superimposing Dell determines the propriety of the work support candidates, and determines the work support to be used.

According to a sixth aspect of the present invention, there is provided a method and an apparatus for automatically determining a work support form, wherein a workpiece support tool candidate determined to be suitable in the suitability determination of the work support tool candidate according to the fifth aspect is subjected to mechanical calculation to determine a work. The method is characterized in that it comprises a process of evaluating the suitability of the work support tool by a method of predicting the support force and determining the work support tool to be used based on the evaluation.

According to a seventh aspect of the present invention, there is provided a method and an apparatus for automatically determining a work support form, wherein the work support tool candidate suitability judgment is performed by using a work support tool candidate model as a suitable work. When the work support tool candidate model is within the proper work support section model area in the state where it is superposed on the reference position of the support section model, it is determined to be suitable, and the work support tool candidate model extends out of the suitable work support section model area. The feature is that it is determined to be unsuitable when

According to an eighth aspect of the present invention, there is provided a method and an apparatus for automatically determining a work support form. In the determination of suitability of the work support tool candidate according to the seventh aspect, the work support tool candidate model is not suitable because it exceeds the area of the work support part model. If it is determined that the work support tool candidate model is within the area of the suitable work support section model, the work support tool candidate suitability determination is continued while adjusting the amount of adjustment related to the combination and adjusting the overall position and posture. It is characterized that the suitability of the work support tool candidate is judged by repeating this until the judgment is suitable or the adjustment reaches the limit while the judgment is not suitable.

Here, in the method and apparatus for automatically determining the work supporting form according to any one of claims 5 to 8, the work supporting part determines the form of the interfered object according to any one of claims 1 to 4. It corresponds to the interfered object in the method and the shape determining device, and the tooling part corresponds to the interference object.

According to another aspect of the present invention, there is provided a tooling type automatic determination method and apparatus, in which information of a virtual tooling section is input to generate a virtual tooling section model, and information of a work is input to generate a work model. Input the information of the support part to generate the work support part model, give relative movement to these models according to the movement path information, determine the intersection of the work model and the work support part model of the virtual tooling part model during movement, When intersecting, the virtual touring part model is updated by deleting the intersection of the virtual touring part model, and when all the movements are completed, the updated virtual touring part model is registered as an aptitude touring part model, and the tooling candidate Input the information to generate the tooling candidate model, and then select the tooling candidate model and the suitable tooling part model. By superimposing Le determine the appropriateness of tooling candidate, and determines the tooling to be used.

According to a tenth aspect of the present invention, the tooling type automatic determining method and apparatus further comprises the step of inputting information of a virtual tool blade portion to generate a virtual tool blade portion model, and moving. It is characterized in that it comprises a process of determining an intersection of the virtual tool blade model with the work model in the inside, and updating the work model by a method of deleting the intersection of the work model when the intersection occurs.

A tooling type automatic determination method and apparatus therefor according to claim 11 are the above-mentioned claim 9 or claim 1.
In addition to the above description, the process of inputting the information of the virtual tool blade portion and generating the virtual tool blade portion model is provided, the intersection of the virtual tool blade portion model with the work model during movement is determined, and the virtual tool blade portion model is intersected. It is characterized by including a process of calculating a necessary tool blade length from information of the intersection of the virtual tool blade model at that time.

According to the twelfth aspect of the present invention, there is provided a tooling type automatic determination method and apparatus.
1 further includes a process of inputting information of a virtual tool blade portion to generate a virtual tool blade portion model, determining intersection of the virtual tool blade portion model with a workpiece support portion model during movement, It is characterized in that it has a process of judging the intersection as an interference when the intersection is made.

A tooling type automatic determination method and apparatus therefor according to claim 13 are the above-mentioned claim 9 to claim 1.
Regarding the tooling candidate determined to be suitable in the tooling candidate suitability determination according to 2), the tooling suitability is evaluated by a method of predicting fracture or deformation during processing by mechanical calculation, and the tooling candidate is used based on the evaluation. It is characterized by having a process of determining a touring to be performed.

A tooling type automatic determination method and apparatus according to claim 14 are the above-mentioned claim 9 to claim 1.
The suitability determination of the tooling candidate described in 1 of 3 is suitable when the tooling candidate model is within the area of the suitability tooling part model in a state where the suitability tooling part model and the tooling candidate model are superposed on the basis of the tool tip point. It is characterized in that the tooling candidate model is judged to be unsuitable when it exceeds the area of the suitable tooling part model.

