JPS6180407A - Numerical control method - Google Patents

Abstract

PURPOSE:To attain the application of a numerical control method even to a complicated section form by using a working line of an original coordinate system of a member to be worked as the numerical data to convert this data into the coordinates of a working machine and also designating the length of the working line to give it the segment interpolation. CONSTITUTION:An input part 34 supplies the numerical models F (X, Y, Z,-) of an original coordinate system; an input part 35 supplies the segment length DELTAL which divides a working line; and an input part 36 supplies a working speed V set along the working line respectively. A conversion processing part 37 converts the original coordinate system into motion equations G (x, y, z, theta,-) of working machines and tools. An arithmetic processing part 38 calculates a shift time DELTAT from the speed V of the original coordinate system set along the length DELTAL. While an arithmetic processing part 39 calculates the shift amounts DELTAx, DELTAy, DELTAz, DELTAtheta,- of each control shaft of a working machine system at the time T. A numerical control unit 40 uses the time DELTAT as a timing pulse to analyzes said shift amounts of each shaft into pulses. Thus the numerical control is attained.

Description

[Detailed Description of the Invention] <Industrial Field of Application> The present invention can be applied to discontinuous surfaces such as fusing, welding, etc. by numerical control.
Method C for performing complicated machining of cylinders, etc.: This is the method.

<Conventional technology> Conventionally, when performing numerical control, for example, the N
In the C fusing can, the surface machining line is defined by an arc and a straight line using the x and ylt targets, and the machining line is broken down into pulses by a numerical controller to drive the machining tool. Processing line is X-
The movement of the processing tool jfX is also composed of the x-y locus ring system, and rll is the coordinate origin (1r is only positive, and the NC that defines the force a1 line is ] The processing was carried out as is on the t-mat.

<Problems to be solved by the invention> However, it is difficult to process strips with complex coordinate systems made up of discontinuous surfaces such as chevron-shaped sections and H-shaped sections, or cylindrical sections such as pipes. In this case, since the coordinate system that defines the machining line is different from the motion coordinate system of the machining machine, it is necessary to perform coordinate transformation calculations, and when the coordinates are transformed, for example, a simple circular arc is no longer a circular arc. gone,
In recent years, it has become possible to perform this type of machining to some extent using robots using the teaching playback method, which cannot be processed using conventional numerical control methods that resolve circular arcs and straight lines into pulses. The numerical method 11B, which involves defining a line and inputting it, was not possible.

The present invention converts the machining line on the workpiece into the coordinate system of the processing machine, and is completely different from the conventional method in that the already converted machining line is not defined by arcs and straight lines in the coordinate system of the processing machine. It provides a method using different numerical control methods.

<Means for solving the problems> One means according to the present invention for solving the above problems will be explained with reference to the drawings. In Fig. 1, 1 is a human-powered device for digitized data. , processing line F(X, Y,...
) is the Vt position defined and input, 2 is the processing line F(X
, Y, ...) into the coordinate system of the processing machine, and transforms the motion of the processing tool into a < x, y, z, ...). 3 is a controller that performs pulse interpolation for the motion of the processing machine and processing tools and performs digital control; 4 is the processing machine.

FIG. 2 is a diagram illustrating the above-mentioned configuration in more detail, and illustrates, as an example, an embodiment of a processing method for a strip having a chevron-shaped cross section. In a, 5 indicates a chevron-shaped cross-section strip, 6 is a processing line on the workpiece, and the processing line F (X, Y, Z,
...) is defined in the coordinate system of the workpiece. 7~
15 shows the processing machine, 7 is the guide rail of the X axis, and the X! ! th is the X axis motion, 9.10 is Z
The reference rail and drive part of the axis, 11.12 indicates the reference axis and drive part of the y-axis, and the x, 7°2 orthogonal coordinates are usually placed parallel to the coordinate axes x, 'y, z orthogonal coordinates of the workpiece. 0, 13 is a node provided at the tip of the y-axis arm, which gives a rotation angle θ on the y-z plane, and the processing tool 15
An angle φ is given to the yz plane by the processing tool mounting arm 14 which is configured to rotate on the xz plane.

Here, the processing conditions are F(X, Y, Z, φ), and φ
If is the chemical type angle for welding the processed line, then the processing machine,
The equation of motion for the processing tool is G(x, y, z, φ,
θ).

