JPS6055412A - Generating method of nc data - Google Patents

Generating method of nc data

Info

Publication number
JPS6055412A
JPS6055412A JP16371583A JP16371583A JPS6055412A JP S6055412 A JPS6055412 A JP S6055412A JP 16371583 A JP16371583 A JP 16371583A JP 16371583 A JP16371583 A JP 16371583A JP S6055412 A JPS6055412 A JP S6055412A
Authority
JP
Japan
Prior art keywords
data
point
curved surface
head
work head
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.)
Pending
Application number
JP16371583A
Other languages
Japanese (ja)
Inventor
Hajime Kishi
甫 岸
Kunio Tanaka
久仁夫 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP16371583A priority Critical patent/JPS6055412A/en
Priority to PCT/JP1984/000428 priority patent/WO1985001132A1/en
Publication of JPS6055412A publication Critical patent/JPS6055412A/en
Pending legal-status Critical Current

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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36573—X, y, z and tooloffset values or direction values
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50334—Tool offset, diameter correction
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50336—Tool, probe offset for curves, surfaces, contouring

Landscapes

  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To generate NC data easily by generating position control data on the bases of position data corresponding to a point on a curved surface, unit components of a working head, and distance from the curved surface to the head. CONSTITUTION:The mode selection switch on a teaching console panel 101 is placed at the side of teaching mode, and a processor 102 starts operation to move a robot handle according to the control program in ROM103. The processor 102 uses the coordinate values (x)-(z) of the position Q0 of the center of rotation of the hand stored in a working memory 107, unit components (i)-(k) of the center axial vector of the working head, and specific distance D inputted on a keyboard 109 to calculate the coordinate values X-Z of the position Q0' of the center of rotation of the head as a position P0' where the tip of the working head is at distance D from the curved surface. This operation is repeated to generate positioning data on the working head in a data memory 108.

Description

【発明の詳細な説明】 く産業上の利用分野〉 本発明はＮＣ７Ｊ−夕作成方法に係り、特に曲面の表向
から所定距離だけ離れた通路に沿って作業ヘッドを移動
させて塗装などの作業を実行する機械のＮＣデータ作成
方法に関する。[Detailed Description of the Invention] Industrial Application Fields The present invention relates to an NC7J coating method, and in particular, it involves moving the work head along a path a predetermined distance from the surface of a curved surface to perform painting or other work. This invention relates to a method for creating NC data for a machine that executes.

〈従来−技術〉 ワーク向への塗装をロボットにより行なう塗装ロボット
においては、塗装精度上塗料を吐き出すノズル（ヘッド
）を塗装曲面から所定距離だけ陥れた通路に沿って、且
つ塗装曲面に対し一定角度となるように移動させながら
塗装乞行なう必要がある。<Conventional technology> In a painting robot that paints a workpiece, the nozzle (head) that discharges the paint is placed along a path that is recessed by a predetermined distance from the curved surface to be painted, and at a certain angle to the curved surface to be painted. It is necessary to paint while moving it so that it looks like this.

このため、従来のプレイパック式ロボットにおいて通路
の教示作業に際しては、作業ヘッドを塗装曲面より一定
距離りだけ離れた位置に且つ作業ヘッドが塗装曲面に対
し一定角度となるように位置決めし、該位置を教示して
いた。For this reason, when teaching a passage in a conventional play pack type robot, the work head is positioned a certain distance away from the painted curved surface and the work head is at a constant angle to the painted curved surface. was teaching.

〈従来技術の欠点〉 しかし、このように作業ヘッドを塗装曲面より一定距離
りだげ離して位置決め教示する教示作業は煩雑となると
共に、精度の良い教示ができない欠点があった。<Disadvantages of the Prior Art> However, the teaching work of positioning and teaching the work head at a certain distance away from the curved surface to be painted is complicated and has the disadvantage that accurate teaching cannot be performed.

〈発明の目的〉 本発明の目的は簡単に、曲面より一定距離りだけ離れた
通路に沿って作業ヘッドを移動させることができるＮＣ
ｆ−夕を作成することができるＮＣｆ−夕作成方法を提
供することである。<Object of the Invention> The object of the present invention is to simply provide an NC that can move a working head along a path a certain distance away from a curved surface.
It is an object of the present invention to provide a method for creating an NCf-event that can create an f-event.