According to a fifteenth aspect of the present invention, there is provided a tooling type automatic determination method and apparatus.
In the determination of suitability of a touring tooling candidate as described in 1 of item 4, when the tooling candidate model is judged to be unsuitable beyond the area of the suitable tooling section model, the adjustment amount regarding the combination is set so that the tooling candidate model fits within the area of the suitable tooling section model. It is characterized in that the suitability judgment of the touring candidate is continued while adjusting, and the suitability of the touring candidate is judged by repeating the judgment until the judgment is suitable or the adjustment amount reaches the limit amount while the judgment is not suitable.

In the automatic tooling determination method and apparatus according to any one of claims 9 to 15, the tooling portion has the interfered object shape determination method according to any one of claims 1 to 4. It corresponds to the interfered object in the shape determining device, and the work and the work support portion correspond to the interfered object.

A tooling type automatic determination method and apparatus therefor according to the above claims are provided in the above claims 9 to 1.
The information of the virtual tooling part described in 1) is information of a prism or a cylinder.

According to the automatic tooling determination method and apparatus thereof described in the above claims, the information of the work supporting part in any one of the above claims 9 to 15 is the work table and / or the mounting of the machine tool. It is characterized by comprising jig information.

A tooling type automatic determination method and apparatus therefor according to the above claims are provided in the above claims 9 to 1.
The information of the work supporting part in 1) is information of the spindle part and / or the chuck part of the turning machine.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The information of the work supporting portion in the item 1 of 5 includes information of the work table and / or the mounting jig in the robot work.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The information of the work in 1 is composed of information about one or a plurality of works, and is divided into a work that may be processed and a non-work that should not be processed. It is characterized in that it is treated in the same manner as the work supporting part in the processing of.

A tooling type automatic determination method and apparatus therefor according to the above claims are provided in the above claims 9 to 1.
5, the movement route information is coordinate value data,
It is characterized by comprising tool path data, NC data and the like.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The information of the tooling candidate described in 1 of 5 includes the information of the tool and the information of the tool holder and / or the information of the main spindle of the processing machine in the rolling machining.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The information of the tooling candidate described in No. 5 is the information of the turning tool and the information of the turning tool in the turning machining and /
Alternatively, it is characterized by comprising information of the turret part.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The information of the tooling candidate described in 1 of 5 includes the information of the tool in the milling unit processing of the turning machining machine, the information of the milling unit part, and the information of the turret part which holds this as necessary. And

According to the tooling type automatic determination method and the apparatus therefor, the information of the tooling candidates according to claim 1 includes an adjustment amount related to a combination.

According to the tooling type automatic determining method and the apparatus therefor, the prediction of fracture or deformation during machining by the mechanical calculation in claim 15 is such that the concentrated load of the tool tip or the uniform distribution near the tool tip is obtained. It is characterized by being composed of prediction of fracture or deformation simulating a load state under load.

In the tooling automatic determination method and apparatus according to the above-mentioned claim, in predicting the above-mentioned deformation in the above-mentioned claim, each element constituting the tooling candidate is approximated to a solid cylinder or a hollow cylinder. And

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
Each model described in 1) is characterized by being composed of an aggregate of prisms or cylinders.

A tooling type automatic determination method and apparatus therefor according to the above claims are provided in the above claims 9 to 1.
Each of the models described in 1) is characterized by comprising a polyhedron.

A tooling type automatic determination method and apparatus therefor according to any one of claims 9 to 1 are provided.
The model described in 1-5 is characterized in that it is created and registered in advance, and that it is referred to as needed.

The tooling type automatic determination method and the apparatus thereof according to the above-mentioned claims register the work model updated when all the movements are completed with respect to the work model according to one of the above-mentioned claims 10 to 15. Then
It is characterized in that it has a form which is referred to in the next step.

In the present invention, the form means a shape, a structure, an arrangement, a combination thereof and the like.

In order to solve the above problems, the present invention provides a method and apparatus for automatically determining the form of an interfered object by a machining simulation on a computer.
As an example, the following method is used to determine the optimum tooling form to be used for work. That is, a virtual tooling part model is generated as a tool side model, and a work model and a work support part model are generated as a work side model. Then, relative movement is given to the tool-side model and the work-side model in accordance with the movement path information, the intersection of the virtual tooling part model with the work-side model during movement is determined, and when they intersect, the intersection of the virtual tooling part model is determined. The virtual touring part model is updated by the deleting method, and the updated virtual touring part model is registered as the aptitude tooling part model when all the movements are completed.

Next, a tooling candidate model is generated, the suitability tooling part model and the tooling candidate model are overlaid to determine the suitability of the tooling candidate, and the tooling to be used is determined.

