JPS59232747A - Tool position data forming method - Google Patents
Tool position data forming methodInfo
- Publication number
- JPS59232747A JPS59232747A JP10645583A JP10645583A JPS59232747A JP S59232747 A JPS59232747 A JP S59232747A JP 10645583 A JP10645583 A JP 10645583A JP 10645583 A JP10645583 A JP 10645583A JP S59232747 A JPS59232747 A JP S59232747A
- Authority
- JP
- Japan
- Prior art keywords
- position data
- points
- tool
- point
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
- G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
（Ｍ業上の利用分野〉
本発明は立体（モデル）の表面位置を測定し、得られた
表面位置データを用いて工具位置データを作成する工具
位置データ作成方法に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of application in M industry) The present invention relates to a tool position data creation method for measuring the surface position of a solid (model) and creating tool position data using the obtained surface position data. .
〈従来技術〉 ６次元測定機により立体形状表面の位置（ｘ。<Conventional technology> The position (x) of the three-dimensional surface is determined by a six-dimensional measuring machine.
ｙ＋ ｚ）を測定して、入力することにより該立体の
形状を入力することが従来より行なわれている。Conventionally, the shape of the three-dimensional object is input by measuring and inputting y+z).
そして、最近か＼る３次元測定機を用いてモデルの立体
形状を入力し、該入力された立体形状データにより該モ
デルと同等の物或いはモデルに幻しメス型の物を切削す
るＮＣテープの作成方法が提案されている。このＮＣテ
ープ作成方法は、３次元測定機（たとえば商品名”電子
プローグとして市販されている）のセンサをモデルに接
触させ、該センサ出力信号を用いてモデル表面の位置を
測定して記憶し、これら位置データ、工具半径などを用
いて工具中心位置を求めてＮＣテープを作成するもので
ある。Then, we input the three-dimensional shape of the model using a recent three-dimensional measuring machine, and use the input three-dimensional shape data to create an NC tape for cutting an object equivalent to the model or a female-shaped object that resembles the model. A method of creation is proposed. This NC tape creation method involves bringing a sensor of a three-dimensional measuring machine (for example, commercially available under the trade name "Electronic Prog") into contact with the model, measuring and storing the position of the model surface using the sensor output signal, Using these position data, tool radius, etc., the tool center position is determined and an NC tape is created.
〈従来技術の欠点〉
しかし、か＼る従来の方法においては、（イ）等間隔に
、しかも密に位置データを採取して記憶させなくてはな
らないため位置データ採取時間が長くなり、（ロ）シか
も記憶するデータ量が膨大になるため大容量の処理シス
テムが必要になるという欠点があった。<Disadvantages of the prior art> However, in the conventional method, (a) location data must be collected and stored at equal intervals and densely, which increases the time required to collect the location data; ) However, it had the disadvantage that it required a large-capacity processing system because the amount of data to be stored was enormous.
〈発明の目的〉
従って、本発明の目的は位置データ採取に要する時間を
短縮でき、しかも大容量のメモリが不用な工具位置デー
タ作成方法を提供することを目的とする。<Object of the Invention> Accordingly, an object of the present invention is to provide a tool position data creation method that can shorten the time required to collect position data and does not require a large capacity memory.
〈発明の概要〉
本発明は、少なくとも３本のセンサを並設して有する３
次元測定機を設け、該３次元測定機の６本のセンサ出力
信号を用いて近接した３点の位置データを同時に測定し
て記憶し、該測定された６点Ｐｉ 十ｉ ＋ Ｑ ｉ
＋１ｒ Ｒｉ ＋１の位置データと、前回測定された３
点Ｐ１＋ Ｑｉ＋ ｉｔｉの位置データと、前々回測定
された６点Ｐ ｉ−１＋ Ｑｉ−４＋ Ｒ１−１の位置
データとを用いて工具中心位置を以下の（イ）〜に）に
従って求め、すなわち
（イ）ポイントＱｉ−ｊ＋ Ｑｌ、 Ｑ＜＋１を通る第
１の円弧と、ポイントＰ Ｌ Ｑｉ＋ ”１を通る第２
の円弧を求め、仲）各円弧にポイントＱｉで接する接線
ベクトルＵ、、 ｔＪ２を求め、
（ハ）接線ベクトルＵ１． ＬＪ２の外積によｐポイン
トＱ［におけるモデルの法線ベクトルＮを求め、に）ポ
イントＱｔから法線ベクトル方向に工具半径ｒたけ離れ
たポイントを工具中心位置として求め、ＮＣテープを作
成する。そして、本発明によれば位ｔｆｔデータ採取に
要する時間を短縮でき、しかも大容量のメモリが不用と
なる。<Summary of the Invention> The present invention provides a sensor having at least three sensors arranged in parallel.
