JPS60146655A - Pencil copying method - Google Patents

Abstract

PURPOSE:To prevent the proximity of a border line from serration to provide high accuracy working by locking the motor rotation of a shaft orthogonal to the border line when a tracer head is going to go beyond the border line and releasing the locking when said head moves into the territory. CONSTITUTION:When a tracer head Tc reaches a border line YL1 of a copying territory AR during pencil copying, a gate signal generating section 107 judges displacement direction signal DDS, and when + Y axis force workds, an analog gate circuit 108 isolates an amplifire AY from a servo circuit SY and connects a DA converter 109 to the servo circuit SY so that analog voltage signal Va obtained from an error calculating memory 104 is sent to the input of the circuit SY. Since the counted value in the memory 104 is, however, small and becomes zero after DELTATsec, a motor MY is immediately stopped so that the movement of a tool toward +Y axis is stopped without exiting the coping territory. Next, when -Y axis force works on the head Tc, the signal generating section 107 connects the amplifier AY and the circuit SY to the circuit 108 and transfers to pencil copying.

Description

[Detailed description of the invention] Medical field of application> The present invention is based on a pencil tracing method. In particular, when pencil tracing is carried out inside a predetermined area, it is possible to improve the accuracy of tracing at the edges of the area. Concerning how to trace a pencil.

<Prior art> The tracer head is manually moved along the model,
There is a pencil tracing method in which a tool is moved in accordance with the movement of the tracer head, and the tool is used to process a workpiece according to a model shape. It is pushed manually,
If you pull it, the ten workpieces will be machined according to the model shape.

FIG. 1 is a block diagram of a conventional pencil tracing control circuit, in which displacements 1iEx, Ey, Ez in each axis direction generated from the tracer head TC are input to an amplifier Ax+Ay+Az.

・Each amplifier has a displacement m Ex + E y * E *
is amplified to generate command speeds Vx+Vy, Vz in each axis direction, which are input to the respective axis servo circuits 8X, SF, and SZ. As a result, each axis motor Mx + My + Mz is driven to move a tool (not shown) relative to the workpiece, and the workpiece is machined according to the model shape using the tool.

<Disadvantages of the Prior Art> By the way, there are cases where the inside of a pre-crossed area is processed by tracing with a pencil. For example, Figure 2 (A)
The first and second boundary lines XLI perpendicular to the X axis as shown in
XL2 and the first and second boundary lines YLI, YL perpendicular to the Y axis
This is a case where the area AR surrounded by 2 is processed by tracing with a pencil. When tracing such a region AR with a pencil, the tracer head is moved within the region in the direction of the arrow along the model, but since the tracer head is moved manually, the tracer head is As shown in B), the boundary line mL1 or YLZ is traced in a zigzag manner, and as shown in FIG. 2(C), the boundary line XLI or XL2 is traced too far. For this reason, the workpiece obtained by conventional pencil tracing becomes jagged near the boundary line, making it impossible to perform highly accurate pencil tracing.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a pencil tracing method that inhibits movement of the tool in the axial direction perpendicular to the boundary line when the tracer head attempts to cross the boundary line.

Another object of the present invention is to provide a pencil tracing method that can perform highly accurate machining without causing jaggedness near the boundary line when pencil tracing the inside of the area.

<Summary of the invention> This is a method of tracing a predetermined tracing area with a pencil, and when a manually moved tracer head attempts to cross the boundary line of the tracing area, the motor rotation of the axis perpendicular to the boundary line is locked. Then, when a force is applied toward the inside of the area following the tracer head, the rotation of the motor is unlocked.

According to this invention, since the tool does not move beyond the tracing area, the vicinity of the boundary line can be machined smoothly and highly accurate pencil tracing can be performed.

Embodiment> FIG. 3 is a block diagram of an embodiment for realizing pencil tracing according to the present invention. Note that the same parts as in FIG. 1 are given the same reference numerals. Also, although only the Y-axis control circuit is shown in detail, the same applies to the X@.

Furthermore, it is assumed that the tracing area is the area AR shown in FIG. 2(A).

