JPS6142005A - Method for determining positioning path - Google Patents

Abstract

PURPOSE:To simplify the programming operation for determining a positioning path by specifying preliminarily shapes and positions of obstacles to positioning of a tool and determining another path if obstacles interfere positioning when position data of the start point and the end point of positioning are used to move the tool along a positioning path according with prescribed rules. CONSTITUTION:The obstructive part of an object which is the obstacle to positioning of the tool is divided to rectangular parallelepipeds 101a-101c and a column 101d, and shapes and positions of these rectangular parallelepipeds and column are specified, and jigs are divided to rectangular parallelepipeds 102a-102d, and shapes and positions of them are specified. The first and the second points are specified as the start point and the end point of positioning, and position data of them are used to obtain a positioning path in accordance with prescribed rules. It is checked whether each member of all rectangular parallelepipeds and all columns interferes with the tool or not when the tool is moved along this path; and if there are members interfering with the tool, the interfering member having the most distant face in the tool escape direction is obtained, and a relief path to a relief point which is a prescribed length distant from this face is used as one part of the positioning path where the tool is not interfered by obstacles. That is, the tool is escaped to the relief point and is positioned to the second point thereafter.

Description

[Detailed Description of the Invention] <Industrial Application> The present invention relates to a method for determining a positioning path, and in particular, it is a method for identifying the shape and position of obstacles that become an obstacle when positioning an obstructing part of an object, a jig, etc. Particularly, the present invention relates to a positioning path determining method for automatically determining a positioning path that does not interfere with obstacles from a positioning start point and a positioning end point.

<Prior Art> In order to perform the next machining after completing one machining, it is necessary to position the tool from the machining end point to the machining start point in the line method.

By the way, generally, when a positioning start point which is the machining end point and a positioning end point which is the next machining start point are given,
Automatically positioning passage (for example, straight line connecting two points j1)
) shall be determined.

However, when the tool is moved along the positioning path, the tool collides with an obstacle, which may cause breakage of the tool or other problems. Note that the obstacles include, for example, jigs and tools for fixing a workpiece (object) to a machine, and the object itself.

FIG. 8 is an explanatory diagram for explaining such a situation, in which the object W
This is a case where drilling is performed on K using tool TL. After making a hole HL: on the second surface SF2 of the object, the second surface S of the object
If hole HL2 is to be drilled in F2, tool TL should be
The tool must be positioned from the hole HLI to the second hole HL2, but if the positioning path is a straight path connecting the first and second holes, the tool must be moved along the positioning path (see dotted line in Figure 1). When the tool TL is moved, since there is a protrusion PR on the way, the tool TL collides with (interferences with) the protrusion PR. Therefore, it is necessary to newly determine the positioning path so as not to interfere with the protrusion PR. The non-interfering path allows the tool TL to escape in the +2 axis direction (hereinafter referred to as escape direction) to a predetermined escape point P1, and then escape point P! from the escape point to the point P' directly above the second hole HL2 on a plane parallel to the XY plane including
Finally, move the tool in the -Z axis direction to form a passage.

<Problems to be solved by the invention> Now, when considering hole drilling, conventionally, the machining process, tools used, hole dimensions, etc. required for each hole are inputted, and the hole position is inputted. Furthermore, the positioning path is specified so that the tool does not interfere with obstacles when positioning from one hole to the next, and the automatic programming device automatically creates NC program data for drilling from this data, and the NC device is the corresponding NC
Numerical control processing is performed using program data to drill holes and process according to instructions.

However, with conventional methods, the tool may interfere with obstacles due to programming errors, and programming becomes cumbersome as the positioning path must be specified while taking into account obstacles such as jigs and protrusions each time. There were drawbacks.

Means for Solving the Problems> The positioning path determining method of the present invention specifies in advance the shape and position of an obstacle that impedes tool positioning, and also identifies the first position which becomes the positioning start point and the positioning end point. and second
A positioning path is determined according to a predetermined rule using the position data of the first and second points, and when the tool is moved along the positioning path, does the tool interfere with an obstacle? If there is interference, a new positioning path that does not interfere is determined.

Effect> In advance, identify the shape and position of obstacles that may impede tool positioning. Note that the obstacles include the target object, and the target object and other obstacles (for example, jigs and tools, etc.) are divided into several rectangular parallelepipeds and cylinders including zero, and the shape and position of each rectangular parallelepiped,
In addition, the shape and position of each cylinder are specified to identify the shape and position of the obstacle.

