Method for modifying programmed positions by using a programmably controlled surface sensing element

• US 4,370,721 A
• Filed: 09/02/1980
• Issued: 01/25/1983
• Est. Priority Date: 09/02/1980
• Status: Expired due to Term

• Current Assignee: Siemens Energy & Automation Incorporated (Siemens AG)
• Original Assignee: Cincinnati Milacron Incorporated (Milacron Incorporated)
• Inventors: Haggerty, William A., Taylor, Ralph C. Jr., Schmenk, Myron J., Kegg, Richard L., Berenberg, John A.
• Primary Examiner(s): Ruggiero, Joseph F.
• Application Number:
  US06/183,193
• Time in Patent Office: 875 Days
• Field of Search: 364/474, 364/475, 364/170, 364/560, 33/169, 33/174 L, 33/174 P, 33/174 PC, 318/572, 318/565, 408/8-13
• US Class Current: 700/195
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 2219/34393 Stop program if needed workpiece, tool or data lacks, misses
• CPC Class Codes: G05B 2219/36503 Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/37052 Sense surface, mean value used as reference surface
• CPC Class Codes: G05B 2219/37357 Force, pressure, weight or deflection
• CPC Class Codes: G05B 2219/37405 Contact detection between workpiece and tool, probe, feeler
• CPC Class Codes: G05B 2219/41363 Excess in error, error too large, follow up error
• CPC Class Codes: G05B 2219/49157 Limitation, collision, interference, forbidden zones, avoid obstacles
• CPC Class Codes: G05B 2219/49302 Part, workpiece, code, tool identification
• CPC Class Codes: G05B 2219/50252 Replace, change tool with tracer head, probe, feeler

Abstract

A method is disclosed for modifying coordinate data in a machining program in response to workpiece measurements made by a programmably controlled surface sensing element. The location of the workpiece and position of workpiece characteristics are determined by a series of programmed scanning cycles. The maximum, minimum and average measured positions of points on a workpiece surface are stored and may be used to calculate position offsets which may be used to modify a machining program. Further, the measured positions and offsets may be tested against programmed maximum and minimum limits to determine if the measured positions are within a tolerance band. In one embodiment, the positions of points on the workpiece surface are measured by a cutting tool operating in conjunction with a torque measuring circuit.

Claims

1. A method for measuring the actual position of unmachined surfaces on a workpiece and modifying command signals derived from a machining program defining a cycle of operation of a machine relative to the unmachined surfaces, said machine having machine slides moving along axes of motion for effecting relative movement between the workpiece and a tool holder having a sensing element associated therewith, said machine being connected to a control for storing the machining program and generating the command signals to control the relative motion, the method comprising the steps of:

(a) storing scanning program instructions in association with the machining program to define a scanning cycle for using the sensing element to measure the actual position of the unmachined surfaces;

(b) executing the scanning cycle prior to executing the cycle of operation in response to the scanning program instructions to generate coordinate signals representing positions of detected points on the unmachined surfaces;

(c) storing selected ones of the coordinate signals; and

(d) executing the cycle of operation after completing the scanning cycle by generating modified command signals in response to the selected coordinate signals and the command signals derived from the machining program, said modified command signals effecting relative motion between the tool holder and the workpiece in accordance with the machining program and independent of variations in the position of the unmachined surfaces.

11. The method of claim 1 or 2 wherein the step of executing the scanning cycle further comprises the steps of:

(a) generating scanning command signals to position the sensing element opposite a point on the workpiece surface;

(b) generating further scanning command signals to cause the sensing element to move along an axis of motion towards the workpiece surface;

(c) terminating the motion of the sensing element in response to the sensing element detecting a point on the workpiece surface;

(d) producing a coordinate signal defining the position of the detected point along the axis of motion; and

(e) iterating steps (a) through (d) a predetermined number of times defined by the scanning cycle to measure the position of a number of different points thereby defining the position of the reference surface.

12. The method of claim 11 wherein the step of generating scanning command signals further comprises the steps of:

(a) storing sensing element activate and deactivate instructions in the scanning program to modally activate the sensing element;

(b) moving the sensing element in response to the scanning command signals;

(c) terminating motion of the sensing element in response to the sensing element detecting the workpiece; and

(d) generating an error signal in response to contact between the sensing element and the workpiece.