In advance, from the operation panel 101, select the tracing area AR (see Fig. 2).
A)) Data specifying the above are input, and these data are stored in the RAM 102a of the control unit 102 of the computer configuration. Note that the first and second boundary lines YLI perpendicular to the Y axis
, YL2 in the Y-axis direction is yi+y, and the eleventh second boundary line XLI perpendicular to the X-axis.

The coordinate value of XL2 in the X-axis direction is j[l +! ! It is.

Further, the control unit 102 includes a RAM 102m and a processor 102.
b. ROMI 02CK that stores control programs.

In such a situation, manually remove the tracer head T-C.
When the tracer head is moved along the model within the region, the amount of displacement Ex, Ey in each axis direction from the tracer head.

Ez occurs. Each displacement amount is input to the amplifier of each axis in the same manner as before, and this produces a speed signal V x e V y *
It is converted to Vz and input to the servo circuit of each axis.

As a result, the motors for each axis are driven, and the tool moves relative to the workpiece. That is, the tool moves in accordance with the movement of the tracer head, and the workpiece is machined in accordance with the model shape.

On the other hand, when the motor MY rotates, one feedback pulse Fp is generated from the pulse coder 103 every predetermined rotation of the motor MY. Every time this feedback pulse Fp is generated, the contents of the error calculation storage unit (for example, a reversible counter) 1υ4 are subtracted by 1 in the case of forward rotation and updated. Therefore, if the contents of the initial error calculation storage section 104 are zero, the contents of the nuclear error calculation storage section become -m1 due to the generation of m1 feedback pulses Fp in 61 seconds. The contents of this error calculation storage section 104.0 are read by the processor 102b of the control section 102 every 61 seconds. Then, the processor 102b executes the calculation of the following formula (% formula %), stores the current position Ya in the Y-axis direction, which is the calculation result, in the RAM 102B, and changes the sign of the numerical value read from the error calculation storage section. Input to pulse distributor 105. When ml is commanded, the pulse distributor 105 immediately performs a pulse distribution calculation and outputs a distribution pulse P8 of m11vA. This distribution pulse P@ is input to the error calculation storage section 104, and the contents of the error calculation storage section 104 are updated one by one for each square. Meanwhile, in parallel with this, v!
The feedback pulse Fp is still input to the four-difference nasal calculation 9104 as long as the motor MY is rotating due to the pencil tracing, and its contents are updated by l in the negative direction. Therefore, the time when the content -ml is read from the error calculation storage unit 104 is tl, and 41 from time t1.
If the time after seconds is -, and m2 feedback pulses Fp are generated between times Ntx and tl, then at time t- the contents of the error calculation storage unit 104 are -m. becomes. It is assumed that the pulse distributor 105 generates the example pulse Ps for 61 seconds.

At time t2, the processor IQ2b reads the contents of the ``'C error calculation storage section 104 again, and calculates 7a0m3→Ya・
・・・・・・・・・・・・・・・ Performs the calculation in (2) to calculate the current position Ya in the Y-axis direction, and also calculates the sign of the numerical value (m*) read from the error calculation storage unit 104. is input to the pulse divider 105, and the pulse divider 105 emits m2 divided pulses in 61 seconds.
arise. Thereafter, the processor 102b similarly stores the contents of the error calculation storage unit 104 -ml(1=11213-) every 61 seconds.
) is read, Y Lu+ml→Ya ・・・・・・・・・・・・・・・(
3) is performed, and the numerical value mi is input to the pulse distributor 105.

To summarize the above, it becomes like a lower garment. Note that the time is the time when the control unit 102 first reads the contents of the error calculation storage unit 104, and ti (1==2.L...) is This is the number of feedback pulses Fp generated between t1-1 and 11, which is the time 61 seconds after ti-1.

Through the above processing, the current position Y& in the Y-axis direction is constantly updated, and! The new current position Ya is stored in RAMIQ21LK. Also, the content (count value) of the error calculation storage unit 104 is 6.
It is a small value corresponding to the number of pulses generated from the pulse distributor 103 per second, and becomes zero after 41 seconds if the movement in the Y-axis direction stops.

Now, in parallel with the above current position update process, the processor 102b determines that the current position Y1 in the Y-axis direction is yl.