Also, first and second points that are the positioning start point and positioning end point are specified. Then, using the position data of the first and second points, a positioning path is determined according to a predetermined rule.

Next, it is checked whether or not the tool interferes with an obstacle when the tool is moved along the determined positioning path. That is, when the tool is moved along the placement path, it is checked whether the tool interferes with each of the rectangular parallelepiped and cylinder members.

If there is a member that interferes with the tool, find the interfering member that has the plane that is farthest from the current tool position in the tool escape direction, and block the escape path to the escape point that is a predetermined distance from the line surface. This is a part of the positioning path that does not interfere with the That is, after the tool is released to the escape point, the tool is positioned to the second point.

<Example> FIGS. 1 and 2 are explanatory diagrams explaining the present invention in detail, FIG. 1 is a structural diagram of an object, and FIG. 2 is an explanatory diagram of a method of defining an obstacle. 11 in the perspective view shown in FIG.
The holes are the objects to be processed, and 12 to 15 are jigs and tools for fixing the objects to the machine. The object 11 is shown in Figure 1 (
As is clear from the perspective view of A) or the bottom view of FIG.
．． In 11-2, the hole 11a1 shown in Figure 1 CB) has a depth of 1.2.
,...) and hole 11b, (i=1.2,...
・) is formed. In addition, in the following, the positioning path when the first and second points serving as the positioning start point and positioning end point are specified is simultaneous l-axis movement in the Z-axis direction and simultaneous two-axis movement in the X-Y plane. It shall be determined by the combination of movements. That is, as shown in Fig. 3 (A), if the Z-axis coordinate value Zm of the positioning start point P is smaller than the Z-axis coordinate value Zs of the positioning end point P, the tool is first moved in the +Z direction by simultaneous one-axis control. Z-axis current position Za
When becomes (Ze + e), the movement in the Z-axis direction is stopped (C is the clearance amount), and then the tool is positioned by simultaneous two-axis control of X1Y and the end point P is higher than the position P by C.
, I. Also, as shown in Figure 3 (B),
If Zs≧Ze, first position the tool at the position P, / just above the positioning end point P by simultaneous 2-axis control in X and Y, and then move the tool in the −Z-axis direction by simultaneous 1-axis control. It is moved and positioned at the position P, t where Za=(Zg+e).

Now, returning to FIG. 1(B), there is a hole 11 on the step 11-2.
1) If the hole 11a1 is to be machined on the stepped portion 11-1 after machining □, if the tool is moved along the positioning path determined by the positioning path determination method explained in relation to FIG. , the tool collides with the tool 12. Moreover, if the hole 11b is machined on the step part 11-2 after the hole 11b is formed on the step part 11-2, the hole 11b is formed on the step part 11-2, and then the hole 11b is formed on the step part 11-2. When the tool is moved, the tool moves to the stepped part 11 of the object.
It collides with -1.

Therefore, in the present invention, as shown in FIG. 2, a predetermined portion of the object 11 and the tool constituting the obstacle are divided into several rectangular parallelepipeds and cylinders, respectively, and each rectangular parallelepiped and cylinder are separated. The shape and position are each identified and registered. That is, for the object, the obstructing portion is divided into rectangular parallelepipeds 101a to 101c and cylinder 101d, and the shape and position of each rectangular parallelepiped and cylinder are specified to identify the shape and position of the obstructing portion of the object. Furthermore, the jigs and tools are divided into rectangular parallelepipeds 102a to 102d, and the shape and position of each rectangular parallelepiped is specified. In addition, the shape and position of the rectangular parallelepiped and cylinder are as follows.
Referring to the figure, it is identified as follows. However, it is assumed that the cylinder and the rectangular parallelepiped are not inclined with respect to the Z axis. Now, as shown in Figure 4 (A), the rectangular parallelepiped is +
Length of two adjacent sides of the shape (rectangle) viewed from the Z direction
and y, and when these two sides are the X' and Y' axes, respectively, the axis distances between the X-Y coordinate system (machine corrosion reference system) and the x' = y' coordinate system are x1, y, and The rotation angle is 6.1 and the Z direction position of the plane of the rectangular parallelepiped perpendicular to the Z axis is 2. It is specified by

In addition, as shown in Fig. 4 (B), the cylinder has a center position (xc SY c ) of the circle that is the cross section of the cylinder, an arc radius r, and a Z-direction position zc of the cylinder surface perpendicular to the Z-axis. Be identified.

When the positioning path is determined according to the positioning path determination method, it is checked whether the positioning path interferes with each of the pre-registered rectangular parallelepipeds and cylinders.