A more detailed configuration example of the method and apparatus of the present invention will be described below by taking the determination of the tooling form as an example. First, a virtual tool blade part model and a virtual tooling part model are generated as a tool side model, and a work model, a work platform model, and a mounting jig model are generated as a work side model. Enter the necessary information for each.
As an example of the information to be input, the virtual diameter and virtual length of the blade for virtual tool blade information, the virtual shape and virtual position information for virtual tooling information, and the shape and installation for work and mounting jig information. The information on the position and the installation posture, and the information on the work table includes information on the shape of the table or pallet. Here, as the virtual shape in the information of the virtual tooling section, a prism or a cylinder is simple and practical. In addition, the work information consists of information about one or more works (multiple works can be handled), and is divided into cutting works that may be cut and non-cut works that should not be cut. With regard to the above, it is effective as one means for improving the practicality to treat the same as the work table and the mounting jig in the subsequent processing.

Then, relative movement is given to the tool-side model and the work-side model in accordance with the movement path information, and the intersection of the virtual tooling part model with the work-side model during movement is determined. The virtual tooling part model is updated by the method of deleting the intersection, the intersection of the virtual tool blade part model with the work model is determined during movement, and when it intersects, the work model is deleted by the method of deleting the intersection of the work model. Update. The virtual touring part model updated when all the movements are completed is registered as the aptitude touring part model. Here, in the case of NC processing, N is used as the movement route information.
Utilizing C data is one practical means.
In addition to the above for processing during movement, determine the intersection of the virtual tool blade model with the work model during movement, and calculate the required tool blade length from the information of the intersection of the virtual tool blade model when intersecting. It is equipped with a necessary tool blade length calculation means, and an interference detection means for determining the intersection of the virtual tool blade part model with the work table model and the mounting jig model during movement, and determining the intersection part as interference when intersecting. Provision is effective at a practical level.

Next, a tooling candidate model is generated, and the suitability tooling part model and the tooling candidate model are overlaid on the basis of the tool to judge the suitability of the tooling candidate. When it is judged to be suitable, the information of the tooling candidate is registered. To do. Input the necessary information when generating the tooling candidate model. As an example, the information to be input is made up of tool information, processing machine spindle information, and holder information if necessary, and it is practical that the information to be input further includes an adjustment amount related to the combination. Here, the tool information consists of the shank diameter, blade length, and if necessary, the blade diameter and total length, and the machining machine spindle information consists of the spindle head shape information and the quill shape as necessary. The information of the shape of the machine body such as information and columns is included, the information of the tool holder consists of the information of the shape of one or more tool holders, and the adjustment amount related to the combination can be projected among the elements that make up the tooling. It is effective in practice to consist of the amount of protrusion of various elements. Of these, the adjustment amount related to the combination is generally practical only by adding the limit value and the minimum value as necessary.

The suitability of the tooling candidate is determined to be suitable when the tooling candidate model is within the area of the suitability tooling section model in a state where the suiting tooling model and the tooling candidate model are overlapped with each other with the tool as a reference. When the touring candidate model is judged to be unsuitable when it exceeds the area of the suitable touring part model, and when it is determined that the touring candidate model is out of the area of the suitable touring part model in the determination of suitability of the above-mentioned touring candidate, the touring candidate model is The tooling section continues to judge the suitability of tooling candidates while adjusting the adjustment amount related to the combination so that it falls within the area of the tooling section model, and repeats this until the judgment becomes appropriate or the adjustment amount reaches the limit amount with the judgment unsuitable. It is practically appropriate to judge the suitability of a touring candidate A.

Further, with respect to the tooling candidates which are determined to be suitable and registered, the suitability of the tooling is evaluated by a method of predicting breakage or deformation during processing by mechanical calculation,
The tooling to be used is decided based on the evaluation. Here, the prediction of fracture or deformation during machining by mechanical calculation consists of prediction of fracture or deformation simulating a load state with concentrated load at the tool tip or evenly distributed load near the tool tip. , It is practical to approximate each element constituting the tooling candidate to a solid cylinder or a hollow cylinder with a small amount of calculation.

On the other hand, it is practical that each model generated in the above is composed of an aggregate of prisms or cylinders from the viewpoint of the calculation speed, and that it is composed of a polyhedron from the viewpoint of calculation accuracy. Is practical from. Further, it is also possible to generate and register each model in advance and to cite this as needed. further,
Regarding the work model, it is also possible to register the updated work model when all the movements are completed and use it as a shaving work in the next process, or to use it for machining over several processes from roughing to finishing. It is very effective.

