JPH042461A - Preparation of shape model data for die face and pattern operation - Google Patents

Abstract

PURPOSE:To prepare shape model data from each point data of die free curved face so as to form no unequal polishing face, by the teaching function of a robot to a die free curved face, the slope line posture of a polishing tool and the sensing function of a pressurizing force control. CONSTITUTION:A polishing range is teached by the direct teaching function that a robot controller RC has and also transferred to a personal computer as zone data. The pass of a sample point is then formed based on zone data by this personal computer PC and also the tool moving data of each one block transferred to the robot controller RC are formed with the slope line posture of a polishing tool 10 to a die face 11a by a force sensor SD and the sensing function of a pressurizing force control.

Description

DETAILED DESCRIPTION OF THE INVENTION 1. Field of Industrial Application The present invention provides a robot with a free-form surface of a mold, a teaching function of a robot with respect to a free-form surface of a mold, and a sensing function of a polishing tool's normal posture and pressure control. According to
The present invention relates to a method of creating shape model data from each point data of a free-form surface of a mold, and a pattern operation method using a shape model data editing function.

“Prior Art and Problems” The conventional sensing method for free-form surfaces is a process in which a robot uses a direct teaching function to designate a limited area on a free-form surface such as a mold and then teaches within that area. There is known a means for performing a playback function of positioning and moving within this area in a predetermined pattern at predetermined pitch intervals.

The problem with the above-mentioned free-form surface sensing method is that the area is specified using the direct teaching function, and the grindstone is moved while visually tracing the mold shape, memorizing it at constant pitch intervals and teaching the entire surface shape. Because of this method, the normal control and pressure control of the grinding wheel, as well as the movement trajectory of the grinding wheel, are biased, resulting in an uneven polished surface.

“Issues and methods to be solved” The present invention has been made in view of the above problems.

Using the robot's teaching function for the free-form surface of the mold and the sensing function for normal posture and pressure control of the polishing tool, we have developed a method for creating shape model data from each point data of the free-form surface of the mold, and a collection function for the shape model data. The objective is to provide a pattern driving method.

Therefore, the robot coordinate data of the free-form surface of the mold can be created by simultaneously executing the direct teaching function of the robot and the sensing function of normal line and pressure control on the free-form surface of the mold.

[Example] Figure 1 is a block diagram of a polishing device and its control system implementing the present invention, Figure 2 is a diagram of the sensing head and its operation, and Figure 3 is a diagram of creating robot coordinate data and pattern editing according to the present invention. 1 shows a flowchart diagram.

First, the means for implementing the automatic teaching sensing method shown in FIG. 1 will be explained. 1 is a SCARA type robot of the mold polishing device 50, which has a first arm 2 degrees, a second arm 3 and a third arm.
, a four-jointed wrist 4, and a tool 10 having sensing and tool functions is attached to the tip of this wrist. The arm is controlled by a servo motor SMI which moves up and down the sliding part of the column 5, and each arm and wrist is controlled by a servo motor SM2, 3, 4.5, respectively. The mold 11 mounted on the table 6 has a continuous free-form surface on the top and side surfaces, and the tool 10 approaches this free-form surface by direct teaching using a teaching box TB.

The above direct teaching is controlled by the mold control device g.
The tool 10, which is controlled by Oa and approaches the free-form surface by direct teaching, has a swingable probe and a grindstone function at the tip], and Oa rotates and comes into contact with the mold surface to generate the elastic force of the spring 20. force sensor S
D detects the pressing force and the inclination in the normal direction. Force sensor S
The detection information D is used by the mold control device 100 to control the posture and pressure so that the tool 10 meets the set conditions using its own sensing function. The basic configuration of the mold control device 100 is a robot controller RC, a personal computer PC that inputs input via an AD conversion section 12 that converts the output from a force sensor SD from analog to digital, a memory section M, a keyboard KB,
Consists of 13 display screens and 1 teaching box.
Both control units RC and PC are controlled by ``B''.

FIG. 2 shows an embodiment in which the functions of the mold control device [100] are used to teach a robot to the free-form surface of the mold and to sense the normal posture of the polishing tool and control of the pressing force. The execution flowchart in FIG. 3 shows a method for creating shape model data from each point data of a mold free-form surface, and a process for executing a pattern operation method using a shape model data editing function. First, the mold control device 10
0 as the sensing function 1. Here, the robot controller RC is controlled by the teaching box TB to move the polishing tool 10 of the robot relative to the mold free-form surface 11a, and the polishing range (Pi to P, n) is set to 1. "teach". Each of these teaching points is "B...Area data (Pi~P n
).

A personal computer pc that receives and receives the area data (Pi to Pn)
forms a path of sampling points to obtain robot coordinates necessary for creating various layered patterns from the rC--region data (Pl to Pn).