If the positioning passage does not interfere with any rectangular parallelepiped or cylinder, the positioning passage is taken as the actual positioning passage.

On the other hand, when the positioning path interferes with one or more rectangular parallelepipeds or cylinders, the interference member (rectangular parallelepiped, cylinder) having the highest surface in the Z direction is detected among the interference members. For example, as shown in FIG. 5, if Pl and Pa are the positioning start point and positioning end point, respectively, the positioning path will be as indicated by the dotted line arrow according to the positioning determination criteria. However, this positioning passage interferes with the rectangular parallelepipeds 202 and 204. Therefore, the Z-axis direction position z4 of the linear plane of the rectangular parallelepiped (interference member) having the highest plane in the +Z direction is determined.

Next, the tool is raised in the +Z direction under simultaneous 1-axis control until the current position Za of the tool matches (Z4+C), and then the tool is positioned at the end point P! using simultaneous 2-axis X and Y axes! Move the tool to the position directly above p, /, and finally move the tool in the -Z direction.
Find a positioning path that moves until aw (x +al).

FIG. 6 is a block diagram of an automatic programming apparatus that implements the present invention, and FIG. 7 is a process flowchart.

In FIG. 6, 301 is a processor, 302 is a ROM
, 303 is a RAM, 304 is a data input device such as a keyboard, 305 is a graphic display device, 30
6 is a working memory, 307 is an NC program data output device, and 308 is an NC tape.

+al Disassemble the jigs and objects that will be obstacles into several rectangular parallelepipeds and cylinders in advance, and separate each member (rectangular parallelepiped and cylinder)
The shapes and their positions are input from the data input device 304 and registered in the RAM 303.

(bl Next, enter the data necessary for hole machining and the hole position.The data necessary for hole machining is the hole machining process,
There are tools used, large dimensions, etc.

(bl-1, that is, if the screw hole is to be machined,
First, select and input the hole machining process. Incidentally, screw holes are made in the order of center fir, drilling, countersinking, and tapping, and therefore center fir is selected at first.

lbl-2 Next, the tool used for the hole machining process selected in step Ib)-i is input by tool number.

(BL-3 After selecting the tool, input the dimensions such as the depth of the hole to be machined by the tool.

(After completing BL-4L, it is determined whether all hole machining processes have been specified for each hole, and if not specified, step To
Repeat the process from 1-1 onwards, and if all the hole machining processes have been identified, the hole positions are input. Note that if there are multiple holes with the same shape and the same depth, the positions of each hole are also input.

let Next, check whether there is a hole of another shape or size, and if so, perform step (b) on the hole.
The processing after l-1 is performed, and if there is no processing, the input of hole data ends.

Thereafter, the processor 301 uses the input hole data to create N01ggram data for hole machining. That is, (di) The processor first searches the input data for the center drill to be used for the center fir.

If there is a center drill, create a tool change command to select the center drill, positioning data to position the center drill to the position of each hole to be machined by the center drill, and NC data to specify the center milling cycle. . The positioning data creation process is performed by finding a positioning path that does not interfere with obstacles, and creating a positioning path so that the center drill moves along the positioning path.

That is, (el-1 processor determines the magnitude of the Z-axis direction coordinate values Za, z of the current position and the next hole machining position.

(el -2Z If a < z, then the positioning path consists of a first path that moves in the +Z direction under simultaneous one-axis control until Z a w (z, + c ), and a first path that moves in the +Z direction until Z a w (z, + c ), and Za = (z, +e).
This is the 2nd!1#I, which moves from the point to the hole machining position by simultaneous two-axis control of X and Y.

(el -3 On the other hand, if Za≧2., move the center drill to the position directly above the hole drilling position by simultaneous two-axis control of X and Y. =
This becomes the second path that moves until it reaches +(z, +c).

(el-4 If the positioning path is found, the center drill will move the tool along the positioning path in step f).
It is checked whether or not each member (rectangular parallelepiped, cylinder) that has already been registered in the RAM 303 will be interfered with.

(Al-5 If there is no interference with any member, step (
Create NC data to move the tool along the positioning path determined in el-2 or (el-3.

(al-6 On the other hand, in the case of interference, position data z, (i=1.2...
) and find the maximum two values (set to 2).

