Processing device and processing method

• US 8,682,469 B2
• Filed: 01/29/2010
• Issued: 03/25/2014
• Est. Priority Date: 02/27/2009
• Status: Active Grant

• Current Assignee: Mitsubishi Heavy Industries, Ltd.
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Yamada, Takeshi
• Primary Examiner(s): Ali, Mohammad
• Assistant Examiner(s): WHITTINGTON, ANTHONY T
• Application Number:
  US13/201,677
• Publication Number:
  US 20110301743A1
• Time in Patent Office: 1,516 Days
• Field of Search: 700/190, 348/136, 382/224
• US Class Current: 700/190
• CPC Class Codes: B23Q 17/22 for indicating or measuring existing or desired position of tool or work B23Q16/005 takes precedence
• CPC Class Codes: B23Q 17/24 using optics or electromagnetic waves
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4093 characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
• CPC Class Codes: G05B 19/40937 concerning programming of machining or material parameters, pocket machining
• CPC Class Codes: G05B 2219/37425 Distance, range
• CPC Class Codes: G05B 2219/37575 Pre-process, measure workpiece before machining
• CPC Class Codes: G05B 2219/37582 Position, angle of workpiece surface
• CPC Class Codes: G05B 2219/49323 Machine long, slender workpiece
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A first servomotor drives a first portion in a moving radius rotational direction. A second portion is supported by the first portion such that the second portion is movable in a moving radius direction. A second servomotor drives the second portion in the moving radius direction. The second portion supports a tool for processing a work. A control device generates measurement data indicating relationships between coordinates in the moving radius rotational direction of a plurality of points on a reference surface of the work and distances from the plurality of points to a distance sensor based on a distance signal from the distance sensor, determines a coordinate range in the moving radius rotational direction of a step formed on the reference surface based on the measurement data, generates control data indicating a locus of the tool based on the measurement data and the step coordinate range, and numerically controls the first and second servomotors based on the control data. The control device selectively uses a plurality of offset values based on the coordinate range of the step when generating the control data.

Claims

1. A processing device comprising:

a first portion;

a first servomotor configured to drive said first portion in a first direction;

a distance sensor provided to said first portion;

a second portion supported by said first portion such that said second portion is movable in a second direction orthogonal to said first direction;

a second servomotor configured to drive said second portion in said second direction; and

a control device,

wherein said second portion supports a tool for processing a work,

said distance sensor measures a distance in said second direction to a reference surface of said work and outputs a distance signal indicating said distance when said distance sensor is located at each of a plurality of positions in said first direction,

said control device generates measurement data indicating relationships between coordinates in said first direction of a plurality of points on said reference surface and distances from said plurality of points to said distance sensor based on said distance signal, determines a step coordinate range as a coordinate range in said first direction of a step formed on said reference surface based on said measurement data, generates control data indicating a locus of said tool based on said measurement data and said step coordinate range, and numerically controls said first servomotor and said second servomotor based on said control data,

said locus includes a first locus portion of which coordinates in said first direction are not included in said step coordinate range and a second locus portion of which coordinates in said first direction are included in said step coordinate range, and

said control device calculates a portion of said control data, which corresponds to said first locus portion, based on a first offset value and calculates a portion of said control data, which corresponds to said second locus portion, based on a second offset value.

2. The processing device according to claim 1, wherein said reference surface is a curved surface,

said second direction is a direction of a moving radius, and

said first direction is a rotational direction of said moving radius.

3. The processing device according to claim 2, further comprising:

a first work supporting portion configured to support said work;

a second work supporting portion configured to support said work; and

a base to which said first work supporting portion and said second work supporting portion are fixed,

wherein said first servomotor turns said first portion around a turn axis,

said base is provided with a first positioning means group for positioning said first work supporting portion and a second positioning means group for positioning said second work supporting portion,

said first positioning means group is arranged along a first radius of which a center is said turn axis, and

said second positioning means group is arranged along a second radius of which a center is said turn axis.

4. The processing device according to claim 1, wherein said control data indicates a coordinate θ

_k in said first direction of a point U_k on said locus, a coordinate T_k in said second direction of said point U_k, a coordinate θ

_k+1 in said first direction of a point U_k+1 on said locus, and a coordinate T_k+1 in said second direction of said point U_k+1,

said control device controls said first servomotor and said second servomotor such that said tool passes through a point U_x having a coordinate θ

_x in said first direction between said coordinate θ

_k and said coordinate θ

_k+1, and

a coordinate T_x in said second direction of said point U_x satisfies an equation;

T_x=T_k+[(θ

_x−

θ

_k)/(θ

_k+1−

θ

_k)]·

(T_k+1−

T_k).

