WO1989006393A1 - Involute interpolating method - Google Patents
Involute interpolating method Download PDFInfo
- Publication number
- WO1989006393A1 WO1989006393A1 PCT/JP1989/000007 JP8900007W WO8906393A1 WO 1989006393 A1 WO1989006393 A1 WO 1989006393A1 JP 8900007 W JP8900007 W JP 8900007W WO 8906393 A1 WO8906393 A1 WO 8906393A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- curve
- interpolation
- axis
- command
- point
- Prior art date
Links
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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34144—Involute, evolute
Definitions
- the present invention relates to a symbolic interpolation method such as a numerical controller having a rotary axis and a linear axis, and more particularly to a symbolic interpolation method used for a three-axis lathe, a grinding machine, and the like.
- a symbolic interpolation method such as a numerical controller having a rotary axis and a linear axis
- Background technology a symbolic interpolation method used for a three-axis lathe, a grinding machine, and the like.
- the symbolic curve is interpolated with a numerical controller and another computer or NC program creating device, decomposed into linear data, and numerical control processing is performed using this tape. It was common to do so.
- the coordinate system of the machine is composed of polar coordinates, and in the case of the above-mentioned rectangular coordinate system using only the rectangular coordinate system, these machines are used. Not applicable to territories. Disclosure of the invention
- the present invention has been made in view of such a point, and an object of the present invention is to provide an involute capture system used for a three-axis lathe, a grinding machine, and the like.
- an involute curve capture method which captures an involute curve according to a command, and controls the image sensitivity and the linear axis,
- FIG. 1 is a diagram showing an integral curve of one embodiment of the present invention
- FIG. 2 is a schematic diagram of a numerical control device of one embodiment of the present invention
- FIG. 3 is a diagram showing a relationship between a rectangular coordinate system and a polar coordinate system.
- FIG. 3 shows the relationship between the orthogonal coordinate system and the polar coordinate system of a machine having a linear axis and a rotating axis such as a three-axis lathe.
- the X axis is the direction of the ⁇ slide, and ⁇ coincides with the return direction of the main axis.
- the machine is composed of a linear axis in the radial direction, the Z axis, and the C axis, which is a rotation axis with respect to the Z axis. '
- the program uses the X-axis and Y-axis to command as a symbolic curve on the XY plane.
- the Z axis has the same command and machine movement. Therefore, the program commands on the XY plane, interpolates this in the coordinate system on the XY plane, converts this interpolated pulse into a polar coordinate, that is, a pulse on the r-c plane, and drives the servo motor with this pulse To control the machine.
- FIG. 1 shows an example of the symbolic curve of the embodiment of the present invention.
- the involute curve is specified as a curve on the XY plane as described above.
- BC is the base circle of the involute curve
- the coordinates of the center are 0 (X, Y .;)
- the radius is R.
- IC is the integral curve to be interpolated, and the point P t (X
- Lee Nbori Yu preparative interpolation curve necessary Lee Nbori Yu preparative interpolation curve necessary, Lee Nbori Yu preparative curve IC point P S (X s, Y S ) was the starting point of the interpolation, i to the point P e (X e, Y e ) to the end point Nbori It is a Ue curve.
- a tangent is drawn from the point P (X, Y) to the base circle BC, and the contact point is defined as P c (X c, Y c).
- ⁇ be the angle between the line connecting the point P c and the center 0 of the circle to the X axis.
- G12.1 is a polar coordinate interpolation mode command and a modal command. Therefore, after this G code is commanded, the polar coordinate capture is effective until canceled.
- G03.2 is a left-handed rotation integral curve command, and is commanded by GO2.2 when it is clockwise. Whether you approach or leave the base circle is determined by the coordinates of the start and end points of the symbolic curve.
- X is the coordinate value of the end point in the rectangular coordinate system (X, C)
- C is the coordinate value of the end point in the rectangular coordinate system
- Pe is the value of Pe (Xe, Ye) in the figure.
- it is commanded by the absolute value.
- the value following C is specified as the value of Y on the XY plane. Therefore, the value following C is different from the actual amount of C li. Of course, these values are converted to polar coordinates after interpolation of the symbolic curve.
- I —— J — — is the value of the center of the base circle C as seen from the starting point P s (X s, Y s).
- the command is made with incremental values.
- R — — is the radius of the base circle BC
- F — — is the feed rate You. ⁇
- G13.1 is the cancel command of the polar coordinate interpolation mode.
- the polar coordinate interpolation mode is canceled, and the process returns to the normal rectangular coordinate capture. ; Is an end 'ob' block.