本発明の別の目的は塗装ロボットの教示データを簡単な
操作で教示できるＮＣ７ｊ−夕作成方法を提供すること
である。Another object of the present invention is to provide a method for creating an NC7J-7 that allows teaching data for a painting robot to be taught through simple operations.

〈発明の概要〉 本発明は曲面の表面から所定距離だけ離れた通路に沿っ
て作業ヘッドを移動させて塗装などの作業を実行する機
械のＮＣｆ−夕作成方法である。<Summary of the Invention> The present invention is a method for producing an NCf-coating machine for performing work such as painting by moving a work head along a path a predetermined distance from a curved surface.

第１図は不発明の概略説明図であり、曲面Ｃ８上のポイ
ン）Ｐｏに応じた位置データ（Ｘ＋３’＋Ｚ）と該ポイ
ントにおける作業ヘッドＷＨＤ　の中心軸ベクトルＢＲ
の単位成分（ｉｌｊ、ｋ）と、作業時における該曲面の
表面から作業ヘッドＷＨＤ　先端迄の距離りを用いて、
作業ヘッドの位飯制ｍ−ｒ−タ（ｘ。FIG. 1 is a schematic explanatory diagram of the invention, and shows position data (X+3'+Z) corresponding to a point Po on the curved surface C8 and the central axis vector BR of the work head WHD at the point.
Using the unit component (ilj, k) of and the distance from the surface of the curved surface to the tip of the working head WHD during work,
The position of the working head is m-r-ta (x.

）’ｍｚ）を Ｘ±ｘ＋１−Ｄ Ｙ−ｙ＋ｊ−Ｄ Ｚ＝ｚ＋ｋ　−Ｄ よりめ、該求めた位置制御ｒ−夕を用いて前記作業ヘッ
ドの位置制御用のＮＣデータを作成するＮＣ７−’−タ
作成方法である。)' mz) as - How to create data.

〈実施例〉 第２図は本発明の１実施例ブロック図、第３図は本発明
に係るＮＣ？’−夕作成方法の処理の流れ図である。<Embodiment> FIG. 2 is a block diagram of one embodiment of the present invention, and FIG. 3 is a block diagram of an NC system according to the present invention. 12 is a flowchart of the processing of the '-event creation method.

一教示操作盤１０１上のそ−ド選択スイッチ１０１ａを
ティーチモードにして所定のジョグ釦を押圧すれば、プ
ロセッサ１０２は直ちにこれを認識し、以後ＲＯＭ１０
３に記憶されているコントロールプログラムの制御で該
押圧されたジョグ釦に応じた方向にロボットノ・ンドＲ
ＨＤ（第１図参照）を、換言すれば作業ヘッドＷＨＤ　
を移動すべく処理を開始する。1) When the program selection switch 101a on the teaching operation panel 101 is set to the teach mode and a predetermined jog button is pressed, the processor 102 immediately recognizes this, and from now on, the ROM 10
Under the control of the control program stored in 3, the robot moves in the direction corresponding to the pressed jog button.
HD (see Figure 1), in other words, the working head WHD
Start processing to move the .

たとえは＋Ｘ軸方向のジョグ釦＋ＪＸが押圧されたとす
ればプロセッサ１０２は微小インクリメンタル量＋ΔＸ
　を該ジョグ釦が押圧されている間、所定時間毎にパル
ス分配器１０４に出力する。ノクルス分配器１０４はイ
ンクリメンタル量ΔＸが入力されれば、該入力されたイ
ンクリメンタル量に基いてパルス分配演算を行なって分
配ノ母ルスＰｘを発生する。この分配パルスＰｘはサー
ボ回路１０５Ｘに人力され、サー？モータ１０６Ｘを駆
動し、作業ヘッドＷ）ｉＤを＋Ｘ軸方向に移動する。以
後、前記所定時間が経過すればプロセッサ１０３は ｘ１″１△ｘ−＋Ｘ′　（１） の演算を行なってワーキングメモリ１０７に記憶されて
いる現在位置ｘａ　を更新すると共に、ジョグ釦が押圧
されている限り、微小インクリメンタル量ΔＸを再びノ
９ルス分配器１０４に入力する。以後、同様な処理が行
われ、ジョグ卸の押圧が解除されればΔＸに相当するパ
ルスを分配後、（１）式の演算を行なって＋Ｘ軸方向の
移動処理を終了する。For example, if the jog button +JX in the +X axis direction is pressed, the processor 102 will generate a minute incremental amount +ΔX.
is output to the pulse distributor 104 at predetermined time intervals while the jog button is pressed. When the incremental amount ΔX is input, the Noculus distributor 104 performs a pulse distribution calculation based on the inputted incremental amount to generate a distribution pulse Px. This distributed pulse Px is manually input to the servo circuit 105X, and the servo circuit 105X The motor 106X is driven to move the work head W)iD in the +X-axis direction. Thereafter, when the predetermined time has elapsed, the processor 103 performs the calculation x1''1△x-+X' (1) to update the current position xa stored in the working memory 107, and also when the jog button is pressed. As long as ΔX remains, the minute incremental amount ΔX is input again to the pulse distributor 104.Then, the same process is performed, and when the jog wholesaler is released, the pulse corresponding to ΔX is distributed, and then Equation (1) is obtained. After performing the calculation, the movement processing in the +X-axis direction is completed.