[0052]

The operation and effect of the present invention are as follows:
For example, when it is used to determine the tooling form of milling, the blade length of the tool necessary for machining, the amount of protrusion from the tool holder, the tool holder to be used for machining, and the amount of quill protrusion are determined, The suitability of the shape of the spindle of the processing machine is determined. This determines the form of tooling in the milling process. The same applies to jig grinding or electric discharge machining. In machining by a milling unit such as a turning center, the tool holder is replaced with a milling unit, and the machining machine spindle is replaced with a turret to which the unit is attached. On the other hand, if it is used for turning, the amount of protrusion of the cutting tool from the turret holding the cutting tool is determined, and the suitability of the shape of the turret is determined.

By the automatic determination of the tooling form as described above, it is possible to omit the thinking work for determining the tooling form and the final check work such as the check work or the trial machining, which has been performed by humans. Greatly effective in reducing lead time, man-hours, and labor saving. In addition, the computer simulation automatically determines the optimum one that exceeds human speculative power, which is useful for processing safety, unmanned operation, and product defect prevention.
Further, the conventional tooling form determination is a work that requires skill, and automation of this is effective as a measure for the shortage of skilled workers expected in the future.

[0054]

BEST MODE FOR CARRYING OUT THE INVENTION

[0055]

[First Embodiment] As a first embodiment of the present invention, an example applied to determining a tooling form of NC milling will be described. This example is configured as a specification for determining the items shown in FIG. 3 regarding touring. That is, determination of the required blade length of the tool and the amount of protrusion,
The tool holder is determined, the quill protrusion amount is determined, and the suitability of the machining machine spindle shape is determined. As a result, the elements that make up the tooling and how to combine them are determined. The configuration of the embodiment of the present invention is as shown in FIG. The broken line portion in the drawing can be added or rearranged as necessary, and this example will be described below as a configuration including the broken line portion. First, regarding the model generation unit, a virtual tooling unit model and a virtual tool blade unit model are generated as tool-side models, and a work model and a work support unit model are generated as work-side models. Here, the virtual tooling part model is represented by a cylinder or a prism that includes an expected tooling candidate. Further, the virtual tool blade model is represented by a cylinder having the same length as the virtual tooling model having the tool diameter.

Further, as the work model, a material shape is set, or a shaving work model of a pre-process described later is cited. On the other hand, as the work support part, a work table such as a table or pallet on which the work is set and a mounting jig are assumed, and information of their shapes, positions and postures is given to generate a work support part model. FIG. 5 is a schematic diagram when this state is displayed by computer graphics.

Next, relative movement is given to the tool-side model and the work-side model according to the movement path information, and the following processing is performed. (1) The intersection of the virtual tooling part model with the work model and the workpiece support part model during movement is determined, and when the intersection is detected, the virtual tooling part model is updated by a method of deleting the intersection part of the virtual tooling part model. (2) The intersection of the virtual tool blade model with the work model during movement is determined, and when the intersection is made, the work model is updated by a method of deleting the intersection of the work model. (3) The intersection of the virtual tool blade model with the work model during movement is determined, and the required tool blade length is calculated from the information of the intersection of the virtual tool blade model when the virtual tool blade model intersects. (4) The intersection of the virtual tool blade model with the work model support portion during movement is determined, and when the intersection is determined, the intersection is determined as interference. (5) Register the virtual touring part model updated when all the movements are completed as the aptitude touring part model. (6) When all the movements are completed, the updated work model is scraped and registered as a work model.

Here, coordinate value data or NC data representing a tool path is used as the movement path information. Regarding processing, usually, a work shape before machining is set as a work model, and the work model is updated every moment in (2) to improve the accuracy when updating the virtual tooling part model in (1). When the final finished shape of the work is set as the work model to simplify the process, the processes (2), (3) and (6) can be omitted. Similarly, the process of (4) can be omitted when the calculation of the required tool blade length is unnecessary, and the process of (4) can be omitted when the determination of the interference is unnecessary. In order to further simplify the processing, it is possible to omit the work supporting portion model and execute the above.

On the other hand, the shaving work model registered in (6) is used as a work model in determining the tooling form in the next process. However, in the final process (6)
May be omitted. FIG. 6 is a schematic view of a computer graphics display of a state in which the appropriate tooling section model is generated by the above processing. This suitable tooling part model geometrically represents a non-interference area of tooling. After that, a tooling candidate that can be actually used, specifically, a tool, a tool holder, and a candidate for the processing machine is selected, and the suitability thereof is entered.