A dimensional measuring machine is provided, and position data of three nearby points are simultaneously measured and stored using six sensor output signals of the three-dimensional measuring machine, and the measured six points Pi + Q i
+1r Ri +1 position data and previously measured 3
Using the position data of point P1+ Qi+ iti and the position data of six points P i-1+ Qi-4+ R1-1 measured two times before, the tool center position is determined according to (a) to (a) below. ) The first arc passing through the point Qi-j+ Ql, Q<+1 and the second arc passing through the point P L Qi+ ``1
(c) Find the tangent vector U,, tJ2 that touches each arc at point Qi, (c) Find the tangent vector U1. The normal vector N of the model at point p Q is determined by the cross product of LJ2, and a point that is away from point Qt by tool radius r in the direction of the normal vector is determined as the tool center position, and an NC tape is created. According to the present invention, the time required to collect TFT data can be shortened, and a large capacity memory is not required.
〈実施例〉 第１図は本発明の実施例ブロック図である。<Example> FIG. 1 is a block diagram of an embodiment of the present invention.
１０１は６本の位置センサ１０１ａ、 １０１ｂ、 １
０１ｃｉ有する３次元測定機であｐ１従来公知の１本の
位置センサのみ有する３次元測定機に２本の位置センサ
を追加したものである。位置測定はたとえは、モデルに
接触しない状態においてヘッド１０１ｄをＸ−Ｙ平面の
所定位置に位置決めしくＸ、Ｙ軸方向位置が特定される
）、シかる後ヘツド１０１ｄｉモデル方向に降し６本の
位置センサが全てモデルに接触したときの各センサ出力
に基いて各センサ先端のＺ軸方回位１１１を求め、前記
Ｘ、Ｙ軸方向位１ｄと合せて６本のセンサの先端位置（
３次元位置）”ｉ、Ｑｉ、Ｒｉを測定する。１０２はＮ
Ｃデータ自動作成装置で必９、プロセッサ１０２ａ 、
ｌ（、ＡＭｌ ０２ｂ 。101 is six position sensors 101a, 101b, 1
01ci is a three-dimensional measuring machine having two position sensors added to the previously known three-dimensional measuring machine having only one position sensor. For example, in position measurement, the head 101d is positioned at a predetermined position on the The Z-axis rotation 111 of each sensor tip is determined based on the output of each sensor when all the position sensors are in contact with the model, and the tip positions of the six sensors (
3-dimensional position)" i, Qi, Ri. 102 is N
C data automatic creation device must have 9, processor 102a,
l(, AMl 02b.
制御プログラムを記憶するＲＯＭ１ｏ２ｃ、算出された
工具中心位置を記憶す几ＡＭ１０２ｄ、入出力ボート１
０２ｅ〜１０２ｈ、バス１１０２ｉを有している。１０
３はキーボード、１０４はディスプレイ装ｆｔ 、１０
５はテープパンチャ、１０６はＮＣテープである。ROM1o2c that stores the control program, AM102d that stores the calculated tool center position, input/output boat 1
02e to 102h, and a bus 1102i. 10
3 is a keyboard, 104 is a display device, 10
5 is a tape puncher, and 106 is an NC tape.
次に、第２図に示す処理の流れ図に徒って木兄Ｉ！ＩＪ
に係る工具位置データ作成方法を説明する。Next, follow the process flowchart shown in Figure 2 and follow the process flowchart shown in Figure 2. I.J.
A method for creating tool position data will be explained.
（イ）位置データ測定の起動がが＼ると３次測定機１０
１は前述の如くモデルに対しヘッド１０１ｄの位置制御
′ｆ：′６なうと共に、位置センサ出力を用いて各位置
センサ先端位置（６次元位１’ｌ）”＋−１＋ＱＩ−＋
＋”ｉ−１を求める（第６図参照）。(a) When the position data measurement starts, the tertiary measuring device 10
1 controls the position of the head 101d with respect to the model as described above 'f:'6, and also uses the position sensor output to control the tip position of each position sensor (6-dimensional position 1'l)"+-1+QI-+
+"i-1 (see Figure 6).