以後、同様に作業ヘッドＷＨＤをジョグ１十ＪＹ、　−
ＪＹ、　十ＪＺ、　−ＪＺを適宜操作してＹ軸、ｚａ方
向に移動させ、作業ヘッド先端を塗装曲面Ｃ８上の所望
ポイントＰ０に位置決めする。After that, jog the work head WHD 10 JY, −
JY, JZ, -JZ are operated as appropriate to move in the Y-axis and za directions, and the tip of the work head is positioned at a desired point P0 on the curved surface C8 to be painted.

ついで、垂直回転方向ジョグ１十ＪＢ、−ＪＢ及び水平
回転方向ジョグ釦＋ＪＣ，−ＪＣをそれぞれ操作して０
ざットハンドＲＨＤｇ回転し、作業ヘッドＷＨＤ　の中
心軸を塗装向に対して所定角度（たとえば直角）となる
ようにする。Next, operate the vertical rotation direction jog buttons 10 JB, -JB and the horizontal rotation direction jog buttons +JC, -JC, respectively, to
That hand RHDg is rotated so that the central axis of the work head WHD is at a predetermined angle (for example, right angle) to the painting direction.

そして、その時の垂直回転方向（Ｂ軸方向）の位置ｂａ
、水平回転方向（Ｃ軸方向）位置ｃ８　を（υ式と同様
な演算を行なって更新し、該す１、Ｃ１をワーキングメ
モリ１０７に記憶する。尚、第４図は作業ヘッドの回転
中心Ｑ。Then, the position ba in the vertical rotation direction (B-axis direction) at that time
, the horizontal rotational direction (C-axis direction) position c8 is updated by performing a calculation similar to the (υ formula), and the corresponding 1 and C1 are stored in the working memory 107. Note that FIG. .

（第１図参照）を原点として１０交座標系と球座標系（
半径りを想定した説明図であり、Ｂ軸方向及びＣ軸方向
現在位置をｂ８、ｃｊＬとすれば長さｌの作業ヘッド先
端Ｐａの直交座標値（Ｉｏ　ＩＪＯｖ　Ｋｏ　）は １゜＝　ｚ−ｓｉｎｂ　−ｃｏｓｅ　（２１、ｒ、　−
＊・５ｌｎｂ　・５ｉｎｅ　（３）ＫＯ−１°ｃｏｓｂ
　（４Ｊ トルの単位成分（’＋ｊｖｋ）は ｓ　＝ｓｍ　ｂａ、ｃｏｓｃａ（５） Ｊ　−８１１１１）ａ４１１１ＣＢ　（６Ｊｋ＝ｃｏｓ
ｂａ　（７） となる。(See Figure 1) as the origin, 10 orthogonal coordinate system and spherical coordinate system (
This is an explanatory diagram assuming a radial rotation, and if the current positions in the B-axis direction and C-axis direction are b8 and cjL, the orthogonal coordinate value (Io IJOv Ko) of the tip Pa of the work head with length l is 1° = z-sinb -cose (21, r, -
*・5lnb ・5ine (3) KO-1°cosb
(4J Torr unit component ('+jvk) is s = sm ba, cosca (5) J -81111) a4111CB (6Jk=cos
ba (7).

オペレータは作業ヘッドＷＨＤ　のポイントＰｏへの位
置決め及び該作業ヘッドの塗装曲面に対する傾きを制御
した後、教示操作盤１０１上のレコード釦１０１ｂを押
圧する。After controlling the positioning of the work head WHD to the point Po and the inclination of the work head with respect to the painted curved surface, the operator presses the record button 101b on the teaching operation panel 101.