13. The method of claim 11 wherein the step of generating further scanning command signals further comprises the steps of:

(a) storing in the scanning program a surface measurement instruction and associated data defining an axial position on the axis of motion inside the workpiece surface;

(b) moving the sensing element in response to the further scanning command signals along the axis of motion toward the axial position;

(c) terminating motion of the sensing element in response to the sensing element reaching the axial position; and

(d) producing an error signal representing a failure of the sensing element to sense the workpiece surface.

14. The method of claim 11 wherein the sensing element comprises a contact actuated probe and the steps of terminating motion of the sensing element and producing a coordinate signal further comprise the steps of:

(a) terminating motion of the sensing element in response to the sensing element contacting a point on the workpiece surface;

(b) producing an initial position signal representing the position of the point on the workpiece surface in response to the sensing element contacting the point on the workpiece surface;

(c) generating in response to the initial position signal a retreat command signal to move the sensing element along the axis of motion to a position a predetermined distance inside the workpiece surface;

(d) generating a data acquisition command signal to move the sensing element along the axis of motion away from the workpiece surface at a predetermined slower feed rate;

(e) terminating motion of the sensing element in response to the sensing element losing contact with the point on the surface;

(f) producing a coordinate signal representing the position of the point on the surface along the axis of motion in response to the sensing element losing contact with the surface; and

(g) generating in response to the coordinate signal a final command signal to move the sensing element along the one axis of motion toward the surface to a position adjacent to the point on the surface.

15. The method of claim 14 wherein the axes of motion of the machine further comprise a mutually perpendicular triordinate coordinate system and the control further includes means for storing a first compensation signal representing the radius of the sensing element and a second compensation signal representing the length of the sensing element and the step of producing a coordinate signal further comprises the steps of:

(a) producing a slide position signal representing the position of the sensing element along the axis of motion in response to the sensing element losing contact with the workpiece;

(b) modifying the slide position signal by the first compensation signal to produce the coordinate signal in response to the axis of motion being one of two of the axes of motion; and

(c) modifying the slide position signal by the second compensation signal to produce the coordinate signal in response to the axis of motion being the third of the axes of motion.

16. The method of claim 11 wherein the sensing element comprises a cutting tool and the control includes a torque measuring circuit responsive to the cutting tool for generating a contact signal in response to the cutting torque imposed on the cutting tool being at least equal to a predetermined torque limit representing superficial contact of the cutting tool on the workpiece, and the steps of terminating motion of the sensing element and producing a coordinate signal further comprise the steps of:

(a) terminating motion of the sensing element in response to the contact signal;

(b) producing a coordinate signal representing the position of the cutting tool in response to the contact signal; and

(c) producing in response to the coordinate signal a retreat command signal to move the sensing element away from the reference surface along the axis of motion.

17. The method of claim 16 wherein the axes of motion of the machine further comprise a mutually perpendicular triordinate coordinate system and the control further includes means for storing a first compensation signal representing a radius of the sensing element and a second compensation signal representing the length of the sensing element and the step of producing a coordinate signal further comprises the steps of:

(a) producing a slide position signal representing the position of the sensing element along the axis of motion in response to the sensing element contacting with the workpiece;

(b) modifying the slide position signal by the first compensation signal to produce the coordinate signal in response to the axis of motion being one of two of the axes of motion; and

(c) modifying the slide position signal by the second compensation signal to produce the coordinate signal in response to the axis of motion being the third of the axes of motion.

18. The method of claim 11 wherein the machining program contains a reference value representing a predefined point relative to the workpiece and the step of storing selected coordinate signals further comprises the steps of:

(a) generating a first offset signal representing the difference in magnitudes between a current coordinate signal and the reference value; and

(b) storing the first offset signal.

19. The method of claim 11 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing a current coordinate signal to the upper limit; and

(c) generating an error signal in response to the magnitude of the current coordinate signal exceeding the magnitude of the upper limit.

20. The method of claim 11 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing a current coordinate signal to the lower limit; and

(c) generating an error signal in response to the magnitude of the current coordinate signal being less than the magnitude of the lower limit.

21. The method of claim 11 wherein the step of storing selected coordinate signals further comprises the steps of:

(a) comparing during each iteration a current coordinate signal with a previously stored coordinate signal; and

(b) storing the larger coordinate signal representing the maximum measured coordinate position on the reference surface.

22. The method of claim 21 wherein the machining program contains a reference value representing a predefined point relative to the workpiece and the step of storing selected coordinate signals further comprises the steps of:

(a) generating a second offset signal representing the difference in magnitudes between the larger coordinate signal and the reference value; and

(b) storing the second offset signal.