（ロ）シかる後、ＮＣテデー自動作成装随１０２のプロ
セッサ１０２ａは６次元測定機１０１がらポイントＰＩ
−、＋ Ｑ １＝ ＋ ＋ １もｉ−１の位置データを
読みとって几ＡＭ１０２ｂノ第１・記憶域１０２ｂ−１
ニ記憶スル（第４図（Ａ）＃照）。(b) After the measurement, the processor 102a of the NC data automatic creation device 102 uses the six-dimensional measuring machine 101 to measure the point PI.
-, +Q 1= + + 1 also reads the position data of i-1 and stores it in the first storage area 102b-1 of AM 102b.
2 memory (See Figure 4 (A) #).
（ハ）ついで３次元１１１１１定機１０１は”１−１＋
Ｑｉ−＋ ＋几ｉ−１に近接した６点Ｐｉ＋ ＱＬ
Ｒ１＜第６図）の位置を測定する。プロセッサ１０１ａ
けＲＡＭ１ｏ１の第１記憶域１０１ｂ−１ノ内容を第２
記恒域１０１ｂ−２に転送すると共に、ポイントＰＬ
Ｑｉ＋ Ｒ；の位置データを読みとって第１記憶域１０
１ｂ−１に記憶する（第４図０参照）。(c) Next, the three-dimensional 11111 fixed machine 101 is “1-1+
Qi-+ + 6 points Pi+ QL near i-1
Measure the position of R1<Figure 6). Processor 101a
The contents of the first storage area 101b-1 of RAM1o1 are stored in the second memory area 101b-1.
Transfer to the memory area 101b-2 and point PL
Read the position data of Qi+R; and store it in the first storage area 10.
1b-1 (see FIG. 4 0).
に）しかる後、３次元測定機１０１はＰ＋＋Ｑｉ＋几ｉ
に近接した３点”ｉ＋１＋Ｑ皿＋１ｒ ”ｉ＋１（第５
し１参庄））の位置を測定する。プロセッサ１０１ａは
ＲＡＭ１０１の第２記憶域１０１ｂ−２の内容を第６記
憶域１０１ｂ−３に、′ｉＡ１記憶域１０１ｂ−１の内
容を第２記憶域１０１ｂ−２にそれぞれ転送し、ポイン
トＰｊ＋１＋Ｑｉ＋１． Ｐｉ＋＋の位置データを第１
記憶域１０１ｂ−１に記憶する（第４図（Ｑ）。) After that, the three-dimensional measuring machine 101 calculates P++Qi+几i
3 points close to ``i+1+Q plate+1r''i+1 (5th
Measure the position of Shi1 Sansho)). The processor 101a transfers the contents of the second storage area 101b-2 of the RAM 101 to the sixth storage area 101b-3 and the contents of the iA1 storage area 101b-1 to the second storage area 101b-2, and transfers the contents of the second storage area 101b-2 of the RAM 101 to the second storage area 101b-2, and transfers the contents of the second storage area 101b-2 to the second storage area 101b-2. The first position data of Pi++
It is stored in the storage area 101b-1 (FIG. 4(Q)).
（ホ）以上によりモデル上の９点の位置データがＲＡＭ
１０１に記憶され＼ば、プロセッサ１０２ａは制御プロ
グラムに従ってポイントＱＩにおける法線ベクトルを求
める。すなわち、
（ホー１）ポイントＱｉ−ｉ１ Ｑｉ、 Ｑｔ＋１を通
る第１の円弧ｃｖｉと、ポイントＰ ｉ＋ Ｑｉ、 Ｒ
ｉを通る第２の円弧ＣＶ２を求める（第５図参照）。(E) With the above, the position data of the 9 points on the model is stored in RAM.
101, the processor 102a determines the normal vector at the point QI according to the control program. That is, (Ho 1) The first arc cvi passing through the point Qi-i1 Qi, Qt+1 and the point P i+ Qi, R
Find the second circular arc CV2 passing through i (see Figure 5).
（ホー２）ついで、円弧ＣＶ１を含む平面上に存在し、
且つポイントＱｉで円弧ＣＶ１に接する接線ベクトルＵ
１と、円弧ＣＶ２を含む平面上に存在し、且つポイント
Ｑｉで円弧ＣＶ２に接する接線ベクトルＵ２をそれぞれ
求める。(Ho 2) Then, it exists on a plane containing the arc CV1,
And the tangent vector U that touches the arc CV1 at the point Qi
1 and a tangent vector U2 that exists on a plane including the arc CV2 and is in contact with the arc CV2 at a point Qi.