Constantly monitor whether yl is equal to Ya=y
If Ya=y*, the gate signal generator 1 generates the boundary arrival signal BR8, and if Ya=y*, the boundary arrival signal BH3.
Enter 01. Further, the displacement direction determining unit 106 determines the sign (direction) of the displacement amount E7 in the Y-axis direction output from the tracer head TC, and indicates whether the displacement is in the +YY-axis direction or in the -Y-axis direction. The displacement direction signal DDS is output to the gate signal generation section 101. Then, according to the pencil (1), if the tracer head TC reaches the first boundary line YLI of the tracing area AR, then Y a =' y
When it becomes @, the gate signal generating section 107 moves in the displacement direction (N
No. DD8? If the force (direction in which the tracer head emerges from the tracing area AR in the +YY axis direction) is working, the analog gate circuit 108 is connected to the amplifier AY and the servo circuit B.
The Y is disconnected, and the DA converter 109 and the servo circuit sy are connected. As a result, an analog voltage signal Va obtained by DA converting the contents of the error calculation storage section 104 is input to the servo circuit SY.

However, as mentioned above, the count value of the error calculation storage unit 104 is small and becomes zero after ΔT seconds, so the rotation of the motor MY immediately stops (referred to as motor rotation lock), and the tool's +
7. YY-axis movement stops and the tool therefore leaves the tracing area. It's ugly. Note that since the movement in the X-axis direction is not locked, the tool will thereafter move on the boundary line YLI as long as the +YY-axis direction force is acting.

In such a locked state, if a force in the -Y axis direction (in the direction of entering the narrow area) is applied to the tracer head Tc,
The gate signal generation section 107 is connected to one analog gate circuit 10B.
, connect the amplifier AY and the servo circuit SY, and if it is a normal pencil, move to (.

On the other hand, if the tracer head TC reaches the second boundary MYLZ of the tracing area AR (Ya=yi), the gate signal generation unit 107 determines the displacement direction signal DDE, If the force (in the direction in which the head comes out) is working, the analog gate circuit 108
If the converter 108 and the servo circuit SY are connected, the rotation of the motor MY is locked in the same way as described above, and a force is applied in the direction of entering the +YY-axis direction tracing area in the locked state. The gate signal generating section 107 causes the analog gate circuit 108 to connect the amplifier AY and the servo circuit SY, and shifts to the next pencil pattern.

<Effects of the Invention> As explained above, according to the present invention, when the tracer head attempts to cross the boundary line of the tracing area, the tool movement in the axial direction directly to the boundary line is configured to be carried out. Therefore, a smooth 4'FJ' If sieve pencil tracing without jaggedness near the boundary line can be performed.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a control circuit that realizes conventional pencil tracing, and FIGS. 2 (4) to (C) are area explanatory diagrams and tracer head locus explanatory diagrams on the sides to explain the conventional runner-up. FIG. 3 is a block diagram of a control circuit implementing the pencil tracing method according to the present invention. TC...Tracer head, AY...Amplifier, SY...
...Servo circuit, MY...Motor 101...Operation panel, 102...Control unit, 103
...Valse coder, 104...Error calculation storage section, 1
05... Pulse distributor, 106... Displacement direction determination section, 107... Gate signal generation section, 108... Analog gate circuit, 109... DA converter 0 Patent applicant
Chiki Saito, Agent Patent Attorney, FANUC Co., Ltd.

Claims (3)

[Claims] (1) Manually move the tracer head along the model within a predetermined tracing area, move the tool according to the movement of the tracer head, and use the tool to machine the workpiece according to the model shape. In the pencil tracing method to be carried out, 1. It is determined whether the tracer head has reached the boundary line of the tracing area, and when the tracer head reaches the boundary line, it is determined in the axial direction perpendicular to the boundary line and in the direction of exiting the tracing area. A pencil tracing method characterized by interrupting pencil tracing. (2) Determine the direction of the displacement signal output from the tracer head, and when the tracer head is on the boundary line and the direction of the displacement signal is in the direction of exiting the tracing area, the axis to be placed on the boundary line The pencil tracing method according to claim (1), characterized in that rotation of a motor of %iff is locked. (3) □If the tracer head is on the boundary line, the lock of the motor rotation is released if the direction of the displacement signal is in the direction of entering the tracing area. Pencil tracing method described in paragraph (2).