Here, a tooling candidate model is generated, and this is superimposed on the previously obtained aptitude tooling section model to determine the suitability of the tooling candidate. In this judgment, when the tooling candidate model and the tooling candidate model are superposed on the basis of the tool tip point, the tooling candidate model is judged to be suitable when it is within the area of the tooling part model, and the tooling candidate model is suitable for tooling. It is judged to be unsuitable when it exceeds the area of the partial model.
When it is determined that the tooling candidate model is not suitable, so that the tooling candidate model fits within the area of the suitable tooling unit model,
The suitability determination of the tooling candidate is continued while adjusting the adjustment amount related to the combination of the elements that form the tooling, and this is repeated until the determination is appropriate or the adjustment amount reaches the limit amount while the determination is unsuitable. The adjustment amount related to the combination is the protruding amount of the tool and the quill in the case of the embodiment of the present invention, and the adjustment is to lengthen the protruding amount.

FIG. 7 is a flow chart of the above-mentioned suitability determination and protruding amount determination processing in the first embodiment of the present invention. Further, FIGS. 8 and 9 show the amount of tool protrusion and the amount of quill protrusion when the tooling candidate model and the suitable tooling part model overlap each other with the tool as a reference and the tooling candidate model extends beyond the area of the suitable tooling part model. Represents how to adjust. In the example shown in FIG. 8, since the tool holder protrudes, the tooling candidate model can be accommodated within the area of the suitable tooling part model by increasing the tool protrusion amount, and the tooling candidate becomes a suitable tooling candidate. In the example shown in FIG. 9, since the main shaft portion of the processing machine protrudes, increasing the quill protrusion amount allows the tooling candidate model to fit within the area of the suitable tooling section model as well, and becomes a suitable tooling candidate. At this time, if the protruding amount exceeds the limit amount, it cannot be adjusted anymore, and the tooling candidate is treated as unsuitable. In the process of adjusting the protrusion amount for the tooling candidate initially determined to be unsuitable as described above, the protrusion amount of the tool and the quill is determined.

The tooling candidates determined to be suitable in the above processing are sequentially registered as suitable tooling candidates. When the suitability judgment is performed for all the tooling candidates, usually, some suiting tooling candidates as shown in FIG. 10 are selected. In the case where the touring candidates are prioritized in advance according to the past usage record, etc., the one to be used is decided according to this.

If there is no priority, the suitability of the suiting tooling candidates must be evaluated. In the first embodiment of the present invention, in this case, the suitability of a suitable tooling candidate is evaluated by a method of predicting fracture or deformation during processing by a mechanical operation, and the tooling to be used is determined based on the evaluation. I am trying. FIG.
1 is a simple example of mechanical calculation. The tooling part is approximated by a solid cylinder or a hollow cylinder, and the suitability of a suitable tooling candidate is evaluated by the amount of deflection when a concentrated load is applied to the tool tip. Here's how to do it. In this example, this method is most frequently used.

The embodiment of the invention described above is configured as a specification for determining all of the items shown in FIG. 3, but a second embodiment as shown in FIG. Is also possible. In the second embodiment, the virtual tooling part model is set by the machine tool spindle part model, the tool holder model, and the virtual tool shank part model (only the tool shank part model is virtual), and among the items shown in FIG. It shows a configuration in the case of determining only the tool protrusion amount.
The process during movement in this example is different from the first embodiment in the following parts.

In the second embodiment, the intersection of the machine tool spindle model and the tool holder model with respect to the work model and the work support model during movement is determined, and when they intersect, the virtual tool shank model is lengthened. Update virtual tooling model with method. The tool protrusion amount is determined based on the information of the virtual tooling part model updated when all the movements are completed. With the same idea, the quill protrusion amount and the protrusion amount when a plurality of tool holders are combined can be determined individually or in combination.

In the first and second embodiments relating to the NC milling, rolling machining such that the tool is supported on the spindle side of the machining machine, for example, drilling, jig grinding, electric discharge machining, etc. Can be commonly applied to. In addition, regarding turning type machining (including complex machining by turning center) in which the workpiece is supported on the spindle side of the processing machine, the concept of chucks and spindles is added to the workpiece support.
By introducing the concept of a bite holder (rotary tool unit in combined machining) or turret to the tooling part, the tooling can be decided in the same way. FIG. 13 shows an example of the third embodiment, which is a specification of determining the bite protrusion amount, which is an example of the tooling mode determination in NC turning.

Further, regarding the decision of the tooling in the robot work, the concept of the constituent elements may be replaced similarly to the above. Robot work may be applied to polishing, welding, assembly, etc., but in the case of assembly work, etc., the concept of cutting the work unlike machining, that is, determining the intersection of the work model with the virtual tool blade model during movement However, when intersecting, the concept of updating the work model by the method of deleting the intersection of the work models becomes unnecessary.
Then, the adjustment amount is replaced with a component for assembling the tool, such as a posture for holding the component. On the other hand, it can also be applied to automatic machines on production lines as a combination of rolling and turning.