（ホーロ）接線ベクトルＵ１＋Ｕ２ ＜用いて次式の
外積演算によジ
Ｎ ＝ Ｕ、Ｘ Ｕ２ （１
）ポイントＱｉにおけるモデルの法線ベクトルに合求め
る（第６図）。(Hollow) tangent vector U1+U2
) Find the normal vector of the model at point Qi (Figure 6).
（へ）工具先端が第７図に示すように半径ｒの半球状に
丸くなっているものとすればグロ→ニツサ１０２ａは次
式
により工具オフセットベクトルＴを求める。(f) Assuming that the tip of the tool is rounded into a hemispherical shape with radius r as shown in FIG.
（ト）しかる後、モデル形状通りの加工物を得るる（尚
、か＼る情報はキーボード１０３から予め入力されてい
る）０
けうモデルと同形の加工物を得るＮＣテープ金作成する
ものであれば、ポイントＱｉの位置ベクＩ・ルをＱｉと
して、工具オフセット位置Ｑ’ｉ ＜第８図参照）の位
置ベクトルＱ’ｉを
によυ求める。(g) After that, obtain a workpiece with the same shape as the model (the information has been entered in advance from the keyboard 103) 0. Obtain a workpiece with the same shape as the model. For example, by setting the position vector I of point Qi to Qi, find the position vector Q'i of the tool offset position Q'i (see FIG. 8).
（す）一方、モデルに対し、メス型の加工物を得るＮＣ
テープを作成しなければならないのであれば、工具オフ
セット位置Ｑ１の位置ベクトルＱｉをＱｉ＝Ｑｉ
Ｔ （Ｊによシ求める。(S) On the other hand, for the model, NC is used to obtain a female-shaped workpiece.
If a tape must be created, the position vector Qi of the tool offset position Q1 should be set as Qi=Qi
T (I ask J.
（ヌ）（３）式又は（４）式によシ工具オフセット位置
が求まればこれをｆＬＡＭ１０２ｄに記憶すると共に全
ポイントの工具オフセット位置が求まったかを判別し、
求まっていれば処理経了とし、求まっていなければ１−
４−１→ｉとしてステップに）に戻υ、以降のステップ
を繰返えす。(n) If the tool offset position is determined by the formula (3) or (4), it is stored in the fLAM 102d, and it is determined whether the tool offset position of all points has been determined,
If it is found, the process is completed, and if it is not found, it is 1-
Return to step 4-1→i) and repeat the subsequent steps.
〈発明の効果〉
以上詳細に説明したように、本発明は、少なくとも３本
のセンサを並設して有する３次元測定機を設け、該３次
元測定機の６本のセンサ出力信号を用いて近接した６点
の位置データを同時に測定して１）己１怠し、該泪ＩＩ
定された６点ＰＬ＋１＋ Ｑｉ＋１＋Ｒ１＋１の位置デ
ータと、前回測定された３点Ｐｉ。<Effects of the Invention> As explained in detail above, the present invention provides a three-dimensional measuring machine having at least three sensors arranged in parallel, and uses the six sensor output signals of the three-dimensional measuring machine. Simultaneously measure the position data of 6 points in close proximity to
The position data of the determined six points PL+1+Qi+1+R1+1 and the previously measured three points Pi.
Ｑ ｉ ｒ几ｌの位置データと、前々回測定された６点
Ｐ ｉ −１＋ Ｑｉ −１＋ ”＋−１ノ位１ｔｔデ
ータとｅ用いて工具中心位１汽を求めるように構成した
から、位置データ採取に要する時間は著しく短縮され、
しかも位装
置データを記憶するメモリの容量を大容量にする必要が
ない。Since the configuration is such that the tool center position 1 is calculated using the position data of Q i r 1, the 6 points P i -1+ Qi -1+ "+-1 position 1tt data measured two days ago, and e, the position data The time required for collection is significantly reduced,
Furthermore, there is no need to increase the capacity of the memory for storing device data.
第１１ｉ４は本発明の実施例ブロック図、第２図は本発
明に係る処理の流れ図、第６図はモデル表面上の９点の
位置データ採取説明図、第４図は位置データ記憶状説明
図、第５図乃至第７図は工具オフセットベクトル算出状
説明図、第８図は］：具オフセット位ｈ′（算出説明図
である。
１０１・−３次元測定機、１０１ａ、 １０１ｂ、 １
０１ｃ −・位置センサ、１０１ｄ・・・ヘッド、１０
２・・・自ＦＡＪＮＣデータ作成装置、１０２ａ・・・
プロセッサ、１０２ｂ・・・ＲＡＭ。
特許Ｌ１１願人 ファナック株式会社代理人 弁理士
辻 實（外１名）第２図
第５ 図Fig. 11i4 is a block diagram of an embodiment of the present invention, Fig. 2 is a flowchart of processing according to the present invention, Fig. 6 is an explanatory diagram of collecting position data at 9 points on the model surface, and Fig. 4 is an explanatory diagram of position data storage state. , FIG. 5 to FIG. 7 are explanatory diagrams of tool offset vector calculation, and FIG. 8 is an explanatory diagram of tool offset position h' (calculation. 101・-3D measuring machine, 101a, 101b, 1
01c--Position sensor, 101d--Head, 10
2... Own FAJNC data creation device, 102a...