- the coordinates of the start point P s (X s, Y s) of the involute curve are not in the command value, but are stored as the current position inside the numerical controller. From the start point P s (X 's, Y s) and the distance (I, J) from the start point to the center of the base circle of the involute curve, the center coordinates of the base circle 0 (X, Y). Is determined by the following equation.
- a tangent is drawn from P s (X s, Y s) to the base circle C, the contact point is P sc, the point P sc is connected to point 0, and the angle between the line and the X axis is X s.
- a tangent is drawn from the point P e (X e, Y e) to the base circle C, and its contact point is P e c, and the angle formed by the line connecting the point P e c and the center 0 of the circle to the X axis is ⁇ e.
- ⁇ is incremented by a constant angle from ⁇ s, and the points on the involute curve IC are sequentially obtained from the above equation, and the interpolated interpolation curve is obtained by linear interpolation. can do.
- ⁇ is incremented by a fixed angle, three points are obtained, and these points are circularly interpolated, so that a desired involute curve can be interpolated.
- the movement amount can be commanded by the movement angle or the like viewed from the center of the base circle.
- the capture pulse obtained on the XY plane is converted into a value on the r-c plane.
- the conversion is performed by the following equation. r X 2 + Y 2
- FIG. 2 shows a schematic diagram of the numerical controller according to the present embodiment, in which a tape command 1 is a tape punched with the above-mentioned command, and a tape reader 2 reads the tape 1.
- the preprocessing means 3 determines from the G code whether or not there is an involute interpolation command, and the involute interpolation data creating means 4 outputs the data necessary for the above-described involute interpolation.
- the pulse distribution means 5 increments ⁇ by a constant angle based on the above equation from the data in the rectangular coordinate system created by the integral interpolation data creation means 4 based on the command value. Find each point of the symbolic curve and use linear interpolation or Performs circular interpolation and outputs interpolation pulses
- the coordinate conversion means 6 converts the interpolation pulses ( ⁇ , ⁇ ) in the rectangular coordinate system into interpolation pulses (r, c) in the polar coordinate system.
- the servo motor 8 drives the machine 9 via a ball screw or the like.
- a predetermined command of an involute curve is interpolated in a numerical control device (CNC), and this interpolation amount is converted into each of the rotation axis and the linear axis.
- CNC numerical control device
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63002145A JPH01177618A (ja) | 1988-01-08 | 1988-01-08 | インボリュート補間方式 |
JP63/2145 | 1988-01-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1989006393A1 true WO1989006393A1 (en) | 1989-07-13 |
Family
ID=11521182
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1989/000007 WO1989006393A1 (en) | 1988-01-08 | 1989-01-06 | Involute interpolating method |
Country Status (4)
Country | Link |
---|---|
US (1) | US5075865A (ja) |
EP (1) | EP0356522A4 (ja) |
JP (1) | JPH01177618A (ja) |
WO (1) | WO1989006393A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4935681A (en) * | 1987-08-27 | 1990-06-19 | Fanuc Ltd. | Involute interpolation method |
US5103150A (en) * | 1989-06-28 | 1992-04-07 | Fanuc Ltd. | Involute interpolation error correction system |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0354610A (ja) * | 1989-07-21 | 1991-03-08 | Fanuc Ltd | インボリュート補間誤差補正方式 |
JPH03246707A (ja) * | 1990-02-26 | 1991-11-05 | Fanuc Ltd | 系統別位置補正方式 |
JP2787872B2 (ja) * | 1992-06-08 | 1998-08-20 | 三菱電機株式会社 | 数値制御装置 |
JPH07164359A (ja) * | 1993-12-10 | 1995-06-27 | Fanuc Ltd | ロボットの円弧トラッキング方法 |
US7149726B1 (en) | 1999-06-01 | 2006-12-12 | Stamps.Com | Online value bearing item printing |
US20020023057A1 (en) * | 1999-06-01 | 2002-02-21 | Goodwin Johnathan David | Web-enabled value bearing item printing |