5. The processing device according to of claim 1, wherein said control device generates step determination data based on said measurement data and determines said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a difference between a distance in said second direction from said distance sensor to said noted point and a distance in said second direction from said distance sensor to a point next to said noted point among said plurality of points.

6. The processing device according to claim 1, wherein said control device generates step determination data based on said measurement data and determines said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a radius of a circle passing through consecutive three points including said noted point among said plurality of points.

7. The processing device according to claim 1, wherein said control device generates step determination data based on said measurement data and determines said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a distance between a predetermined point and a center of a circle passing through consecutive three points including said noted point among said plurality of points.

8. The processing device according to claim 1, wherein said control device generates step determination data based on said measurement data and determines said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a radius of a circle passing through consecutive three points including said noted point among said plurality of points and indicates a relationship between said coordinate in said first direction of said noted point and a distance between a predetermined point and a center of said circle.

9. A processing method comprising:

a distance sensor provided to a first portion driven in a first direction by a first servomotor measuring a distance to a reference surface of a work in a second direction orthogonal to said first direction to output a distance signal indicating said distance when said distance sensor is located at each of a plurality of positions in said first direction;

generating measurement data indicating relationships between coordinates in said first direction of a plurality of points on said reference surface and distances from said plurality of points to said distance sensor based on said distance signal;

determining a step coordinate range as a coordinate range in said first direction of a step formed on said reference surface based on said measurement data;

generating control data indicating a locus of a tool for processing said work based on said measurement data and said step coordinate range; and

numerically controlling said first servomotor and said second servomotor based on said control data,

wherein said tool is supported by a second portion,

said second portion is supported by said first portion such that said second portion is movable in said second direction,

said second portion is driven in said second direction by said second servomotor,

said locus includes a first locus portion of which coordinates in said first direction are not included in said step coordinate range and a second locus portion of which coordinates in said first direction are included in said step coordinate range, and

said generating said control data includes;

calculating a portion of said control data, which corresponds to said first locus portion, based on a first offset value; and

calculating a portion of said control data, which corresponds to said second locus portion, based on a second offset value.

10. The processing method according to claim 9, wherein said reference surface is a curved surface,

said second direction is a direction of a moving radius, and

said first direction is a rotational direction of said moving radius.

11. The processing method according to claim 10, wherein said first servomotor turns said first portion around a turn axis,

the processing method further comprising:

adjusting a position of a first work support portion for supporting said work in a direction of a first radius of which a center is said turn axis; and

adjusting a position of a second work support portion for supporting said work in a direction of a second radius of which a center is said turn axis.

12. The processing method according to claim 9, wherein said control data indicates a coordinate θ

_k in said first direction of a point U_k on said locus, a coordinate T_k in said second direction of said point U_k, a coordinate θ

_k+1 in said first direction of a point U_k+1 on said locus, and a coordinate T_k+1 in said second direction of said point U_k+1,

said numerically controlling said first servomotor and said second servomotor includes numerically controlling said first servomotor and said second servomotor such that said tool passes through a point U_x having a coordinate θ

_x in said first direction between said coordinate θ

_k and said coordinate θ

_k+1, and

a coordinate T_x in said second direction of said point U_x satisfies an equation;

T_x=T_k+[(θ

_x−

θ

_k)/(θ

_k+1−

θ

_k)]·

(T_k+1−

T_k).

13. The processing method according to claim 9, wherein said determining said step coordinate range includes:

generating step determination data based on said measurement data; and

determining said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a difference between a distance in said second direction from said distance sensor to said noted point and a distance in said second direction from said distance sensor to a point next to said noted point among said plurality of points.

14. The processing method according to claim 9, wherein said determining said step coordinate range includes:

generating step determination data based on said measurement data; and

determining said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a radius of a circle passing through consecutive three points including said noted point among said plurality of points.

15. The processing method according to claim 9, wherein said determining said step coordinate range includes:

generating step determination data based on said measurement data; and

determining said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a distance between a predetermined point and a center of a circle passing through consecutive three points including said noted point among said plurality of points.

16. The processing method according to claim 9, wherein said determining said step coordinate range includes:

generating step determination data based on said measurement data; and

determining said step coordinate range based on said step determination data, and

with respect to a noted point as one of said plurality of points, said step determination data indicates a relationship between a coordinate in said first direction of said noted point and a radius of a circle passing through consecutive three points including said noted point among said plurality of points and indicates a relationship between said coordinate in said first direction of said noted point and a distance between a predetermined point and a center of said circle.