Processor, 102b...RAM. Patent L11 applicant Fanuc Co., Ltd. agent Patent attorney Minoru Tsuji (1 other person) Figure 2 Figure 5
Claims (2)
を用いて工具位置データを作成する工具位置データ作成
方法において、少なくとも６本のセンサを並設して有す
る６次元測定機を設け、該３次元測定機の３本のセンサ
出力信号を用いて近接した３点の位置データを同時に測
定して記憶し、該測定された３点Ｐｉ＋１＋ Ｑｉ−ｚ
＋ Ｒｉ＋１の位置データと、前回測定された３点Ｐｉ
、Ｑｉ、）Ｌｉの位置データと、前々回測定でれた６点
Ｐｉ−１＋ Ｑ ＋ −１＋ Ｒｒ−１の位置データと
を用いてポイントＱｉに対する工具中心位置を演算して
記憶し、以後同様にＱｉ−ｚ、 Ｑｉ＋２・・・に対す
る工具中心位置を演算して記憶することを特徴とする工
具位置データ作成方法。(1) In the tool position data creation method of measuring the surface m1 position of the model and creating tool position data using the surface position data, a six-dimensional measuring machine having at least six sensors arranged in parallel is provided, The three sensor output signals of the three-dimensional measuring machine are used to simultaneously measure and store the position data of three nearby points, and the three measured points Pi+1+Qi-z
+ Ri+1 position data and the previously measured 3 points Pi
, Qi, )Li and the position data of the 6 points Pi-1+Q+-1+Rr-1 measured the day before last, the tool center position for point Qi is calculated and stored, and the same process is performed thereafter. A tool position data creation method characterized by calculating and storing tool center positions for Qi-z, Qi+2, . . .
第１の円弧と、ポイントＰ ｉ＋ Ｑｉ＋ Ｒｉを通る
第２の円弧を求め、各円弧にポイントＱｉで接する接線
ベクトルＵ１．Ｕ２を求め、接線ベクトルＵ、、 Ｕ２
の外積によりポイントＱｉにおけるモデルの法線ベクト
ルマを求め、ポイントＱｉから法線ベクトル方向に工具
半径ｒだけ離れたポイントを工具中心位置とすることを
特徴とする特＃’Ｆ ′＃＃求の範囲第（１）項記載の
工具位置データ作成方法。(2) Find the first circular arc passing through point Qi-1+Qi+QL4-1 and the second circular arc passing through point P i+ Qi+ Ri, and find the tangent vector U1. which touches each circular arc at point Qi. Find U2 and calculate the tangent vector U,, U2
The normal vector of the model at point Qi is determined by the cross product of The tool position data creation method described in paragraph (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10645583A JPS59232747A (en) | 1983-06-14 | 1983-06-14 | Tool position data forming method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10645583A JPS59232747A (en) | 1983-06-14 | 1983-06-14 | Tool position data forming method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59232747A true JPS59232747A (en) | 1984-12-27 |
| JPS6411418B2 JPS6411418B2 (en) | 1989-02-23 |
Family
ID=14434063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10645583A Granted JPS59232747A (en) | 1983-06-14 | 1983-06-14 | Tool position data forming method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59232747A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63102864A (en) * | 1986-10-17 | 1988-05-07 | Ngk Insulators Ltd | Grinding method for uniaxial eccentric rotor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5622105A (en) * | 1979-08-01 | 1981-03-02 | Hitachi Ltd | Control device for numerical control machine tool |
-
1983
- 1983-06-14 JP JP10645583A patent/JPS59232747A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5622105A (en) * | 1979-08-01 | 1981-03-02 | Hitachi Ltd | Control device for numerical control machine tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63102864A (en) * | 1986-10-17 | 1988-05-07 | Ngk Insulators Ltd | Grinding method for uniaxial eccentric rotor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6411418B2 (en) | 1989-02-23 |
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