Next, FIGS. 3(a) and 3(b) show the relationship between the machining line and the machining tool on the chevron-shaped cross-section material, and FIG. 3(a) shows the relationship between the machining line and the machining tool. 0 indicates when processing the shape
In the figure, 16 is the chevron-shaped cross-section material to be machined, 17 is the machining line on the workpiece, and 18 is the machining tool. The definition of the machining line when oblique cutting is required in Figure 3 (a) is , Y, Z orthogonal coordinates, the oblique cutting angle φ with respect to the Y-Z plane is a given condition, and the definition of the processing line is given by F(X, Y, Z, φ). The processing tool 18 changes its position in the order of ■■... and performs processing continuously.

Figure 4 explains the movement of the processing tool when cutting the corner part of a chevron-shaped cross-section material. 21 indicates a processing tool, and ■■... indicates the locus of the processing tool 20.
At the corner shown in , it is necessary to gradually change the posture of the processing tool 20 by applying a rotation angle θ on the Y-Z plane.
Concomitantly, in the case of inclined cutting, it is necessary to change the position in the X-axis direction in consideration of the dimensions of the inclined surface. Therefore, as mentioned above, the motion of the processing machine is G(x, y, z, φ
, θ).

Next, Figure 5 shows an example of pipe machining with a cylindrical cross section. In the figure, 22 is a vibrator material to be machined, the axis of the pipe is the X axis, the vertical plane is the Z axis, and the axis perpendicular to it is the Y axis. defined. 23 indicates a processing line, 24 indicates a processing tool, and this processed cotton 23
For example, as a formula for the mutual line of two cylinders written in Japanese,
9-94582 etc. In addition, in order for the groove conditions of the pipe joint to comply with standards such as AWS and AP1, it is necessary to give the processing tool 24 a conical motion centered on the processing point of the processing tool 24 and centered on the vertical axis. be.

Reference numerals 25 to 23 show configuration examples of processing machines, and the x, y, and z coordinate axes are placed parallel to the X, Y, and Z coordinate axes.

Here, 25 is the X-axis reference rail, 26 is the X-axis direction drive cart, 27.28 is the two-axis reference rail and drive unit, 29.30
is the y-axis reference axis and the drive part, 31 is the nodal part of the processing tool,
This is a circular movement shown in 32. Therefore, for the processing tool, for example, the angle ξ of the X-2 plane and the y-z plane,
η, and for the pipe material 22, for example, a chuck,
It can be rotated by a rotating device 33 consisting of a turning roller or the like to perform required processing. For the pipe processing line, main pipe diameter D, technical pipe diameter d, wall thickness t, intersection angle α,
Standard values W for the deviation δ of the axes of both pipes and the groove angle of the weld joint are given, and these are expressed by a mathematical model F (D, d, t.

α, δ, w). On the other hand, for processing machines,
The equation of motion of the processing tool 24 is G(X, y.

2, θ, ξ, η) and control.

These explanations are described in the aforementioned Japanese Patent Application No. 59-94582.

In the above two types of embodiments, the coordinates of the machining line on the workpiece and the coordinate system of the processing machine are consistent, and coordinate transformation is required between them. Both of these can be expressed geometrically, so the transformation of the 1st position is complicated but not impossible.

However, since the equation of motion of the processing machine is not given by an interpolation formula between circular arcs and straight lines in both cases, it is impossible to apply conventionally known numerical control methods. , is characterized by performing line segment interpolation of the equation of motion of the processing machine with the necessary precision.

FIG. 6 is a diagram explaining the principle of line segmentation of the processed line,
In the figure, 34 is Q (x, y, z, ...)
The machining line p, , p, , p, defined by is a point on the machining line, 35 indicates a segment where the machining line is divided by two points, and PDPJ, PJPm... are straight lines. Do you think about it?
PiPjP& may be considered as a circular arc (and the interval between dividing points may be increased or decreased in light of processing accuracy.

Equation F(
X, Y, Z,...) as the equation of motion for the processing machine and processing tool〇(x, y, z,...)
The most advantageous feature of current computers is to convert this to the level of control pulses, and calculating at the level of points corresponding to one pulse instead of line segments reduces the processing time. This is almost impossible. Point coordinates with intervals on the machining line... p, , pJ,
When calculating as p, . . . , sufficient arithmetic processing time is allowed.

In numerical control that performs contour control, it is necessary to align the travel time from one point to another for multiple control axes. The length ΔL of the line segment is expressed by .If ΔL is the machining speed V, the time ΔT is expressed by .

On the other hand, the equation of motion of the processing machine 〇(x, y, z.