As a fourth embodiment of the present invention, NC
An example applied to the determination of the work support form of milling will be described. The fourth embodiment of the present invention is shown in FIG.
The configuration and the installation position of the work support as shown in FIG. 15 are determined, and the configuration is as shown in FIG.

First, with respect to the model generation unit in the fourth embodiment of the present invention, a virtual work support unit model is generated as a work side model, and a tooling unit model is generated as a tool side model. Here, the virtual work support part model is represented by a cylinder or a prism that includes an expected work support tool. When the work support is arranged at a plurality of locations, a plurality of work support part models are also generated as needed. As a tooling tool,
A tooling model is generated by assuming a combination of a tool holder and a machine tool spindle as necessary. Next, relative movement is given to the virtual work support part model and the tooling part model according to the movement path information, and the following processing is performed.

The intersection of the virtual workpiece support portion model with the tooling portion model during movement is determined, and when the intersection is obtained, the virtual workpiece support portion model is updated by a method of deleting the intersection portion of the virtual workpiece support portion model. The virtual work support part model updated when all the movements are completed is registered as the aptitude work support part model. Here, coordinate value data or NC data representing a tool path is used as the movement path information.

After that, a work supporting member candidate that can be actually used is selected and the suitability thereof is determined. Here, a work support tool candidate model is generated, and the suitability of the work support tool candidate is determined by superposing it on the previously obtained suitability work support section model. In this determination, the work support tool candidate model is superposed on the reference position of the work support tool model, and when the work support tool candidate model is within the area of the work support tool model, the work support tool candidate model is determined to be suitable. When the candidate model is out of the area of the suitable work supporting part model, it is determined to be unsuitable.

When it is determined that the work support tool candidate model is not suitable, the adjustment amount of the combination of the elements constituting the work support tool and the work support tool candidate model are adjusted so that the work support tool candidate model fits within the area of the suitable work support section model. The suitability determination of the work support tool candidates is continued while adjusting the entire position and posture, and this is repeated until the determination is appropriate or the above adjustment reaches the limit with the determination being unsuitable. FIG. 16 is a flowchart of the above-described suitability determination and adjustment processing according to the fourth embodiment of the present invention. In this way, with respect to the work support tool candidates initially determined to be unsuitable, the forms such as the installation position with respect to the work and the relative positional relationship between the support tools are determined in the process of adjusting the adjustment amount related to the combination and the overall position or posture. .

The work support tool candidates determined to be appropriate in the above process are sequentially registered as the suitable work support tool candidates. When the suitability determination is performed for all the work support tool candidates, some suitable work support tool candidates are usually selected.
When the work support tool candidates are prioritized in advance according to the past usage record and workability, the work support tool candidates are determined according to the priorities. If there is no priority, the suitability of candidates for suitable work supports must be evaluated. In the fourth embodiment of the present invention, in this case, the suitability of the work support tool is evaluated by a method of predicting the support force of the work by mechanical calculation, and the work support tool to be used is determined based on the evaluation. I am trying.

The fourth embodiment of the present invention discloses the determination of the work supporting form of the milling work, but the same idea can be applied to other milling work, turning work, robot work, etc. It is obvious that the work support form can be determined.

Although the example of determining the tooling mode and the example of determining the work supporting mode have been described above, the application of the present invention is not limited to the above-described embodiments. The present invention discloses a determination method for determining the form of an interfered body when the interfered body and the interfered body composed of one or a plurality of elements relatively move according to movement information.

Therefore, it can be applied to various problems in which one form of two relative moving components should be determined. In this case, the side to which the form is given is set as the interfering body, and the side for which the form is to be determined is set as the interfered body and applied to the task. Then, by virtualizing a part or all of the interfered object side, relative movement is given to the interferer and the virtual interfered object according to the movement information, and when the crossing of the interfering object and the virtual interfered object during movement is determined, the virtual The form of the interfered object is updated, and the virtual interfered object that is updated when all the movements are completed is set as an appropriate interfered object,
The form of the interfered object is determined based on the information of the appropriate interfered object.

In the embodiment of determining the tooling pattern, the tooling pattern on the tool side is determined by setting the work side as the interfering body and the tool side as the interfered body. Further, in the embodiment for determining the work support mode, the work support mode on the work side is determined by setting the tool side as the interfering body and the work side as the interfered body. In addition, for example, regarding the structure in which one or more objects are arranged and the moving body that moves in the structure, determining the form such as the structure and arrangement of the structure or determining the form of the moving body. The range of application of the present invention is extremely wide in addition to the above example.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a typical example of the present invention.

FIG. 2 is an overall configuration diagram showing another example of the present invention.

