CA1186391A - Process and switching circuit for the positional control of radial drilling machines - Google Patents
Process and switching circuit for the positional control of radial drilling machinesInfo
- Publication number
- CA1186391A CA1186391A CA000411257A CA411257A CA1186391A CA 1186391 A CA1186391 A CA 1186391A CA 000411257 A CA000411257 A CA 000411257A CA 411257 A CA411257 A CA 411257A CA 1186391 A CA1186391 A CA 1186391A
- Authority
- CA
- Canada
- Prior art keywords
- circuit
- coordinate system
- radial
- workpiece
- part program
- 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.)
- Expired
Links
Classifications
-
- 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—Programme-control systems
- G05B19/02—Programme-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 programme data in numerical form
- G05B19/408—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 programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
-
- 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
- G05B2219/33—Director till display
- G05B2219/33263—Conversion, transformation of coordinates, cartesian or polar
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35354—Polar coordinates, turntable
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36503—Adapt program to real coordinates, software orientation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T408/00—Cutting by use of rotating axially moving tool
- Y10T408/16—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor
- Y10T408/175—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor to control relative positioning of Tool and work
Abstract
ABSTRACT OF THE DISCLOSURE
A process is disclosed for automatically positioning the drill spindle over a workpiece at a predetermined location defining the bore center, wherein the shop drawing and the workpiece bore centers are defined as to their locations in different coordinate systems and wherein the invention provides for calculating and measuring steps to transform between the various coordinate systems. The invention discloses also apparatus for practicing the process by employing a controller arithmetic unit which carries out the coordination of the plurality of logic circuits and effecting the use of a programmed performance of the process including the teaching or updating of the program for new bores.
A process is disclosed for automatically positioning the drill spindle over a workpiece at a predetermined location defining the bore center, wherein the shop drawing and the workpiece bore centers are defined as to their locations in different coordinate systems and wherein the invention provides for calculating and measuring steps to transform between the various coordinate systems. The invention discloses also apparatus for practicing the process by employing a controller arithmetic unit which carries out the coordination of the plurality of logic circuits and effecting the use of a programmed performance of the process including the teaching or updating of the program for new bores.
Description
.~3L~63~
On radial drilling machines, the location of the spot of processing is performed by the positioning of a drill spindle by moving a drill carriage on the carriage beam, that is, by rotating the carriage be~n in a coordinate system similar to polar coordinates. On the other hand, the location and tolerance of the bore centers of the workpiece are given on shop drawings in the XY
rectangular coordinates. The positioning is performed either by the individual drawings, in advance, of the workpieces or, in the event of larger production series, by the use of special devices.
The former is highly time requiring and inaccurate, while the second approach is e~temely expensive. q'he process and the switching equipment according to the present invention provides a transfer relationship be-tween the coordinat~ system of the radial clrilling machine and the coordinate system of the workpiece by recognizlng the relative posi-tion of the two coordinate systems.
The bore centers and their tolerances of the workpiece being given in the rectangular coordinate system of the shop drawings in the ~orm of a program, the positioning control will transfonm them into the coordinate system of the radial drilling machine and providing thereby on it a simple and quick positioning. By reversing the transformation, the points noted within the coordinate system of the drilling machine can be transformed into the coordinate system of the workpiece and store them in the form of a program.
Accordingly, in one broad aspect and with reference to relationshps and values further discussed and defined hereinunder, the presen-t invention relates to a method for position control in ~L~8635~
radial drilling machines, wherein the center point /P/ of the drill spindle is positioned by the movement of the drill carriage over the carriage beam in radial coordinates /r/ and by the rotation of the carriage beam in angular coordinates /a/ onto the bore centers of the workpiece glven /X, Y/ in rectangular coordinate system /x, y/, comprising the s-teps of:
a. measuring the vertical projection /Pk/ of the center point /P/ of the drill spindle onto the straight line /rk/ parallel with the straight line /rp/ and passing through the point of rotation of the carriage beam /K/
and swept by the center point /P/ of the drill spindle during the movement of the drill carriage on the carriage beam, that is, the radial coordinate value /R/ thereof measured from the point of rotation /K/ of the carriage beam and the angular coordinate value /A/ measured rom the base groove;
b. calculating the radial coordinate value /Rp/ and angular coordinate value /Ap/ of the center point /P/ of the drill spindle from relationships 1 and 2 from the measured radial coordinate values /R/ and measured angular coordinate values /A/ with the knowledge of the distance /Kp/ of the parallel straight lines rk and rp;