23. The method of claim 22 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing one of the offset signals to the upper limit; and

(c) generating an error signal in response to the magnitude of one of the offset signals exceeding the magnitude of the upper limit.

24. The method of claim 22 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing one of the offset signals to the lower limit;

and

(c) generating an error signal in response to the magnitude of the one of the offset signals being less than the magnitude of the lower limit.

25. The method of claim 22 wherein the step of generating modified command signals further comprises the step of modifying the command signals derived from the machining program by one of the offset signals.

26. The method of claim 21 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing the larger coordinate signal to the upper limit;

and

(c) generating an error signal in response to the magnitude of the larger coordinate signal exceeding the magnitude of the upper limit.

27. The method of claim 21 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing the larger coordinate signal to the lower limit;

and

(c) generating an error signal in response to the magnitude of the larger coordinate signal being less than the magnitude of the lower limit.

28. The method of claim 21 wherein the step of storing selected coordinate signals further comprises the steps of:

(a) comparing during each iteration a current coordinate signal with a previously stored coordinate signal; and

(c) storing the smaller coordinate signal representing the minimum measured coordinate position on the reference surface.

29. The method of claim 28 wherein the machining program contains a reference value representing a predefined point relative to the workpiece and the step of storing selected coordinate signals further comprises the steps of:

(a) generating a third offset signal representing the difference in magnitudes between the smaller coordinate signal and the reference value; and

(b) storing the third offset signal.

30. The method of claim 29 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing one of the offset signals to the upper limit; and

(c) generating an error signal in response to the magnitude of one of the offset signals exceeding the magnitude of the upper limit.

31. The method of claim 29 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing one of the offset signals to the lower limit; and

(c) generating an error signal in response to the magnitude of the one of the offset signals being less than the magnitude of the lower limit.

32. The method of claim 29 wherein the step of generating modified command signals further comprises the step of modifying the command signals derived from the machining program by one of the offset signals.

33. The method of claim 28 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing the smaller coordinate signal to the upper limit; and

(c) generating an error signal in response to the magnitude of the smaller coordinate signal exceeding the magnitude of the upper limit.

34. The method of claim 28 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing the smaller coordinate signal to the lower limit; and

(c) generating an error signal is response to the magnitude of the smaller coordinate signal being less than the magnitude of the lower limit.

35. The method of claim 28 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) generating a difference signal representing the difference between the larger coordinate signal and the smaller coordinate signal;

(c) comparing the difference signal to the upper limit; and

(d) generating an error signal in response to the magnitude of the difference signal exceeding the magnitude of the upper limit.

36. The method of claim 28 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) generating a difference signal representing the difference in magnitudes between the larger coordinate signal and the smaller coordinate signal;

(c) comparing the difference signal to the lower limit; and

(d) generating an error signal in response to the magnitude of the difference signal being less than the magnitude of the lower limit.

37. The method of claim 28 wherein the step of storing selected coordinate signals further comprises the steps of:

(a) adding during each iteration a current coordinate signal to a sum of previously stored coordinate signals to produce a sum of the measured positions; and

(b) storing the number of iterations.

38. The method of claim 37 wherein the machine program contains a reference value representing a predefined point relative to the workpiece and the step of storing selected coordinate signals further comprises the steps:

(a) producing an average coordinate value signal representing the quotient of the sum of the magnitudes of the stored coordinate signals divided by the number of iterations;

(b) generating a fourth offset signal representing the difference in magnitudes between the average coordinate signal and the reference value; and

(c) storing the fourth offset signal.

39. The method of claim 38 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing one of the offset signals to the upper limit;

and

(c) generating an error signal in response to the magnitude of one of the offset signals exceeding the magnitude of the upper limit.

40. The method of claim 38 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing one of the offset signals to the lower limit;

and

(c) generating an error signal in response to the magnitude of the one of the offset signals being less than the magnitude of the lower limit.

41. The method of claim 38 wherein the step of generating modified command signals further comprises the step of modifying the command signals derived from the machining program by one of the offset signals.

42. The method of claim 37 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) producing an average coordinate representing the quotient of the sum of the magnitudes of the stored coordinate signals divided by the number of iterations;

(c) comparing the average coordinate signal to the upper limit; and

(d) generating an error signal in response to the magnitude of the average coordinate signal exceeding the magnitude of the upper limit.

43. The method of claim 37 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) producing an average coordinate representing the quotient of the sum of the magnitudes of the stored coordinate signals divided by the number of iterations;

(c) comparing the average coordinate signal to the lower limit; and

(d) generating an error signal in response to the magnitude of the average coordinate signal being less than the lower limit.