FIG. 3 is an explanatory diagram showing an example of determining a touring form of the present invention.

FIG. 4 is an overall configuration diagram showing a first embodiment example of the present invention.

FIG. 5 is a schematic diagram showing an example applied to determining a touring form.

FIG. 6 is a schematic diagram showing an example applied to determining a touring form.

FIG. 7 is a diagram showing a flowchart relating to the first embodiment.

FIG. 8 is an explanatory diagram showing an adjustment for the case of the holder protrusion according to the first embodiment.

FIG. 9 is an explanatory diagram showing adjustment for a spindle head protrusion example according to the first embodiment.

FIG. 10 is an explanatory diagram showing an example of an appropriate tooling candidate.

FIG. 11 is an explanatory diagram showing an example of a tooling adequacy evaluation.

FIG. 12 is an overall configuration diagram showing a second embodiment example.

FIG. 13 is an overall configuration diagram showing a third embodiment example.

FIG. 14 is a plan view showing an example of determining a work support mode.

FIG. 15 is a front view showing an example of determining a work support mode.

FIG. 16 is an overall configuration diagram showing a fourth embodiment example.

FIG. 17 is an overall configuration diagram showing a flowchart relating to a fourth embodiment example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Interfering body virtual means 2 Relative moving means for interfering body and interfered body 3, 7 Interfering body form determining means 4 Proper interfered body registering means 5 Proper interfered body registering means 6 Interferee candidate adequacy judging means

Claims (15)