レコード釦が押圧されればプロセッサ１０２はツーキン
グメモリ１０７に記憶されているＢ軸、Ｃ軸の現在位置
ｂ＠　ｓ　ｃ＠　を用いて（５）〜（７）式の演算を行
なって作業ヘッドの中、Ａクトルの単位成分１ｗｊ＊ｋ
をめる。When the record button is pressed, the processor 102 uses the current positions b@sc@ of the B-axis and C-axis stored in the tooling memory 107 to calculate equations (5) to (7) to adjust the working head. Medium, unit component of A ctor 1wj*k
I put it on.

ついで、プロセッサ１０２はワーキングメモリ１０７に
記憶されているロボットハンドの回転中心位置Ｑ０の座
標値Ｘ、７．！、と、前記求めた単位成分１ｓｊ＋にと
、別途キーボード１０９から入力されている所定距離り
とを用い又、次式により、 Ｘ−Ｘａ＋しＤ（８） Ｙ”　）’ａ＋Ｊ　、Ｄ　（９） ｚ−ｚ　ａ　十に−Ｄ　（１０） 作業ヘッド先端が塗装曲面より距離りだけ離れた位置Ｐ
ｏ　’にくるような作業ヘッドの回転中心位ｔＱｏ　’
の座標値（Ｘ　＊　Ｙ　ｖ　Ｚ　）をめる。Next, the processor 102 inputs the coordinate values X, 7 . ! , and using the unit component 1sj+ obtained above and the predetermined distance input separately from the keyboard 109, according to the following formula, zz-z a 10-D (10) Position P where the tip of the work head is the distance away from the painted curved surface
The rotation center position tQo' of the work head such that it comes to 'o'
Find the coordinate value (X * Y v Z).

そして請求めたｘ、ｙ、ｚ及びｂｌ、　ｅ、をデータメ
モリ１０８に記憶すれば頑イン）Ｐ。Then, if you store the requested x, y, z, bl, e in the data memory 108, it will be fixed.)P.

の教示が終了する。The teaching of is completed.

以後、全教示ポイントの教示が終了する迄上記作業な繰
返えせば作業ヘッドの位置決めデータがデータメモリ１
０８に形成される。After that, if you repeat the above operation until teaching of all teaching points is completed, the positioning data of the work head will be stored in data memory 1.
Formed in 08.

尚、以上は作業ヘッドＷＨＤを塗装曲部上のポイントに
順次位置決めすると共に、作業ヘッドの中心軸ベクトル
が塗装曲面に対し一定の傾きとなるように作業ヘッドの
傾きを制御してＮＣデータを作成する場合であるが以下
の手法により作業ヘッドの中心軸ベクトルをめることも
できる。In addition, in the above steps, the work head WHD is sequentially positioned at points on the curved part to be painted, and the inclination of the work head is controlled so that the central axis vector of the work head has a constant inclination with respect to the curved surface to be painted, and NC data is created. In this case, the central axis vector of the work head can also be determined by the following method.

第５図はかかる別のＮＣ′ｙ′−夕作成方法を実現する
だめのブロック図、第６図は同別の処理の流れ図、第７
図及び第８図は同説明図である。第５図中２０１は塗装
曲面上の任急のポイントの座標値を検出できる公知の検
出装＆、２０２はプロセッサ、　、２０３はコントロー
ルグロダラムを記憶するＲＯＭ、２０４は、ワーキング
メモリ、２０５はデータメモリ、２０６はキー＋＋？−
１（である。FIG. 5 is a block diagram for realizing such another NC′y′-data creation method, FIG. 6 is a flowchart of the same process, and FIG.
FIG. 8 and FIG. 8 are explanatory diagrams of the same. In FIG. 5, 201 is a known detection device capable of detecting the coordinate values of arbitrary points on a painted curved surface; 202 is a processor; 203 is a ROM that stores a control program; 204 is a working memory; 205 is data Memory, 206 is key ++? −
1 (is.

さて、曲面Ｃ８（第７図）上の任意のポイントＰｏにお
ける法線ペクト＃Ｎは一般に以下の手法でまる。すなわ
ち、（イ）ポイント烏近傍の４点をＰ＋　ＩＦ２　＊　
ｓ　ＩＦ４　とする。Now, the normal vector #N at an arbitrary point Po on the curved surface C8 (FIG. 7) is generally determined by the following method. In other words, (a) the four points near point crow are P+ IF2 *
Let it be s IF4.