44. The method of claim 18 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining an upper limit representing a maximum;

(b) comparing one of the offset signals to the upper limit;

and

(c) generating an error signal in response to the magnitude of one of the offset signals exceeding the magnitude of the upper limit.

45. The method of claim 18 wherein the method further comprises the steps of:

(a) storing a scanning program including test instructions defining a lower limit representing a minimum;

(b) comparing one of the offset signals to the lower limit;

and

(c) generating an error signal in response to the magnitude of the one of the offset signals being less than the magnitude of the lower limit.

46. The method of claim 18 wherein the step of generating modified command signals further comprises the step of modifying the command signals derived from the machining program by one of the offset signals.

2. A method for measuring the actual position of an unmachined planar surface on a workpiece and modifying command signals derived from a machining program defining the operation of a machine, said machine having machine slides moving along axes of motion for effecting relative movement between the workpiece and a tool holder having a sensing element associated therewith, said machine being connected to a control for storing the machining program and generating the command signals to control the relative motion, the method comprising the steps of:

(a) storing scanning program instructions in association with the machining program to define a scanning cycle for using the sensing element to measure the actual position of a plurality of points on the planar surface;

(b) executing the scanning cycle in response to the scanning program instructions to generate coordinate signals representing the plurality of points on the planar surface;

(c) storing a number of the coordinate signals; and

(d) generating modified command signals in response to the stored coordinate signals and the command signals derived from the machining program, said modified command signals effecting relative motion between the tool holder and the workpiece in accordance with the machining program and independent of variations in the position of the planar surface.

3. A method for measuring the actual position of an unmachined planar surface on a workpiece and modifying command signals derived from a machining program defining the operation of a machine, the machining program containing a reference coordinate value representing a predetermined point on the workpiece, and said machine having machine slides moving along axes of motion for effecting relative movement between the workpiece and a toolholder having a sensing element associated therewith, the machine being connected to a control for storing the machining program and generating the command signal to control the relative motion, the method comprising the steps of:

(a) storing a scanning program in association with the machining program to define a scanning cycle for using the sensing element to measure the actual position of a plurality of points on the planar surface;

(b) generating in response to the scanning program scanning command signals to position the sensing element opposite a point on the planar surface;

(c) generating further scanning command signals to cause the sensing element to move along an axis of motion toward the planar surface;

(d) terminating the motion of the sensing element in response to the sensing element detecting a point on the planar surface;

(e) producing a coordinate signal defining the position of the detected point along the axis of motion;

(f) generating an offset signal as a function of the coordinate signal and the reference coordinate value;

(g) storing the offset signal;

(h) iterating steps (b) through (g) a predetermined number of times defined by the scanning program to measure the position of a number of different points on the planar surface; and

(i) generating modified command signals in response to the offset signals and the command signals derived from the machining program, said modified command signals effecting relative motion between the tool holder and the planar surface in accordance with the machining program.

4. The method of claim 3 wherein the method further comprises the steps of:

(a) storing with the scanning program test instructions defining an upper limit representing a maximum;

(b) comparing the coordinate signal to the upper limit; and

(c) generating an error signal in response to the magnitude of the coordinate signal exceeding the magnitude of the upper limit.

5. The method of claim 3 wherein the method further comprises the steps of:

(a) storing with the scanning program test instructions defining a lower limit representing a minimum;

(b) comparing the coordinate signal to the lower limit; and

(c) generating an error signal in response to the magnitude of the coordinate signal being less than the magnitude of the lower limit.

6. The method of claim 3 wherein the step of generating an offset signal further comprises the step of generating a first offset signal representing the difference in magnitudes between the coordinate signal and the reference coordinate value.

7. The method of claim 3 wherein after the step of producing a coordinate signal the method comprises the step of storing the coordinate signal.

8. The method of claim 7 wherein the step of generating an offset signal further comprises the steps of:

(a) comparing during each iteration the magnitude of the coordinate signal with the magnitude of a previously stored coordinate signal;

(b) storing a larger coordinate signal representing the larger of the coordinate signal and the previously stored coordinate signal; and

(c) generating a second offset signal representing the difference in magnitude between the larger coordinate signal and the reference coordinate value.

9. The method of claim 7 wherein the step of generating an offset signal further comprises the steps of:

(a) comparing during each iteration the magnitude of the coordinate signal with the magnitude of a previously stored coordinate signal;

(b) storing a smaller coordinate signal representing the smaller of the coordinate signal and the previously stored coordinate signal; and

(c) generating a third offset signal representing the difference in magnitudes between the smaller coordinate signal and the reference coordinate value.

