WO1987004381A1 - Procede de controle d'une condition immediatement avant qu'une interference ne se produise - Google Patents

Procede de controle d'une condition immediatement avant qu'une interference ne se produise Download PDF

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Publication number
WO1987004381A1
WO1987004381A1 PCT/JP1987/000044 JP8700044W WO8704381A1 WO 1987004381 A1 WO1987004381 A1 WO 1987004381A1 JP 8700044 W JP8700044 W JP 8700044W WO 8704381 A1 WO8704381 A1 WO 8704381A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable member
image
interference
shape
display terminal
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.)
Ceased
Application number
PCT/JP1987/000044
Other languages
English (en)
Japanese (ja)
Inventor
Kunio Tanaka
Kazuhiko Morisaki
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
Publication of WO1987004381A1 publication Critical patent/WO1987004381A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/406—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 program data in numerical form characterised by monitoring or safety
    • G05B19/4069—Simulating machining process on screen
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Definitions

  • the present invention relates to a check method immediately before interference, and in advance, a graph is used to determine whether the movable member of the robot / the force immediately before the movable member of the machine tool interferes with the fixed member. This is related to the method of checking the X-ray just before interference at the display terminal side.
  • the CRT of the graphic display terminal When the movement simulation is performed by drawing the movement of a movable member such as a robot on the screen, whether the movable member has interfered with another machine fixed section There are many cases where an interference check is needed.
  • the display control unit on the graphic display terminal is movable based on image data sent from the host computer.
  • An image including the initial state of the member is displayed on the CRT, and a virtual shape that is larger than the actual shape of the movable member by a predetermined dimension value is internally generated.
  • the movement of the movable member is displayed based on the movement data for moving the movable member, and the internally generated ideal shape is also moved, and the virtual shape is virtualized in parallel with the movement processing.
  • the chip just before the interference can be executed on the graphics display terminal side, and therefore, the host computer can be operated at the same time. It is easy to create a prescription program, and you can check the state just before interference.
  • FIG. 1 is a block diagram of a system for realizing the method of the present invention
  • FIG. 2 is a diagram showing a CRT drawing example
  • FIG. 3 is a block diagram and an embodiment diagram of an embodiment of a graphic display terminal for realizing the present invention.
  • 1 is a host side
  • 2 is a graphic display terminal building
  • a host computer is 1 on the host side.
  • a display 12 and a keyboard 13 are provided.
  • the graphic display terminal 2 has a display controller 21 and a segmenter. Memory 22, frame memory 23, and CRT 24 power? It is provided.
  • 30 is a robot
  • 31 is a ⁇ -bot
  • a movable member consisting of an arm 31a, a wrist 31b, and a hand 31c.
  • 3 1 ′ (see dotted line) is an imaginary shape that is larger than the actual shape of the movable member 31 by a predetermined dimension
  • 3 2 is a ceiling fixing member
  • 3 3 is another mechanical fixing member
  • 3 4 is a word.
  • Work table, 35 is a work.
  • the virtual shape 3 1 ′ is not actually drawn.
  • FIG. -It shall be created interactively off-line using the board 13.
  • the predetermined image data is extracted from the data base memory 12 and sent to the graphic display terminal 2.
  • the image data has a hierarchical structure, and an image including the initial state of the movable member 31 and the fixed member can be drawn by the image data.
  • the display control unit 21 of the graphics display terminal performs predetermined processing on the image data in the segment memory 22 to process the image data. After recording, the image is read out sequentially to generate an image and It is recorded in the frame number 23. This allows the CRT
  • FIG. 24 as shown in FIG. 2, an image in the initial state of the movable member is drawn.
  • the display control unit 21 draws an image in the initial state 5. Then, a predetermined dimension d with respect to the actual shape of the movable member 31 is used. Internally). This dimension value d is set in advance with parameters.
  • 2 1 is a portion surrounded by the internally generated virtual shape 3 1 ′ and the outer shape of the movable member interferes with the other fixed members 3 2 to 3 4
  • BAD ORIGINAL Data 11 creates robot command data.
  • FIG. 3 is a graphical representation of another embodiment of a graphic display terminal, and the graphic display terminal is a digital display device.
  • An image buffer for recording graphic images of the display control section 51, the memo 'J52, and the fixing members such as the machine fixing section and the work table. Fam (buffer buffer) 53a, image buffer 53b for recording a graphic image of the movable member, and the actual shape of the movable member A predetermined size d, a image buffer 53 c for recording a large virtual shape, a timing signal generator 54 for generating a horizontal synchronizing signal and a vertical synchronizing signal, and a The image is read from the corresponding image buffer and output in synchronization with the beam scanning by the raster scan of the CRT.
  • Fam (buffer buffer) 53a for recording a graphic image of the movable member, and the actual shape of the movable member A predetermined size d
  • a image buffer 53 c for recording a large virtual shape
  • a timing signal generator 54 for generating
  • Combination of the read control units 55a to 55c, the combining circuit 56 combining the image signals output from the read control units 55a and 55b, and the combining circuit 56 A brightness control section 57 that performs brightness modulation control based on the signal, a CRT 58, and a beam in synchronization with a timing signal output from a timing signal generator.
  • a deflection circuit 59 for moving the image signal horizontally and vertically, and an image signal output from the readout control units 55a and 55c are input to detect immediately before interference.
  • the circuit 60 is provided.
  • Each of the image buffers 53a to 53c has one storage area corresponding to one picture element on the display screen of the CRT, and is read out.
  • the control unit reads the image for each picture element.
  • the host computer 11 retrieves predetermined image data from the database memory 12. And send it to the graphics display terminal. It should be noted that the image data is configured so that a fixed member and a movable member are separated.
  • the display control unit 51 of the graphics display terminal temporarily stores the sent image data in the memory 52.
  • the display control unit 52 After that, the display control unit 52 generates the shape of the fixed member using the image data of the fixed member, stores the shape in the image buffer 53a, and Yes. There use the image data of the moving member and generates a movable member shape that stores in Lee main over-di server Tsu off ⁇ 5 3 b. Further, the display control section 51 uses the image data of the movable member and the dimension value d set in advance, and only the dimension value d for the actual shape of the movable member. A large virtual shape is generated, and the virtual shape is painted out and stored in the image buffer 53c.
  • Each of the readout control units 55 a to 55 c synchronizes with the beam scan of the raster scan on the CRT 58 and the corresponding image buffer 53.
  • An image is read from a to 53c and input to the synthesizing circuit 56 or the check circuit 60 immediately before interference.
  • the synthesizing circuit 56 synthesizes the images of the movable member and the fixed member read from the image buffers 55a and 55b, and inputs the images to the brightness control unit 57 to the CRT 58.
  • Draw the composite image (see Fig. 2).
  • the movable member 3 1 It is in the initial position.
  • the detection circuit 60 immediately before collision detects the image buffer 53a, 53c power and the power at which the high-level image signal is read at the same time. If the high-level image signal power is read out at the same time, the movable member determines that it is just before the interference with the fixed member, and outputs a signal IFS immediately before the interference, and at the same time, outputs the high-level image signal. If is not read, it is determined that it is not immediately before interference. At this point, it is not immediately before the interference because the movable member is in the initial position.
  • the display control unit 51 Upon receiving the movement data, the display control unit 51 moves the storage position of the movable member on the image buffer 53b based on the movement data. At the same time, the storage position of the virtual shape is moved on the image buffer 53c. As a result, the position of the movable member 31 is moved and drawn on the display screen. Further, the immediately preceding interference detection circuit S0 always performs the above-described interference check, and simultaneously moves from the image buffers 53a and 53c by moving the virtual shape. If the image signal of the level is read out, the movable member judges that it is just before the interference with the fixed member and outputs the signal IFS immediately before the interference, otherwise, it outputs no signal IFS immediately before the interference. .
  • the moving member 31 is moved by inputting the movement data on the line, and if it interferes, an alarm is generated and the operator is operated to correct the lot passage. Then, the above operation is repeated, and the host computer 11 finally uses the movement data input from the keyboard 13 to perform the mouth porting. Create command data.
  • the chip just before the interference can be executed on the graphic display terminal side, and the power of the host computer can be increased by using the applied force. This makes it easy to create a retention program, and it is also effective because you can check the state just before Chihiro.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
  • Processing Or Creating Images (AREA)