（ロ）ポイントＰＯｅｌｅＰｆｆｉ　を通る円弧ＣＲ（
第８図）をめ、該ポイン）Ｐ。で円弧ＣＲＶｃ接する接
線ベクトルＵをめる。（／１同様に、ポイントＰｏ　ｅ
Ｐｓ　ＩＦ５　を通る円弧をめ、該ポイン）Ｐ。で該円
弧に接する接線ベクトルＶをめる。に）これら接線ペク
ト−瞥−知 ルＵとＶの外積をめればポイン）Ｐｏにおける法線ベク
トルＮがまる。すなわち、Ｎ　−Ｕ　ｘ　Ｖ　（１１） 従って、作業ヘッドの塗装曲面に対する゛傾きを法線ベ
クトル方向をすれは以下の処理によりＮＣデータを作成
することができる。(b) Arc CR passing through point POelePffi (
Figure 8) and the point) P. Find the tangent vector U that is tangent to the arc CRVc. (Similar to /1, point Po e
Find the arc passing through Ps IF5 and the point) P. Find the tangent vector V that touches the arc. ) If we calculate the cross product of these tangent lines U and V, we get the normal vector N at point) Po. That is, N - U x V (11) Therefore, when the inclination of the work head to the painted curved surface is shifted in the direction of the normal vector, NC data can be created by the following process.

ヒ）　検出装置２０１の検出プ算−グ或いはスタイラス
￥塗装曲面Ｃ８上のポイントＰ。H) Detection calculation of the detection device 201 or stylus point P on the painted curved surface C8.

に位置決めし、該ポイントの座標値（ｘ３゜７ａ’＋Ｚ
ａ）をワーキングメモリ２０４に格納する。同様にポイ
ントＰ。近傍で該ポイントｐ、の周囲の４点ｐ、　ＩＦ
２１Ｐ＄　ＩＦ４の座標値（−Ｘｌ　＊　）’１　ｖ　
Ｚｉ　）（１”１　ｗ２　ｔ３　＋４）を検出してワー
キングメモリ２０４に記憶する。The coordinate value of the point (x3゜7a'+Z
a) is stored in the working memory 204. Similarly, point P. 4 points p around the point p in the vicinity, IF
21P$ IF4 coordinate value (-Xl *)'1 v
Zi )(1”1 w2 t3 +4) is detected and stored in the working memory 204.

（ロ）　ポイントＰ。−Ｐ４の座標値が氷まれば、プロ
セッサ２０２はポイントＰａ　ｅＰｌ　ｔｐ２を通る円
弧をめると共に、該円弧にポイン）Ｐｏで接する接線ベ
クトルＵをめる。(b) Point P. If the coordinate value of -P4 is frozen, the processor 202 finds a circular arc passing through the point Pa ePl tp2, and also finds a tangent vector U that touches the circular arc at the point Po.

尚、３点の位置座標より円弧及び該円弧に接する接線を
導出する方法は公知である。Note that a method for deriving a circular arc and a tangent line touching the circular arc from the position coordinates of three points is known.

（ハ）ついで、ポイントＰＯＩＰ３１Ｐ４　を通る円弧
をめると共に、該円弧にポイントＰ、で接する接線ベク
トル■をめる。(c) Next, find a circular arc that passes through point POIP31P4, and also find a tangent vector {circle around (2)} that touches the circular arc at point P.

に）　（１１）式より法線ベクトル（ｉｌｊ９ｋ）をめ
る。) Find the normal vector (ilj9k) from equation (11).

（ホ）　法線ベクトル（ｉｅｊｓｋ）がまればｆロセツ
サ２０２は、ワーキングメモリ２．ｏ４に記憶されてい
る。ポイントＰｏの位置データ（”ａ　＋　Ｆａ　ｌ　
ｚｌｌ　）と、法線ベクトルと、別途キーボード２０６
から入力されている所定距離りとを用いて、（８）〜（
１０）式により塗装曲面Ｃ８より距離り離れた位置をめ
データメモリ２０５に記憶する。(e) If the normal vector (iejsk) is equal, the f processor 202 stores the working memory 2. It is stored in o4. Position data of point Po (”a + Fa l
zll ), normal vector, and separate keyboard 206
Using the predetermined distance input from (8) to (
10) A position distant from the painted curved surface C8 is determined and stored in the data memory 205.