(al-7 As a result, the positioning path in which the center drill does not interfere with obstacles is the first path in which the tool is moved in the +Z direction until Za-(Z+c) is reached, and the positioning path in which the center drill is moved in the X and Y directions simultaneously.
There is a second passage in which the shaft moves the tool to a position directly above the hole drilling position, and a third passage in which the tool is moved in the -Z axis direction from the position directly above until Za-(z+cl).Therefore, in the positioning passage NC data is created so that the tool is moved along the same line.Thereafter, data is created for the center milling cycle and positioning for a gold hole using the center drill.

(fl Next, check whether there is a through hole machined with another center drill, and if there is, step (el)
-1 to tel-7 are performed.

tgl When the hole is removed by another center drill, the drill, countersunk tool, and tap tool are processed in the same manner as the center drill to create NC data and stored in the RAM 303.

<Effects of the Invention> As described above, according to the present invention, the shape and position of an obstacle that becomes an obstacle to tool positioning are specified in advance, and the first and second points, which are the starting and ending points of positioning, are identified in advance. A positioning path is determined according to a predetermined rule using the position data of the first and second points, and when the tool is moved along the positioning path, does the tool interfere with an obstacle? If there is interference, the tool is configured to determine a new positioning path that does not interfere, so the tool will never collide with an obstacle, and the tool will take into account each obstacle to determine the positioning path. By simply specifying the shape and position of the obstacle, a positioning path that does not interfere with the obstacle is automatically determined, simplifying programming operations. In addition, the obstacle is divided into several rectangular parallelepipeds and cylinders, and the shape and position of each member (rectangular parallelepiped and cylinder) are specified to identify the shape and position of the obstacle. The process was also easy.

In the above explanation, a case has been described in which the positioning path is configured with simultaneous one-axis control in the Z-axis direction and simultaneous control on the Z-axis side of may also be included. Further, although the present invention has been described in the case where it is applied to drilling, the present invention is not limited to this. Furthermore, although the case where the obstacle is decomposed into rectangular parallelepipeds and cylinders has been described, the present invention is not limited to this, and may be configured to include hollow cylinders, rectangular parallelepipeds, and other shapes.

[Brief explanation of drawings]

Figures 1 and 2 are schematic explanatory diagrams of the present invention, where Figure 1 is a structural diagram of the object, Figure 2 is an explanatory diagram of how to define obstacles, and Figure 3 is a positioning path without considering obstacles. FIG. 4 is an explanatory diagram of a rectangular parallelepiped and cylinder identification method; FIG. 5 is an explanatory diagram of a positioning path determination method according to the present invention; FIG. 6 is a block diagram of an NC data creation device to which the present invention can be applied;
FIG. 7 is a flowchart explaining the present invention in detail, and FIG. 8 is a diagram explaining the drawbacks of the conventional method. 11...Object, 11-1.11-2...Step part 12
~15. ,,Jig, 11a1.11b. ... Hole, 101a to 101c... Rectangular parallelepiped, 101d
... Cylindrical patent applicant Fanuc Co., Ltd. agent Patent attorney Chiki Saito Figure 2 Figure 5 Army 6T: IJ

Claims (4)

[Claims] (1) In a numerically controlled positioning path determination method in which a tool is positioned from a first point to a second point and then the tool is used to perform a predetermined machining on a target object, obstacles are detected in advance in the positioning of the tool. specifying the shape and position of the obstacle, specifying the first and second points, determining a positioning path according to a predetermined rule using the position data of the first and second points, and determining the positioning A method for determining a positioning path, characterized in that when moving a tool along a path, it is checked whether the tool interferes with an obstacle, and if the tool interferes with an obstacle, a new positioning path that does not interfere is determined. (2) The obstacle includes an object, and the obstacle part of the object is divided into several rectangular parallelepipeds and cylinders including zero, and the shape of each rectangular parallelepiped and their position, and the shape of each cylinder and their position. The method for determining a positioning path according to claim 1, wherein the shape and position of the obstructing part of the object are determined by specifying the following. (3) The feature is that the obstacle other than the target object is divided into several rectangular parallelepipeds and cylinders including zero, and the shape and position of each rectangular parallelepiped and cylinder are specified to identify the shape and position of the obstacle. A method for determining a positioning path according to claim (2). (4) When moving the tool along the positioning path determined by the position data of the first and second points, check whether the tool interferes with each member of the entire rectangular parallelepiped and the entire cylinder, and interfere. If there are parts,
The method is characterized in that an interference member having a surface farthest from the current tool position in the tool escape direction is determined, and an escape path from the surface to an escape point that is a predetermined distance away is set as a part of the positioning path that does not interfere with the obstacle. A method for determining a positioning path according to claim (3).