Next, as shown in Figure 2, each sampling point
In order to intermittently move the tip grindstone 10a of the polishing tool 10 to Pn along the path D... "Transfer and start movement data for each block." First, polishing tool 1
0 tip grindstone 10a is sampling point ■ (Pl)
-rH
・The pressure sensor and the normal orientation are determined based on the information detected by the force sensor.
), the personal computer PC becomes the robot controller RC.
In response to "F... Data transfer & start J for position correction, the posture and position of the tip grindstone 10a of the polishing tool 10 is corrected. Here, the personal computer PC again outputs "E... Data transfer & start J for position correction. Based on the detected information, the pressurizing force and normal orientation are determined. If the determination result is out of the set value (NG), the same correction action is repeated again, and if it becomes normal, the position data of this one block is stored in the memory M as the sampling point ■ (Pl) of the tip grinding wheel 10'a. ``G...data acquisition'' and memorize it. Next, the tip grindstone 10a is moved to the sampling point (P2), and one block of position data is similarly stored in the memory M as the sampling point (P2) of the tip grindstone 10a. Thereafter, in the same manner, the position data of each block is stored as the sampling point of the tip grindstone 10a in the memory M up to Pn.
Data acquisition J is stored, and "G...Complete data acquisition" is performed as data for the shape model of the entire mold surface.

The above is a method for creating shape model data by automatic teaching (simultaneous use of the robot's teaching function and the sensing function of the polishing tool's normal orientation and pressurizing force control) for acquiring data of the shape model of the mold surface 11a.

Next, a pattern driving method for editing various movement forms using the shape model data editing function and performing playback driving in various movement forms will be explained. First, by operating the keyboard KB and CRT screen between the memory M that stores the data of the shape model of the mold surface 11a and the personal computer PC.

Select and command one "H...edit polishing program" from among various movement modes. The above editing will automatically end instantly, and the “
■...The polishing program will be transferred and started. This polishing program can be edited and transferred from (1) to (n).
It is possible to start.

In FIG. 4, the movement locus of Uni from various movement modes will be explained. (a) is the same polishing movement trajectory as during sensing (b)
Execute pattern operation.

(b) is the polishing movement trajectory in the direction perpendicular to the sensing time (
Execute pattern operation (b).

(C) is the polishing movement trajectory in the direction perpendicular to the sensing time (
Both pattern operations are executed: (c) and a locus shifted by a predetermined amount (c').

It goes without saying that the present invention is not limited to the above-mentioned embodiments, and that design changes and implementation changes can be made within the gist of the invention.

"Effect" According to the present invention, shape model data is created from each point data of the free-form surface of the mold by the robot's teaching function for the free-form surface of the mold and the sensing function of the polishing tool's normal orientation and pressure control. Since the pattern operation method can be executed using the shape model data editing function, the normal posture and pressure force of the grinding wheel and the movement trajectory of the grinding wheel will not be biased against the free-form mold shape, and uneven The problem of being forced to polish the surface can be solved all at once. In addition, it is possible to freely change the locus of movement of the grindstone while evaluating the polished surface.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a polishing device and its control system implementing the present invention, Fig. 2 is a sensing head and its operation diagram, Fig. 3 is a flow chart for creating robot coordinate data and pattern editing according to the present invention, FIG. 4 is a movement locus diagram showing an example of Uni from among various movement forms. 1. SCARA type robot, 2, 3, 4. Arm & wrist, 10. Polishing tool, 50. Mold polishing device, 10a.
- Probe and grindstone function, 11... Mold, lla... Mold free-form surface, 100... Mold control device 1. TB...Teaching box, SD...Force sensor, RC...Robot controller, 12...AD converter, PC...ノ(Sonic controller, PO...Predetermined pitch, ■(PL,,,Pn)
...Sampling point.

Claims (2)

[Claims] (1) A mold polishing device in which a polishing tool with a force sensor for the free-form surface of the mold is attached to the tip of a multi-jointed arm, etc.
The robot controller's direct teaching function teaches the polishing range and transfers it to a computer as area data, and the computer forms a sample point path based on the area data and sends tool movement data for each block to the robot controller. A method for creating shape model data of a mold surface, characterized in that data is created using a force sensor that senses the normal orientation of a polishing tool with respect to the mold surface and controls pressing force. (2) In the method for creating shape model data of a mold surface as described in claim 1, the shape model data of the mold surface to be transferred to the robot controller is edited into a polishing program pattern with an arbitrary movement trajectory on a personal computer. , a mold surface pattern driving method characterized in that a robot controller to which the edited polishing program is transferred moves a polishing tool along a predetermined movement trajectory.