Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1986-09-19
1987-10-27
Dobeck, Benjamin
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
364474, 318571, G05B 1936
Patent
active
047032391
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an arbitrary-direction tracer control unit which enables a tracer head and a model to be moved relative to each other along a path defined by numerical information.
BACKGROUND ART
A conventional unit of this kind is such, for example, as shown in FIG. 2. In FIG. 2, reference numeral 1 indicates a tracer head, 2 a stylus, 3 a model, 4 a composite displacement signal generator, 5 an adder, 6 a multiplier, 7 a voltage-to-frequency converter, 8X, 8Y, and 8Z X-, Y- and Z-axis error registers, 9X, 9Y, and 9Z X-, Y- and Z-axis amplifiers, 10X, 10Y, and 10Z X-, Y- and Z-axis motors for moving the tracer head 1 and the model 3 relative to each other in the X-, Y- and Z-axis directions, 11X, 11Y, and 11Z X-, Y- and Z-axis position sensors, 12 a microprocessor, 13 a command tape, 14 a tape reader, 15 a RAM, 16 a ROM, 17 an output section, 18 a linear interpolator, 19 a circular interpolator, 20 an override value setting register, 21 and 22 multipliers, and 23 and 24 OR gates.
The tracer head 1 outputs X-, Y- and Z-axis displacement signals .epsilon..sub.x, .epsilon..sub.y and .epsilon..sub.z which correspond to displacement of the stylus 2 in the X, Y and Z directions which moves in contact with the model 3. The composite displacement signal generator 4 derives a composite displacement signal, ##EQU1## from the displacement signals .epsilon..sub.x, .epsilon..sub.y and .epsilon..sub.z available from the tracer head 1. The adder 5 obtains the difference, .DELTA..epsilon.=.epsilon.-.epsilon..sub.0, between the composite displacement signal .epsilon. and a reference displacement signal .epsilon..sub.0 and applies it to the multiplier 6 and the override value setting register 20. The multiplier 6 multiplies the above-mentioned difference .DELTA..epsilon. by a predetermined constant K and supplies the voltage-to-frequency converter 7 with a voltage corresponding to the result of the multiplication. The voltage-to-frequency converter 7 provides to the error register 8Z pulses of a frequency proportional to the output voltage of the multiplier 6. The error register 8Z applies to the amplifier 9Z a voltage proportional to the difference between the number of pulses from the voltage-to-frequency converter 7 and the number of feedback pulses from the position sensor 11Z. The output of the amplifier 9Z is provided to the motor 10Z to drive it, moving the tracer head 1 and the model 3 relative to each other in the Z direction. That is, the relative movement of the tracer head 1 and the model 3 in the Z direction is controlled in accordance with the displacement signals .epsilon..sub.x, .epsilon..sub.y and .epsilon..sub.z which are provided from the tracer head 1.
The relative movement of the tracer head 1 and the model 3 in the X and Y directions is controlled on the basis of numerical information recorded on the command tape 13. For instance, in the case of moving the tracer head 1 from a point A to a point B directly in FIG. 3(A), numerical information of a format (A) shown below is prerecorded on the command tape 13, and in the case of moving the tracer head 1 from a point C to a point D along a circular arc with the center at a point E in FIG. 3(B), numerical information of a format (B) shown below is prerecorded on the command tape 13. and y2 the X and Y coordinates of the point D, f1 and f2 specified feed rates, i1 the distance between the center E of the circular arc and the point C in the X direction, and k1 the distance between the center E of the circular arc and the point C in the Y direction.
When the tape reader 14 reads the numerical information of the format (A) recorded on the command tape 13, the microprocessor 12 provides via the output section 17 the X and y coordinates x1 and y1 of the point B to the linear interpolator 18 and the specified feed rate f1 to the multiplier 21. The multiplier 21 performs a multiplication of the specified feed rate f1 from the microprocessor 12 and an override value from the override value setting register 20 and supplies the li
REFERENCES:
patent: 4224670 (1980-09-01), Yamazaki
patent: 4357664 (1982-11-01), Imazeki et al.
patent: 4456962 (1984-06-01), Imazeki et al.
patent: 4534685 (1985-08-01), Komiya et al.
Matsuura Hitoshi
Yamazaki Etsuo
Dobeck Benjamin
Fanuc Ltd.
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