JPH01193151A - Copying method for inclination of contour - Google Patents

Abstract

PURPOSE:To enable copying work of the form of contour even if a model exists on an inclinated face by performing contour-copying such that the shaft of a tracer head faces in the normal direction of the inclined face in relation to the model of which inclination direction and angle exist on the inclined face known. CONSTITUTION:With respect to a model MDL where the inclination direction and angle exist on an inclined face ICS known, copying of contour is carried out such that the shaft of a tracer head TRH faces in the normal direction of the face ICS. The mechanical movement of each axis in X-Y plane during copying operation is monitored, and movement LXY along the model inclination direction is computed with movement LX, LY in the X and Y directions at every specified time and data alpha in the inclination direction. Next, from the amount LXY and an inclination angle data theta, movement LZ of an Z axis necessary to move along the face ICS is computed, and controlling for contour-copying is performed with respect to X and Y axis according to detection signals of the tracer head TRH, and also, controlling for moving in the Z axis direction LZ, and thereby contour-copying of the model is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Applications> The present invention relates to an inclined contour tracing method, and particularly relates to an inclined contour tracing method when a model is disposed on an inclined surface.

<Prior art> Contour tracing involves measuring the three-dimensional displacement of the stylus (output from the tracer head TRH) so that the stylus STL moves along the contour of the model MDL as shown in Figure 4.
The cutter is controlled using the stylus and moved to follow the stylus, thereby machining the workpiece according to the model shape.

By the way, in conventional contour copying, the height in the Z-axis direction is kept constant, and the stylus is pick-fed in the VKZ direction, followed by repeating the same cotton contour tracing and big feed to create a three-dimensional shape. It was meant to be imitated.

<Problems to be Solved by the Invention> However, in such a conventional contour tracing method, when the model MDL is disposed on the inclined surface IC8 that forms a predetermined inclination angle θ with the horizontal plane, as shown in FIG. Stylus ST
Contour tracing processing was not possible because L could not properly contact the contour shape of model MDL.

In light of the above, an object of the present invention is to provide an inclined contour copying method that allows copying of a contour shape even when a model exists on an inclined surface.

Means to solve problems〉 FIG. 1 is a schematic explanatory diagram of the present invention.

MDL is the model, STL is the squirrel, TR) (is the tracer head, IC8 is the inclined surface, θ is the horizontal plane of the inclined surface (X
The inclination angle with respect to the Y plane), α is the inclination direction.

<Operation> Inclined surface IC8 (first
Figure (a)) Contour tracing is performed on the model MDL that exists above with the axis of the tracer head TRH facing the normal direction of the inclined surface, and each axis machine in the XY plane that moves during contour tracing. The amount of movement is monitored, and
Y direction movement amount Lx.

Using L7 and the tilt direction data a, calculate the amount of movement LxY (FIG. 1(b)) along the model tilt direction, and from the movement 1Lx9 along the model tilt direction and the tilt angle data θ,
The amount of Z-axis movement LZ required to move along the slope
(Fig. 1 (C)), perform contour tracing control using the tracer head detection signals regarding the X and Y axes, and perform Z
By performing LZ movement control in the axial direction, the contour shape of the model on the inclined surface is followed.

<Embodiment> FIG. 2 is a block diagram of a system embodying the contour slope tracing according to the present invention.

Reference numeral 11 denotes a copying control device, which includes a copying calculation circuit 11a, a memo IJ11b, first and second calculation circuits 11c for calculating the Z-direction movement amount LZ, and a lid.

The tracing calculation circuit 11m performs well-known contour tracing calculations using the three-dimensional displacement amount Cx, ε7゜ε of the stylus output from the tracer head TRH, and generates speed commands V, VV in each axis direction of the XY plane. .

The memory llb stores the inclination angle θ and the inclination direction a of the inclined surface IC8 (see FIG. 1 (al)) set from the keyboard (11 board) 12.

The first arithmetic circuit 11C calculates the amount of movement Lx along the model inclination direction (Fig. 1(b)) using the following formula, when the amount of movement in each of the X and Y axis directions at a predetermined time interval is Lx, L. Calculate using the % formula % (1). Further, the second arithmetic circuit 11d calculates the Z direction movement amount LZ (FIG. 1(C)) for each predetermined time using the following formula % formula % (
2) Calculate by.

13X, 13Y, 132 are servo amplifiers, 14X, 14
Y, 142 is the X-axis, Y-axis and Z-axis motor, 15 X,
15 Y, 15 Zlf pulses Px, PY, and P2 are generated every time nine motors rotate a predetermined amount. The f-ruyu generator plates 16X and 16Y count the pulses Px and P generated from the pulse generators 15X and 15Y, respectively, during a predetermined period of time, and calculate the amount of movement Lx of each axis for each predetermined time period.

A counter 17 that generates LY is a position control circuit that moves the stylus in the Z direction.

