Tool path display apparatus for machine tool

Patent metadata

Field	Value
Publication number	US-9409272-B2
Application number	US-201213442012-A
Country	US
Kind code	B2
Filing date	Apr 9, 2012
Priority date	Apr 11, 2011
Publication date	Aug 9, 2016
Grant date	Aug 9, 2016

Abstract

A tool path display apparatus, configured to display a three-dimensional path of a movable part of a machine tool, calculates three-dimensional coordinate values of the movable part as viewed from a coordinate system secured to a workpiece, thereby determining the three-dimensional path of the movable part. Left- and right-eye stereoscopic image data are determined based on the determined three-dimensional path of the movable part, and the determined left- and right-eye stereoscopic image data are displayed on the display apparatus so that they can be viewed by an operator's left and right eyes, respectively.

First claim

What is claimed is:

1. A tool path display apparatus for a machine tool, the tool path display apparatus configured to display a three-dimensional path of a movable part of the machine tool, the machine tool configured to control positions and attitudes of a tool and a workpiece by means of a plurality of drive axes using a numerical controller, the tool path display apparatus comprising:
a data acquisition unit configured to simultaneously acquire and store, as time-series data, actual position data for the plurality of drive axes at each time;
a movable part path calculation unit configured to determine the three-dimensional path of the movable part by calculating three-dimensional coordinate values of the movable part as viewed from a coordinate system secured to the workpiece, based on the actual position data stored in the data acquisition unit and data on a mechanical structure of the machine tool;
a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional path of the movable part determined by the movable part path calculation unit;
a stereoscopic image display unit configured to display the left- and right-eye stereoscopic image data determined by the stereoscopic image generation unit so that the image data are visible from the left and right eyes corresponding thereto, wherein a point corresponding to a certain time is displayed highlighted on the stereoscopic image data generated by the stereoscopic image generation unit, the highlighted point being displayed moving on a path as the tool moves with time;
a command position data acquisition unit configured to simultaneously acquire, as time-series data, command position data for the plurality of drive axes at each time;
a movable part command path calculation unit configured to determine a command path of the movable part by calculating command coordinate values of the movable part as viewed from the coordinate system secured to the workpiece, based on the command position data for the plurality of drive axes at each time and the data on the mechanical structure of the machine tool;
a path error calculation unit configured to determine an error between the command path and the three-dimensional path of the movable part;
an error-magnified three-dimensional path generation unit configured to generate three-dimensional path data with the error highlighted by magnifying the error determined by the path error calculation unit at a predetermined magnification ratio relative to the command path; and
a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional path data with the highlighted error determined by the error-magnified three-dimensional path generation unit.

2. The tool path display apparatus according to claim 1 , wherein
the plurality of drive axes include at least one rotary axis, and
the movable part is a tool center point of the tool.

3. In combination, a machine tool and a tool path display apparatus, wherein
the machine tool comprises a tool configured to machine a workpiece and a plurality of drive axes, the machine tool configured to control positions and attitudes of the tool and the workpiece by means of the plurality of drive axes using a numerical controller, and
the tool path display apparatus is configured to display a three-dimensional path of a movable part of the machine tool, and comprises:
a data acquisition unit configured to simultaneously acquire and store, as time-series data, actual position data for the plurality of drive axes at each time;
a movable part path calculation unit configured to determine the three-dimensional path of the movable part by calculating three-dimensional coordinate values of the movable part as viewed from a coordinate system secured to the workpiece, based on the actual position data stored in the data acquisition unit and data on a mechanical structure of the machine tool;
a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional path of the movable part determined by the movable part path calculation unit;
a stereoscopic image display unit configured to display the left- and right-eye stereoscopic image data determined by the stereoscopic image generation unit so that the image data are visible from the left and right eyes corresponding thereto, wherein a point corresponding to a certain time is displayed highlighted on the stereoscopic image data generated by the stereoscopic image generation unit, the highlighted point being displayed moving on a path as the tool moves with time;
a command position data acquisition unit configured to simultaneously acquire, as time-series data, command position data for the plurality of drive axes at each time;
a movable part command path calculation unit configured to determine a command path of the movable part by calculating command coordinate values of the movable part as viewed from the coordinate system secured to the workpiece, based on the command position data for the plurality of drive axes at each time and the data on the mechanical structure of the machine tool;
a path error calculation unit configured to determine an error between the command path and the three-dimensional path of the movable part;
an error-magnified three-dimensional path generation unit configured to generate three-dimensional path data with the error highlighted by magnifying the error determined by the path error calculation unit at a predetermined magnification ratio relative to the command path; and
a stereoscopic image generation unit configured to determine left- and right-eye stereoscopic image data based on the three-dimensional path data with the highlighted error determined by the error-magnified three-dimensional path generation unit.

4. The tool path display apparatus according to claim 1 , wherein the path error calculation unit is configured to
create a first vector connecting first discrete points of the command path,
create a second vector connecting second discrete points of the three-dimensional path of the movable part, the second discrete points corresponding to the first discrete points, and
determine the second vector as an error vector when the second vector is perpendicular to the first vector, and set a length of said second vector as an error amount of the error between the command path and the three-dimensional path of the movable part.

5. The tool path display apparatus according to claim 4 , wherein the path error calculation unit is configured to, when a plurality of the error vectors are determined within a predetermined time interval, determine an error vector among the plurality of error vectors and having a shortest length as a new error vector, and set the shortest length of said error vector as a new error amount of the error between the command path and the three-dimensional path of the movable part.

6. The combination according to claim 3 , wherein the path error calculation unit is configured to
create a first vector connecting first discrete points of the command path,
create a second vector connecting second discrete points of the three-dimensional path of the movable part, the second discrete points corresponding to the first discrete points, and
determine the second vector as an error vector when the second vector is perpendicular to the first vector, and set a length of said second vector as an error amount of the error between the command path and the three-dimensional path of the movable part.

7. The combination according to claim 6 , wherein the path error calculation unit is configured to, when a plurality of the error vectors are determined with

Assignees

• Tezuka Junichi
• Ogawa Hajime
• Fanuc Corp

Inventors

• Tezuka Junichi
• Ogawa Hajime

Classifications

• G05B2219/35322

  Display dynamic tool locus from entered start point to present position · CPC title

• G05B19/4068

  Verifying part program on screen, by drawing or other means · CPC title

• G05B2219/35318

  3-D display of workpiece, workspace, tool track · CPC title

• H04N13/204

  using stereoscopic image cameras (stereoscopic photography G03B35/00) · CPC title

• G05B2219/35349

  Display part, programmed locus and tool path, traject, dynamic locus · CPC title