（へ）一方、垂直回転方向位置（Ｂ軸位置）ｂ及び水平
回転方向付１ｔ（Ｃ軸位置）ｃを次式によりめ ｒ−タメモリ２０５に格納する。尚、（１２）、（１３
）式は周知の如く直交座標系から球座標系への変換式で
ある。(f) On the other hand, the vertical rotation direction position (B-axis position) b and the horizontal rotation direction 1t (C-axis position) c are stored in the meta memory 205 using the following equation. In addition, (12), (13
) is a conversion formula from an orthogonal coordinate system to a spherical coordinate system, as is well known.

（トノ　以上によりポイントＰ、の教示が終了し、記作
業を繰返えせば作業ヘッドの位置決め用のＮＣデータが
ｆ−タメモリ１０８に形成されることになる。尚、第５
図においてはポイントＰ。−Ｐ４の位置を検出して法線
ベクトルをめるようにしたが、スタイラス先端をポイン
トＰｏに接触させるだけで該ポイントＰ、の位置と法線
ベクトルがめられるなら゛い装置を検出装［２０１とし
て用いる場合には単にスタイラスをボイドＰ。、ｍ位置
させるだけでよい。又、かかるならい装置を検出装置２
０１として用いる場合には第９図に示すように曲面ＣＳ
上の通路（点線参照）に沿ってスタイラス３０１を移動
させ、一定時間毎に既いは一足移動距離毎にポイン）Ｐ
ｉ　の位置座標値（ｘａ。(Tono) By the above, the teaching of point P is completed, and by repeating the above operation, NC data for positioning the working head will be formed in the data memory 108.
Point P in the figure. - The normal vector is determined by detecting the position of P4, but if the position and normal vector of point P can be determined by simply touching the tip of the stylus to point P, then a detection device [201 When used as a stylus, simply void the stylus. , m position. In addition, such a tracing device can be used as a detection device 2.
When used as 01, the curved surface CS
Move the stylus 301 along the upper path (see the dotted line), and move the stylus 301 at regular intervals (or point every distance traveled by one foot) P
i position coordinate value (xa.

ｙｌｔＺａ）と法線ベクトル（１＋ｊｔｋ）とを検出す
るように構成できる。yltZa) and the normal vector (1+jtk).

更に以上の説明では作業ヘッド式或いはスタイラスなど
を曲面上のポイントに順次位置動Ｊ口に所定ポイントの
位置座標値（Ｉｖｙ＠＊！Ｂ）と法線ベクトルｌ＊Ｌｋ
とをめるように構成した場合であるが、曲面ＣＳが曲面
創生手法により別途作成されている場合には、該曲面創
生手法により得られた曲面データ（ポイントの位置デー
タ）を用いて第６図に示す流れ図に従って、移動順にｔ
３１ｒ定ポイントの位置座標値（”ａｓ）’ａｓ’ａ　
）と法線ペクト”　ＣＬｊｅｋ　）をめるように構成す
ることもできる。Furthermore, in the above explanation, the working head type or stylus is sequentially moved to a point on a curved surface.
However, if the curved surface CS is created separately by a curved surface creation method, the curved surface data (point position data) obtained by the curved surface creation method is used to t in the order of movement according to the flowchart shown in FIG.
31r Fixed point position coordinate value ("as)'as'a
) and the normal vector (CLjek).

く＠明の効果〉 以上、本発明においては曲面上のポイントＰｏＫ応じた
位置データ（ｘ、ｙ、ｚ　）と該ポイントにおける作業
ヘッドの中心軸ベクトルの単位成分（１＊Ｌｋ　）と、
皺曲（２）の狭面から作業ヘッド塩の距離りを用いて、
作業ヘッドの位置制御データ（Ｘ、Ｙ、Ｚ　）を Ｘ−１＋　１・Ｄ Ｙ　＝　ｙ　＋Ｊ−Ｄ Ｚ＝ｚ十に−ｐ よりめ、該求めた位置制御１１７Ｊ−夕を用いて前記作
業ヘッドの位置制御用のＮＣ７′−夕を作成するように
構成したから、作業ヘッド或いは検出センサを曲面から
一定距離離れた位置に位置決めしてＮｊデータを作成す
る必要がなく、ＮＣデータ特に塗装ロボット用のＮＣデ
ータの作成が容易になった。As described above, in the present invention, the position data (x, y, z) corresponding to the point PoK on the curved surface, the unit component of the central axis vector of the work head at the point (1*Lk),
Using the distance of the working head salt from the narrow side of the crease (2),
The position control data (X, Y, Z) of the work head is calculated as follows: Since the configuration is configured to create NC7'-Y for position control, there is no need to position the work head or detection sensor at a certain distance from the curved surface to create Nj data, and NC data, especially for painting robots, can be created. It has become easier to create NC data.