θ, ...), the movement path F of each axis within ΔT time
JΔx, Δy, Δz, Δθ, ... are calculated,
The processing machine is controlled using a common movement time ΔT for the movements of Δx, Δy, Δs, Δθ, . . . .

Next, FIG. 7 shows an example of the release of the above processing process. In the figure, 34 is the numerical model F (X, Y,
35 is a human power section for the line segment length ΔL that divides the machining line, 36 is an input part for the machining speed V along the machining line, 37 is for machining the original coordinate system aW, The part that converts the processing tool into the equation of motion, and the part that calculates the moving time ΔT from the speed of moving the line segment ΔL in the original coordinate system (3), and the part 39 that calculates the processing machine system at the time ΔT. each f
ill? Amount of movement of 11 axes Δx, Δy, Δz, Δθ
, . . . is the part that performs calculation processing. 40 more
are Δx, Ay, with ΔT as the timing clock pulse,
Numerical value ftl that decomposes ΔZ, Δθ, ... into pulses! Go unit x, 41y.

... is an NC servo for each axis for each control axis, and 42 is a processing machine.

Effect> According to the control method of the present invention, the numerical data of the machining line in the original coordinate system of the workpiece is converted into the equation of motion of the processing tool with respect to the control axis of the processing machine, that is, the coordinate system, and By specifying the line segment length of the machining line and extrapolating the machining speed, the moving time ΔT for the line segment is determined, and the movement amount Δx, Δy of the control axis within the ΔT time is calculated from the equation of motion of the processing tool.
, Δ2° Δθ, . . . , and numerical control can be performed using the well-known pulse division υj method using ΔT as a common timing clock for each operating axis.

<Effects of the Invention> The method of the present invention is performed by inputting numerical data as described above, giving the machining line in the original coordinate system of the workpiece as numerical data, converting it into the coordinates of the processing machine, and This unique method of interpolating the machining line by specifying the line segment length of the machine eliminates the need to create an NC formaft using conventional punch tape for the control axis of the machining machine.

In addition, it can be easily applied to cutting and welding pipes, and to objects with complex cross-sections such as angle-shaped materials and H-shaped materials made up of multiple discontinuous planes, making it suitable for these types of workpieces. On the other hand, considering that it was impossible to create a perforated tape using an NC formaft using conventional methods, this method can greatly contribute to expanding the field of application of numerical control.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of a bronc according to the method according to the present invention, Fig. 2 is an explanatory diagram of machining a chevron-shaped cross-section material, and Fig. 3 is a diagram explanatory of the relationship between the machining line and the processing tool when machining a chevron-shaped cross-section material. , 4th
The figure is an explanatory diagram of the movement of the processing tool when cutting part of the corner of a chevron-shaped cross-section material, Figure 5 is an explanatory diagram of machining of a cylindrical cross-section material, Figure 6 is an explanatory diagram of the principle of line segment interpolation of machining lines, and Fig. 7 is an explanatory diagram of the processing process. 1 is an input device, 2 is a coordinate transformation processing device, 3 is a controller, 4
, 42 is a processing machine, 5.16.19.22 is a workpiece,
6.17.23.34 are processed lines, 7.9°11.25.
27.29 is a reference axis, 15.1B, 20.24 is a processing tool, 34.36 is an input section, 35 is a line segment, 37 is a conversion processing section, 38.39 is an arithmetic processing section, 40 is a numerical control unit, θ, φ, ξ, and η are angles.

Claims (2)

[Claims] (1) In numerical control methods for complex machining of discontinuous surfaces, cylindrical surfaces, etc. such as fusing, welding, etc., the machining line F (X, Y, Z,... ...) is input and processed into the equation of motion G (x, y, z, θ, ...) in the constituent coordinate systems of the processing machine and tool, and the machining of the original coordinate system is performed. The line segment length ΔL and the machining speed V are extrapolated to find the machining time ΔT of the line segment ΔL, and the corresponding momentum ΔG of the processing machine (Δx, Δy, Δ
z, Δθ, ......), and calculate ΔT, Δx, Δy,
A numerical control method characterized by inputting Δz, Δθ, . . . and further performing pulse division. (2) In numerical control methods for complex machining of discontinuous surfaces, cylindrical surfaces, etc. such as fusing, welding, etc., the machining line F (X, Y, Z,... ...), machining speed V, machining line interpolation line segment length ΔL, and equation of motion G (x, y, z, θ) of the machining machine system with respect to the coordinate system of the machining line.
,...), and further performs pulse division.