FIG. 3 is a flowchart of the process of the present invention, and the contour slope tracing method according to the present invention will be explained below with reference to FIGS. 1 to 3.゛Set the data necessary for contour tracing from the keyboard 12, input the inclination angle θ and the inclination direction a of the inclined surface IC3 with respect to the XY plane, and store them in the memory 11b.
Activate contour tracing.

Incidentally, in reality, the cosine Q of the inclination direction α from the keyboard 12 is
QSQz sine 5ina and tangent tan θ of inclination angle θ are set and input. Also, before activation, the axis of the tracer head TRH is adjusted so as to face in the normal direction of the inclined surface IC8, as shown in FIG.

When contour tracing is started, the tracing calculation circuit 11m performs a well-known contour tracing calculation and generates speed commands vx, vv for each of the X and Y axes. With these speed commands vx and vV, the motor 14X
, 14Y rotate, and the stylus STL moves along the model contour. When the motor rotates, pulses Px and PY are generated from each pulse generation @15X and 15Y, and the pulses are counted by counters 16X and 16Y, respectively, and as a result, the amount of movement of each axis is accumulated in the counters.

... above step 101 If a timer interrupt occurs (occurs at predetermined time intervals) in parallel with the above contour tracing control (step 102), the first arithmetic circuit 11c calculates the counted value (predetermined value) from the counters 16X and 16Y. At the same time as reading the amount of movement per time) Lx and Lv (step 103), reading the cosine and sine values cosa and sin α of the inclination direction from the memory 11b (step 104),
L, Karu & (Calculate and output the amount of movement LxY (see Figure 1 (b)) along the remodeling inclination direction using equation 11 (
Step 105).

Once the amount of movement LxY in the inclination direction is determined, the second calculation port #!
111d reads tanθ from the memory llb (step 106), and calculates the amount of Z-axis movement at each predetermined time using Equation 21. Y necessary to
The amount of movement LZ of the axis is calculated (step 1°7).

Thereafter, the position control circuit 17 receives the Z-axis movement amount and performs well-known position control to move the stylus LZ in the Z direction (step 108).

Note that in parallel with this Z-direction position control, contour control in step 101 is performed to perform contour slope tracing.

Therefore, according to the present invention, for the X and Y axes, the tracer head detection signal ε8. By performing contour tracing control using ε care ε2 and performing LZ movement control regarding the Y axis, contour shape tracing of the model on the inclined surface is performed. It should be noted that each time one cycle of contour slope scanning is completed, a Z-direction big feed command (not shown) is input from the scanning calculation circuit 11a to the position control circuit 17, and the stylus STL is pick-fed in the Z direction.

Incidentally, the copying control device 11 can also be configured with a microcomputer and can be program-controlled according to the flowchart shown in FIG.

<Effects of the Invention> According to the present invention, for a model existing on an inclined surface with known inclination direction a and inclination angle θ, contour tracing is performed with the axis of the tracer head oriented in the normal direction of the inclined surface. At the same time, calculate the amount of Y-axis movement LZ required to move along the model contour on the inclined surface using the mechanical movement amount of each axis on the XY plane moved during contour tracing, the inclination direction a and the inclination angle θ. is calculated, and contour tracing control is performed using detection signals from the tracer head for the X and Y axes, and the configuration is configured to move the model by the amount of movement in the Z-axis direction, even if the model is on an inclined surface. It is now possible to copy contour shapes.

[Brief explanation of the drawing]

Fig. 1 is a schematic explanatory diagram of the present invention; Fig. 2 is a block diagram of a system embodying the present invention; Fig. 3 is a flowchart of the processing of the present invention; Figs. 4 and 5 are background explanations of the present invention. It is a diagram. MDL...Model, STL...Stylus, TR) (...Tracer head, IC3...Slanted surface Patent applicant Chiki Saito, Patent attorney, FANUC Co., Ltd. Figure 3

Claims (3)

[Claims] (1) In the contour inclination method in a tracing control device that calculates the feed rate of each X and Y axis from the detection signal of the tracer head and contours the model shape, the inclination direction α and the inclination angle θ are known. For models existing on the surface,
The tracer head traces the contour with its axis facing the normal direction of the inclined surface, monitors the amount of mechanical movement of each axis on the XY plane during contour tracing, and calculates the amount of movement in the X and Y directions at each predetermined time. L_X, L_
The amount of movement L_X_Y along the model inclination direction is calculated using Y and the inclination direction data α, the amount of movement L_Z of the Z axis is calculated from the amount of movement L_X_Y along the model inclination direction and the inclination angle data θ, By performing contour tracing control based on the detection signal of the tracer head regarding the Y axis, and controlling the movement amount L_Z in the Z axis direction,
A contour slope tracing method characterized by tracing the contour shape of a sloped model. (2) The amount of movement L_X_Y along the model inclination direction is L_
2. The contour slope tracing method according to claim 1, wherein the calculation is performed from X_Y=L_X・cos α+L_Y・sin α. (3) The Z direction movement amount L_Z for each predetermined time is L_Z=
3. The contour slope tracing method according to claim 2, wherein the calculation is performed using L_X_Y·tanθ.