又、曲面上のポイン）Ｐ。に近傍する４点の位置データ
を用いる場合にはこれら位置データより自動的に作業ヘ
ッドを法線方向に向けるＮＣデータを作成でき、従って
中心軸ベクトルの方向を何等考慮する必要がなく、しか
も実際の作業に際して確実に作業ヘッドを法線方向に向
けることができ精度の＾い作業ができる。Also, a point on a curved surface) P. When using the position data of four points in the vicinity of When performing work, the work head can be reliably directed in the normal direction, allowing highly accurate work.

【図面の簡単な説明】[Brief explanation of the drawing]

あ１図は本発明の概略説明図、第２図は本発明の１実施
例ブロック図、第３図は本発明に係るＮＣ７’−夕作成
方法の処理の流れ図、第４図は作業ヘッドの回転中心を
原点とした直交座標系と球座種糸の説明図、第５図は本
発明の別の実施例フ゛ロック図、第６図は同別の処理の
流れ図、第７図及び第８図は同説明図、第９図は本発明
の別の実施例説明図である。 Ｃ８・・・塗装曲面、ＷＨＤ・・・作業ヘッド、ＲＨＤ
・・・口がットハンド、 １０１・・・教示操作盤、１０２．２［１２・・・グロ
セツツ°、１０３，２０３・・・ＲＯＭ。 １０４・・・パルス分配器、１０γ、２ｏ４・・・ワー
キングメモリ、１０８，２０５・・・データメモリ、２
０１・・・検出装動、。 特許出願人　ファナック株式会社 代理人　弁理士齋藤千幹Figure 1 is a schematic explanatory diagram of the present invention, Figure 2 is a block diagram of one embodiment of the present invention, Figure 3 is a flowchart of the process of the method for creating an NC7'-plate according to the present invention, and Figure 4 is a diagram of the work head. An explanatory diagram of the orthogonal coordinate system with the rotation center as the origin and the ball seat thread, FIG. 5 is a block diagram of another embodiment of the present invention, FIG. 6 is a flowchart of the same processing, and FIGS. 7 and 8 is an explanatory diagram of the same, and FIG. 9 is an explanatory diagram of another embodiment of the present invention. C8...Painted curved surface, WHD...Work head, RHD
... Mouth is closed, 101 ... Teaching operation panel, 102.2 [12 ... Gross, 103,203 ... ROM. 104... Pulse distributor, 10γ, 2o4... Working memory, 108, 205... Data memory, 2
01...Detection device. Patent applicant Chiki Saito, agent for FANUC Co., Ltd., patent attorney

Claims (3)