[Claims] 1. An interfered body comprising the following steps in determining the form of the interfered body when the interfered body and the interfered body composed of one or a plurality of elements relatively move according to movement information. Form determination method. Step 1: The interfered object virtual means virtualizes a part or all of the interfered object. Step 2: Relative movement is given to the interfering body and the virtual interfered body according to movement information by the relative moving means of the interfering body and the interfered body. Step 3: The virtual interfered object updating means determines the intersection of the moving interferer and the virtual interfered body, and when they intersect, the form of the virtual interfered body is updated. Step 4: The form of the interfered body is determined based on the information of the virtual interfered body updated when all the movements are completed by the interfered body form determining means. 2. The interfered object, which comprises the following steps in determining the form of the interfered object when the interferer and the interfered object consisting of one or a plurality of elements relatively move according to the movement information. Form determination method. Step 1: The interfered object virtual means virtualizes a part or all of the interfered object. Step 2: Relative movement is given to the interfering body and the virtual interfered body according to the movement information by the relative moving means of the interfering body and the interfered body. Step 3: The virtual interfered object updating means determines the intersection of the moving interferer and the virtual interfered body, and when they intersect, the form of the virtual interfered body is updated by deleting the intersection of the virtual interfered body. To do. Step 4: The virtual interfered object updated when all the movements are completed by the appropriate interfered object registration means is registered as the appropriate interfered object. Step 5: The interfered object candidate adequacy determining unit selects an interfered object candidate and superimposes the interfered object candidate on the appropriate interfered object to determine the suitability of the interfered object candidate. Step 6: The form of the interfered object is determined by the interfered object form determining means based on this determination. 3. In the determination of the form of the interfered body when the interfered body and the interfered body, which are composed of one or a plurality of elements, move relative to each other in accordance with movement information, the interfered body that virtualizes a part or all of the interfered body. When the body virtual means, the relative moving means for moving the interfering body and the virtual interfered object relative to each other according to the movement information and the interfering body and the interfered object, and the intersection of the moving body and the virtual interfered object are determined and crossed. Is an updating means of the virtual interfered body for updating the form of the virtual interfered body, and an interfered body for determining the form of the interfered body based on the information of the virtual interfered body updated when all the movements are completed. A shape determination device for an interfered object, comprising: shape determination means. 4. An interfered object that virtualizes part or all of the interfered object in determining the form of the interfered object when the interfered object and the interfered object composed of one or a plurality of elements relatively move according to movement information. When the body virtual means, the relative moving means for moving the interfering body and the virtual interfered object relative to each other according to the movement information and the interfering body and the interfered object, and the intersection of the moving body and the virtual interfered object are determined and crossed. Is a virtual interfered object updating means for updating the form of the virtual interfered object by a method of deleting the intersection of the virtual interfered object, and the virtual interfered object updated when all the movements are completed. The appropriate interfered object registration means for registering as, the interfered object candidate suitability determination means for selecting the interfered object candidate and superposing this on the suitable interfered object to determine the suitability of the interfered object candidate, and this determination Interference that determines the shape of the interfered object A shape determination device for an interfered object, comprising: body shape determination means. 5. A method for determining a work support form, comprising inputting a model of a virtual work support part to generate a virtual work support part model, inputting information of a tooling part to generate a tooling part model, and moving the model. Relative movement is given to these models according to the route information, and the intersection of the virtual workpiece support section model with the tooling section model during movement is determined,
When crossing, the virtual work support part model is updated by deleting the crossing part of the virtual work support part model, and when all the movements are completed, the updated virtual work support part model is registered as the aptitude work support part model. , Work support tool candidate information is input to generate a work support tool candidate model,
A method for automatically determining a work support form in which a work support tool candidate model and an aptitude work support part model are overlaid to determine the suitability of a work support tool candidate and a work support tool to be used is determined. 6. The suitability of the work support tool is evaluated by a method of predicting the support force of the work by a mechanical calculation for the work support tool candidate determined to be appropriate in the suitability determination of the work support tool candidate according to claim 5. A method for automatically determining a work support form, comprising a step of determining a work support to be used based on the evaluation. 7. The suitability determination of the work support tool candidate according to claim 5 or 6, wherein the work support tool candidate model is overlapped with the reference position of the suitability work support part model. When the tool candidate model is within the area of the suitable work support part model, it is judged as suitable, and when the work support tool candidate model exceeds the area of the suitable work support part model, it is judged as unsuitable. Automatic determination method. 8. The work support tool candidate model is suitable for supporting a suitable work when the work support tool candidate model is judged to be unsuitable beyond the area of the suitable work support section model in the suitability judgment of the work support tool candidate in claim 7. While continuing to adjust the amount of adjustment related to the combination and adjusting the overall position and posture so that the work support tool fits within the area of the partial model, the work support tool candidate continuity judgment is made, and the judgment becomes appropriate or the judgment remains unsuitable. This method is repeated until a limit is reached, and the suitability of a candidate work support tool is determined, and a method for automatically determining a work support form. 9. A method for determining a tooling form, comprising inputting information of a virtual tooling section to generate a virtual tooling section model, inputting information of a work to generate a work model, and calculating information of a work supporting section. Generates a work support part model by inputting, gives relative movement to these models according to the movement path information, determines the intersection of the virtual tooling part model with the work model and the work support part model during movement, and when it intersects, virtual Update the virtual touring part model by deleting the intersection of the touring part model, register the updated virtual touring part model as an aptitude touring part model when all movements are completed, and enter the information of the touring candidate. Generate a touring candidate model and overlay the touring candidate model with the suitable touring part model A method for automatically determining a touring type that determines the suitability of a candidate for a tour and decides a tooling to be used. 10. The method according to claim 9, further comprising the step of inputting information on a virtual tool blade portion to generate a virtual tool blade portion model, and determining intersection of the virtual tool blade portion model with a work model during movement. However, the automatic determination method of the tooling form is characterized by including a process of updating the work model by a method of deleting the intersection part of the work model when intersecting. 11. The virtual tool blade unit according to claim 9 or 10, further comprising the step of inputting information of the virtual tool blade unit to generate a virtual tool blade model. A method for automatically determining a tooling form, comprising a step of determining an intersection of a model with a work model, and calculating a required tool blade length from information of an intersection of a virtual tool blade model when the model intersects. 12. The virtual tool blade part during movement according to claim 9, further comprising a step of inputting information of the virtual tool blade part to generate a virtual tool blade part model. A method for automatically determining a tooling form, comprising a process of determining an intersection of a model with a work support part model, and determining that the intersection is an interference when the model intersects. 13. A tooling candidate determined as suitable in the tooling candidate suitability determination according to claim 9 to claim 12 by a method of predicting fracture or deformation during processing by mechanical calculation. An automatic method for determining a touring type, comprising a process of evaluating suitability and determining a tooling to be used based on the evaluation. 14. The tooling candidate suitability determination according to claim 9 to claim 13, wherein the tooling candidate model is overlapped with the tooling part model and the tooling candidate model with reference to the tool tip point. A method for automatically determining a touring form, characterized in that it is determined to be suitable when it is within the area of an aptitude tooling section model, and is determined to be unsuitable when a tooling candidate model extends out of the area of the aptitude tooling section model. 15. The tooling candidate model is suitable for touring when the tooling candidate model is judged to be unsuitable outside the area of the suitable tooling section model in the suitability determination of the touring tooling candidate according to any one of claims 9 to 14. Continue adjusting the suitability of tooling candidates while adjusting the amount of adjustment related to the combination so that it fits within the area of the partial model, and repeat this until the amount of adjustment reaches the limit amount while the judgment is appropriate or the judgment is unsuitable. A method for automatically determining a touring type, which comprises determining suitability of a candidate.