c~ establishing by accura-te positioning the marking points /Kl, K2/ of the coordinate system given as the first two points in the processing program and the associated l(a)-1~l363~
value5 /Xl/ Yl, R~ resp. X2, Y2, R2, 2/
values /X, Y/ given in the rectangular coordinate system /x, y/ of the workpiece and of the values /R, A/ measured in the polar coordinate system /r, a/ of the radial drilling machine;
d. calculating the parameters defining the interrelationship between the polar coordinate system /r, a/ of the radial drilling machine and the rectangular coordinate system /x, y/ of the workpiece, that is, the radial coordinate value /Ro/ of the origin /O/ of the rectangular coordinate system /x, y/ of the workpiece and its angular coordinate value /Ao/ in the polar coordinate system /r, a/ of the radial drilling machine, that is, the angular coordinate value /Ax/ of its X axis as measured with respect to the straight line A = O using the relationships 13, 14, 15, 16, and 17;
e. checking the accuracy of the locating of the rnarking points /Kl, K2/ marking the coordinate system, using the relationships 18 and 19;
f. calculating on the basis of the relationships 8, 9, 10, 11 and 12 the polar coordinate /r, a/ values /R, A/ of the radial drilling machine which correspond to the bore centers of the workpiece given in rectangular /x, y/
coordinate values /X, Y/;
-l(b)-363~
g. positioning the center point /P/ of the drill spindle by /a/ rotating the carriage beam to the calculated angular coordinate value /A/ and by moving /r/ the drill carriage on the carriage beam to the calculated radial coordinate value /R/ and performing the drilling;
h. for the teaching of new bore centers, posi-tioning the center point /P/ of the dri]l spindle to the bore centers of the workpiece to be learned and from their coordinate values /R, A/ measured in the polar /r, a/ coordinate system of the radial drilling machine and the knowledge of the parameters /Ro~ Ao~ Ax/ defining the interrelationshi.p between the positions of the rectangular coordinate system /x, y/ of the workpiece and of the polar coordinate system /r, a/ of the radial drilling machine ca].culating the coordinake values /X, Y/
assoc.iated with the rectangular coordi.nate system /x, y/
of the workpiece using the relationships 1, 2, 3, 4, 5, and 6.
In another broad aspect the present invention relates to a switching arrangement for position control in radial drilling machines, wherein the control is accomplished by suitably interconnected electronic circuits, characterized in that:
a. a control and arithmetic unit for accomplishing a two-way data transfer, is connected with:
1 ( c) ~
~6;~
- a storage circu.it for the control and an arithmetic program, - a storage circuit for a part program , - a keyboard controller circuit wh.ich is in two-way communication with a keyboard, - a display controller circui-t which is in two-way communication with a display, - a measuring circuit to the inputs of which the outputs of pulse generators and machine status lQ reference point signals are connected, -the output circuit of an analog servo comprising analog servo outputs, - an input circuit of the machine status comprising machine status inputs, - an input circuit controlling the machine status comprising outputs controlling the machine status, - an input circuit for the part program comprising inputs for the part program, - an output circuit ~or the part program cornprising 2Q outputs for the part program, b. the output of an interruption circuit is connected to the input o the controller and arithmetic circuit and its input is connected with the outputs of:
- a timing circuit, - a checking and supervisory circuit, - the keyboard controller circuit, - the display controller circuit, ~ 'i'3 ~ l(d)~
863~
- the measuring circuit, - the output circuit of the analog servo, - ~he input circuit of the machine status, - the output circuit controlling the machine status, and, - the input circuit ~or the part program, c. the timing outputs of th~ timing circuit are connected with the inputs of:
- a checking and supervisory circuit, ~ a measuring circuit, - the input circuit of the machine status, - the input circuit for the part program and, - the output circuit for the par-t program, d. the control input of a checking and super~isory circuit are connected with the outputs o~:
- the keyboard controlling circuit, - the display controller circuit, - the measuring circuit, - the output circuit of the analog servo, - the input circuit of the machine status, - the output circuit controlling the machine status, - the input circuit of the part program and, - the output circuit of the part program.
~ e~
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., "
639~
Figure la shows a side view of a radial drilling machine and a workpiece;
Figure lb shows a top view of a radial drilling machine and a workpiece;
Figure 2 shows a radial drilling machine, a workpiece, and their interrelationship, Figure 3, which appears with figures la and lb, shows the interrelationship between the polar and rectangular coordinate 6ystems;
Figure 4 is a block diagram of the switching equipment according to the present invention.
More particularly, Figures la and lb shows:
1 - drill spindle
On radial drilling machines, the location of the spot of processing is performed by the positioning of a drill spindle by moving a drill carriage on the carriage beam, that is, by rotating the carriage be~n in a coordinate system similar to polar coordinates. On the other hand, the location and tolerance of the bore centers of the workpiece are given on shop drawings in the XY
rectangular coordinates. The positioning is performed either by the individual drawings, in advance, of the workpieces or, in the event of larger production series, by the use of special devices.