【特許請求の範囲】[Claims] （１）　曲面上のポイン）ＰｏＫ応じた位置データ（ｘ
ｗ）’＊Ｚ）と該ポイントにおける作業ヘッドの中心軸
ベクトルの単位成分（ｌ。 」、ｋ）をめ、これら位置データと中心軸ベクトルの単
位成分と該曲面の表面から作業ヘッド塩の距離りを用い
て、作業ヘッドの位置制御データ（ＸＩＹ、Ｚ）を Ｘ−ｘ＋　ｉ　−Ｄ Ｙ−ｙ＋Ｊ−Ｄ Ｚ＝ｚ十に−Ｄ よりめ、該求めた位置制御データを用いて前記作業ヘッ
ドの位置制御用のＮＣデータを作成することを特徴とす
るＮＣｆ−タ作成方法。(1) Point on curved surface) Position data according to PoK (x
w)'*Z) and the unit component (l.'', k) of the central axis vector of the working head at the point, and calculate these position data, the unit component of the central axis vector, and the distance of the working head salt from the surface of the curved surface. Using the method, the position control data (XIY, Z) of the work head is determined as follows: 1. A method for creating an NC data, comprising the step of creating NC data for position control. （２）作業ヘッド先端を曲面上のポイン）Ｐ。 に位置決めすると共に、該作業ヘッドを曲面に対し所定
角度となるように位置決めし、その時の作業ヘッド先端
位置に応じた座標値を（ＸｗＦｍりとすると共に、作業
ヘッドの垂直回転方向位置なり及び作業ヘッドの水平回
転方向位置なＣとするとき １ｗ８１ｎｂ−ｃｏｓｃ Ｊ＝８ｉ１１ｂ−８ｊｎｃ ｋ＝ｃｏｓｂ より前記単位ベクトルを演算することを特徴とする特許
請求の範囲第（１）項記載のＮＣデータ作成方法。(2) Point the tip of the working head on the curved surface)P. At the same time, the work head is positioned at a predetermined angle with respect to the curved surface, and the coordinate value corresponding to the tip position of the work head at that time is set as (XwFm), and the position in the vertical rotation direction of the work head and the work 2. The NC data creation method according to claim 1, wherein the unit vector is calculated from 1w81nb-cosc J=8i11b-8jnc k=cosb when C is a position in the horizontal rotational direction of the head. （３）　前記曲面上のポイン）Ｐ。の位置データと該ポ
イント近傍の少なくとも２点Ｐ３、Ｐ、の位［７”−夕
とを用いて、これら３点を通る円弧にポイントＰｏで接
する接線ベクトルＵを演算し、又前記ポイントＰｏの位
置データと該ポイント近傍の少なくとも別の２点Ｐ３　
、Ｐ　４の位置データとを用いてこれら３点を通る円弧
にポイン）Ｐ６で接する接線ベクトル■を演算し、前記
中心軸ベクトルを接線ベクトルＵとＶの外積よりめるこ
とを特徴とする特許請求の範囲第（１）項記載のＮＣ７
″−夕作成方法。(3) Point on the curved surface) P. Using the position data of , and at least two points P3, P, and the position [7''-y] near the point, calculate the tangent vector U that touches the arc passing through these three points at the point Po, and Position data and at least two other points P3 near the point
, P4, and calculate the tangent vector ■ that touches the circular arc passing through these three points at P6, and calculate the central axis vector from the cross product of the tangent vectors U and V. NC7 described in claim (1)
″-How to make evening.
JP16371583A 1983-09-06 1983-09-06 Generating method of nc data Pending JPS6055412A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP16371583A JPS6055412A (en) 1983-09-06 1983-09-06 Generating method of nc data
PCT/JP1984/000428 WO1985001132A1 (en) 1983-09-06 1984-09-06 Method of preparing numerical control data

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16371583A JPS6055412A (en) 1983-09-06 1983-09-06 Generating method of nc data

Publications (1)

Publication Number Publication Date
JPS6055412A true JPS6055412A (en) 1985-03-30

Family

ID=15779260

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16371583A Pending JPS6055412A (en) 1983-09-06 1983-09-06 Generating method of nc data

Country Status (2)

Country Link
JP (1) JPS6055412A (en)
WO (1) WO1985001132A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61248106A (en) * 1985-04-25 1986-11-05 Kawasaki Heavy Ind Ltd Preparing method for robot controlling data
JPH01102604A (en) * 1987-10-15 1989-04-20 Fanuc Ltd Nc data generation system
JPH04347411A (en) * 1991-05-23 1992-12-02 Harman Co Ltd Burner
JP2016013804A (en) * 2014-07-03 2016-01-28 株式会社レイズエンジニアリング Decoration method of wheel for vehicle
JP2017124777A (en) * 2016-01-15 2017-07-20 株式会社レイズエンジニアリング Vehicular wheel and decoration method of vehicular wheel

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5640910A (en) * 1979-09-11 1981-04-17 Osaka Kiko Co Ltd Nc tape forming machine utilizing copying action
JPS56159707A (en) * 1980-05-13 1981-12-09 Daihen Corp Controller of industrial robot
JPS5773410A (en) * 1980-10-23 1982-05-08 Fanuc Ltd Numerical control system
JPS5952304A (en) * 1982-09-17 1984-03-26 Nissan Motor Co Ltd Preparation of teaching data for welding robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61248106A (en) * 1985-04-25 1986-11-05 Kawasaki Heavy Ind Ltd Preparing method for robot controlling data
JPH01102604A (en) * 1987-10-15 1989-04-20 Fanuc Ltd Nc data generation system
JPH04347411A (en) * 1991-05-23 1992-12-02 Harman Co Ltd Burner
JP2016013804A (en) * 2014-07-03 2016-01-28 株式会社レイズエンジニアリング Decoration method of wheel for vehicle
JP2017124777A (en) * 2016-01-15 2017-07-20 株式会社レイズエンジニアリング Vehicular wheel and decoration method of vehicular wheel

Also Published As

Publication number Publication date
WO1985001132A1 (en) 1985-03-14

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