10. The method of claim 7 wherein the step of generating an offset signal further comprises the steps of:

(a) adding during each iteration the magnitude of the coordinate signal to a sum of the magnitudes of previously stored coordinate signals to produce a sum coordinate signal;

(b) storing the number of iterations;

(c) producing an average coordinate value signal representing the quotient of the magnitude of the sum coordinate signal divided by the number of iterations; and

(c) generating a fourth offset signal representing the difference in magnitudes between the average coordinate signal and the reference coordinate value.

47. A method for measuring the actual position of workpiece surfaces and modifying command signals derived from a machining program defining the operation of a machine, said machine having machine slides moving along axes of motion for effecting relative motion between the workpiece and a tool holder having a cutting tool associated therewith, said machine being connected to a control for storing the machining program and generating command signals to control the relative motion, said control including a torque measuring circuit responsive to the cutting tool for producing a contact signal in response to cutting forces imposed on the tool being at least equal to a predetermined torque limit representing superficial contact of the cutting tool on the workpiece, the method comprising the steps of:

(a) storing scanning program instructions in association with the machining program to define a scanning cycle for measuring the actual position of a surface of a workpiece;

(b) generating in response to the scanning program instructions first command signals to move the cutting tool along one axis of motion towards a point on the surface;

(c) terminating the motion of the cutting tool in response to the contact signal;

(d) generating a coordinate signal representing the position of the point on the surface in response to the contact signal;

(e) generating a second command signal in response to the coordinate signal to move the tool away from the workpiece;

(f) iterating steps (b) through (e) to produce a number of coordinate signals representing the position of a plurality of points on the surface;

(g) storing selected coordinate signals; and

(h) generating modified command signals in response to the stored coordinate signal and the command signals derived from the machining program, said modified command signals effecting relative motion between the cutting tool and the workpiece in accordance with the machining program and independent of variations in the position of the surface.

48. A method for modifying slide position command signals derived from a machining program defining the operation of a machine with respect to a program coordinate system, the machine having slides moving along axes of motion defining a mutually perpendicular triordinate machine coordinate system for effecting relative motion between a workpiece and a tool holder having a sensing element associated therewith, the sensing element comprising a cutting tool and the control including a torque measuring circuit for generating a contact signal in response to cutting torque being at least equal to a torque limit representing a superficial contact between the tool and workpiece, the machine being connected to a control for storing the machining program and generating slide position command signals in response thereto to control the relative motion, the method comprising the steps of:

(a) storing workpiece locating instructions in association with the machining program;

(b) executing the workpiece locating instructions to use the sensing element to generate translated current slide position signals representing current slide positions translated with respect to the machine coordinate system; and

(c) generating modified slide position command signals in response to the translated current slide position signals and the machining program, thereby effecting translation of the program coordinate system with respect to the machine coordinate system.

49. The method of claim 48 wherein the workpiece locating instructions comprise an assumed coordinate signal and the step of executing the workpiece locating instructions comprises the steps of:

(a) effecting slide motion along one axis of motion to produce relative motion of the cutting tool toward a locating reference surface of the workpiece;

(b) generating a current slide position signal continuously representing the coordinate value of the slide position with respect to the machine coordinate system in response to the slide motion;

(c) terminating the slide motion in response to the contact signal;

(d) producing a translated current slide position signal in response to the termination of motion and in response to the assumed coordinate signal and the current slide position signal; and

(e) iterating steps (a) through (d) to produce a number of translated current slide position signals equal to the number of axes of motion.

50. The method of claim 49 wherein the machining program further comprises first slide position commands and the step of effecting slide motion further comprises the steps of

(a) activating the sensing element;

(b) executing first slide position commands to position the cutting tool at a point away from the locating reference surface;

(c) terminating motion and generating an error signal in response to the sensing element producing a contact signal during execution of the first slide position commands;

(d) generating an attack command signal in response to positioning the cutting tool at the point away from the surface; and

(e) effecting slide motion along one axis of motion to produce relative motion of the cuttng tool toward the locating reference surface in response to the attack command signal.

51. The method of claim 50 wherein the assumed coordinate signal represents a predetermined position relative to the locating reference surface with respect to the machine coordinate system and the step of producing the translated current slide position signal further comprises the step of replacing the value of the current slide position signal with the value represented by the assumed coordinate signal.