US7240037B1 (en) | 1999-10-18 | 2007-07-03 | Stamps.Com | Method and apparatus for digitally signing an advertisement area next to a value-bearing item |
US7236956B1 (en) | 1999-10-18 | 2007-06-26 | Stamps.Com | Role assignments in a cryptographic module for secure processing of value-bearing items |
US6868406B1 (en) | 1999-10-18 | 2005-03-15 | Stamps.Com | Auditing method and system for an on-line value-bearing item printing system |
US7233929B1 (en) | 1999-10-18 | 2007-06-19 | Stamps.Com | Postal system intranet and commerce processing for on-line value bearing system |
US7752141B1 (en) | 1999-10-18 | 2010-07-06 | Stamps.Com | Cryptographic module for secure processing of value-bearing items |
WO2001029779A1 (en) | 1999-10-18 | 2001-04-26 | Stamps.Com | Secure and recoverable database for on-line value-bearing item system |
US7216110B1 (en) * | 1999-10-18 | 2007-05-08 | Stamps.Com | Cryptographic module for secure processing of value-bearing items |
WO2001061652A2 (en) | 2000-02-16 | 2001-08-23 | Stamps.Com | Secure on-line ticketing |
JP2005071016A (ja) * | 2003-08-22 | 2005-03-17 | Fanuc Ltd | 数値制御装置 |
US8510233B1 (en) | 2006-12-27 | 2013-08-13 | Stamps.Com Inc. | Postage printer |
US9779556B1 (en) | 2006-12-27 | 2017-10-03 | Stamps.Com Inc. | System and method for identifying and preventing on-line fraud |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49101788A (ja) * | 1973-02-03 | 1974-09-26 | ||
JPS642107A (en) * | 1987-06-24 | 1989-01-06 | Fanuc Ltd | Involute interpolating system |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3714865A (en) * | 1971-01-07 | 1973-02-06 | Cam Apt | Apparatus for milling cams and the like, as for swiss-type screw machine cams |
USRE28766E (en) * | 1971-01-07 | 1976-04-13 | Apparatus for milling cams and the like, as for swiss-type screw machine cams | |
JPS5424156B1 (ja) * | 1971-02-03 | 1979-08-18 | ||
USRE28559E (en) * | 1972-12-14 | 1975-09-30 | Method for milling cams for Swiss-type screw machines | |
DE3033202C2 (de) * | 1980-09-03 | 1984-04-19 | Siemens AG, 1000 Berlin und 8000 München | Verfahren zur Werkzeugbahn-Interpolation |
DE3151173C2 (de) * | 1981-12-23 | 1983-11-03 | Siemens AG, 1000 Berlin und 8000 München | Verfahren zur Steuerung einer Werkzeugmaschine nach einer vorgegebenen Bahnkurve |
JPS62163109A (ja) * | 1986-01-14 | 1987-07-18 | Mitsubishi Electric Corp | 数値制御装置 |
JPS62187908A (ja) * | 1986-02-13 | 1987-08-17 | Okuma Mach Works Ltd | 三次元曲面加工用ncデ−タ作成方式 |
JPS62253903A (ja) * | 1986-09-10 | 1987-11-05 | Daikin Ind Ltd | スクロ−ル形流体機械におけるスクロ−ル渦巻体の加工方法 |
IN168385B (ja) * | 1986-10-17 | 1991-03-23 | Carrier Corp | |
JPS63120304A (ja) * | 1986-11-10 | 1988-05-24 | Toshiba Mach Co Ltd | インボリユ−ト曲線の創成方法 |
JPS6457313A (en) * | 1987-08-27 | 1989-03-03 | Fanuc Ltd | Involute interpolation system |
US4922741A (en) * | 1988-02-04 | 1990-05-08 | Westinghouse Electric Corp. | Stator coil former |
JP3205372B2 (ja) * | 1992-02-04 | 2001-09-04 | ミサワホーム株式会社 | 組立型建築物用パネル |
-
1988
- 1988-01-08 JP JP63002145A patent/JPH01177618A/ja active Pending
-
1989
- 1989-01-06 US US07/397,462 patent/US5075865A/en not_active Expired - Lifetime
- 1989-01-06 EP EP19890901301 patent/EP0356522A4/en not_active Ceased
- 1989-01-06 WO PCT/JP1989/000007 patent/WO1989006393A1/ja not_active Application Discontinuation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49101788A (ja) * | 1973-02-03 | 1974-09-26 | ||
JPS642107A (en) * | 1987-06-24 | 1989-01-06 | Fanuc Ltd | Involute interpolating system |
Non-Patent Citations (1)
Title |
---|
See also references of EP0356522A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4935681A (en) * | 1987-08-27 | 1990-06-19 | Fanuc Ltd. | Involute interpolation method |
US5103150A (en) * | 1989-06-28 | 1992-04-07 | Fanuc Ltd. | Involute interpolation error correction system |
Also Published As
Publication number | Publication date |
---|---|
EP0356522A4 (en) | 1990-12-19 |
US5075865A (en) | 1991-12-24 |
EP0356522A1 (en) | 1990-03-07 |
JPH01177618A (ja) | 1989-07-13 |
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