Abstract

Une unité (21) de commande d'affichage sur le côté d'un terminal d'affichage graphique (2) visualise sur un écran cathodique (24) une image comprenant les conditions initiales d'un organe mobile (31) en se fondant sur les données d'image envoyées par un ordinateur hôte (11), et crée à l'intérieur une forme virtuelle (31') qui est un nombre prédéterminé de fois plus grande que la forme réelle de l'organe mobile. Le déplacement de ce dernier est visualisé à l'écran sur la base des données de déplacement relatives au déplacement de l'organe mobile (31), et la forme virtuelle (31') créée à l'intérieur est également déplacée, afin de contrôler si la forme virtuelle interfère avec d'autres organes fixes (32 à 34) pendant que le déplacement est exécuté. Lorsqu'on détecte une telle interférence, on estime que l'organe mobile va produire une interférence avec les organes fixes.
PCT/JP1987/000044 1986-01-24 1987-01-23 Procede de controle d'une condition immediatement avant qu'une interference ne se produise Ceased WO1987004381A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP61/013235 1986-01-24
JP1323586A JPS62173140A (ja) 1986-01-24 1986-01-24 干渉直前チエツク方法

Publications (1)

Publication Number Publication Date
WO1987004381A1 true WO1987004381A1 (fr) 1987-07-30

Family

ID=11827527

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1987/000044 Ceased WO1987004381A1 (fr) 1986-01-24 1987-01-23 Procede de controle d'une condition immediatement avant qu'une interference ne se produise

Country Status (2)

Country Link
JP (1) JPS62173140A (fr)
WO (1) WO1987004381A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2949730B2 (ja) * 1989-09-19 1999-09-20 トヨタ自動車株式会社 数値制御加工機の工具干渉チェック装置
JPH06202724A (ja) * 1992-12-28 1994-07-22 Fanuc Ltd 数値制御装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936810A (ja) * 1982-08-24 1984-02-29 Mitsubishi Electric Corp 数値制御加工機械の加工情報監視方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936810A (ja) * 1982-08-24 1984-02-29 Mitsubishi Electric Corp 数値制御加工機械の加工情報監視方法

Also Published As

Publication number Publication date
JPS62173140A (ja) 1987-07-30

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