The former is highly time requiring and inaccurate, while the second approach is e~temely expensive. q'he process and the switching equipment according to the present invention provides a transfer relationship be-tween the coordinat~ system of the radial clrilling machine and the coordinate system of the workpiece by recognizlng the relative posi-tion of the two coordinate systems.
The bore centers and their tolerances of the workpiece being given in the rectangular coordinate system of the shop drawings in the ~orm of a program, the positioning control will transfonm them into the coordinate system of the radial drilling machine and providing thereby on it a simple and quick positioning. By reversing the transformation, the points noted within the coordinate system of the drilling machine can be transformed into the coordinate system of the workpiece and store them in the form of a program.
Accordingly, in one broad aspect and with reference to relationshps and values further discussed and defined hereinunder, the presen-t invention relates to a method for position control in ~L~8635~
radial drilling machines, wherein the center point /P/ of the drill spindle is positioned by the movement of the drill carriage over the carriage beam in radial coordinates /r/ and by the rotation of the carriage beam in angular coordinates /a/ onto the bore centers of the workpiece glven /X, Y/ in rectangular coordinate system /x, y/, comprising the s-teps of:
a. measuring the vertical projection /Pk/ of the center point /P/ of the drill spindle onto the straight line /rk/ parallel with the straight line /rp/ and passing through the point of rotation of the carriage beam /K/
and swept by the center point /P/ of the drill spindle during the movement of the drill carriage on the carriage beam, that is, the radial coordinate value /R/ thereof measured from the point of rotation /K/ of the carriage beam and the angular coordinate value /A/ measured rom the base groove;
b. calculating the radial coordinate value /Rp/ and angular coordinate value /Ap/ of the center point /P/ of the drill spindle from relationships 1 and 2 from the measured radial coordinate values /R/ and measured angular coordinate values /A/ with the knowledge of the distance /Kp/ of the parallel straight lines rk and rp;
c~ establishing by accura-te positioning the marking points /Kl, K2/ of the coordinate system given as the first two points in the processing program and the associated l(a)-1~l363~
value5 /Xl/ Yl, R~ resp. X2, Y2, R2, 2/
values /X, Y/ given in the rectangular coordinate system /x, y/ of the workpiece and of the values /R, A/ measured in the polar coordinate system /r, a/ of the radial drilling machine;
d. calculating the parameters defining the interrelationship between the polar coordinate system /r, a/ of the radial drilling machine and the rectangular coordinate system /x, y/ of the workpiece, that is, the radial coordinate value /Ro/ of the origin /O/ of the rectangular coordinate system /x, y/ of the workpiece and its angular coordinate value /Ao/ in the polar coordinate system /r, a/ of the radial drilling machine, that is, the angular coordinate value /Ax/ of its X axis as measured with respect to the straight line A = O using the relationships 13, 14, 15, 16, and 17;
e. checking the accuracy of the locating of the rnarking points /Kl, K2/ marking the coordinate system, using the relationships 18 and 19;
f. calculating on the basis of the relationships 8, 9, 10, 11 and 12 the polar coordinate /r, a/ values /R, A/ of the radial drilling machine which correspond to the bore centers of the workpiece given in rectangular /x, y/
coordinate values /X, Y/;
-l(b)-363~
g. positioning the center point /P/ of the drill spindle by /a/ rotating the carriage beam to the calculated angular coordinate value /A/ and by moving /r/ the drill carriage on the carriage beam to the calculated radial coordinate value /R/ and performing the drilling;
h. for the teaching of new bore centers, posi-tioning the center point /P/ of the dri]l spindle to the bore centers of the workpiece to be learned and from their coordinate values /R, A/ measured in the polar /r, a/ coordinate system of the radial drilling machine and the knowledge of the parameters /Ro~ Ao~ Ax/ defining the interrelationshi.p between the positions of the rectangular coordinate system /x, y/ of the workpiece and of the polar coordinate system /r, a/ of the radial drilling machine ca].culating the coordinake values /X, Y/
assoc.iated with the rectangular coordi.nate system /x, y/
of the workpiece using the relationships 1, 2, 3, 4, 5, and 6.
In another broad aspect the present invention relates to a switching arrangement for position control in radial drilling machines, wherein the control is accomplished by suitably interconnected electronic circuits, characterized in that:
a. a control and arithmetic unit for accomplishing a two-way data transfer, is connected with:
1 ( c) ~
~6;~
- a storage circu.it for the control and an arithmetic program, - a storage circuit for a part program , - a keyboard controller circuit wh.ich is in two-way communication with a keyboard, - a display controller circui-t which is in two-way communication with a display, - a measuring circuit to the inputs of which the outputs of pulse generators and machine status lQ reference point signals are connected, -the output circuit of an analog servo comprising analog servo outputs, - an input circuit of the machine status comprising machine status inputs, - an input circuit controlling the machine status comprising outputs controlling the machine status, - an input circuit for the part program comprising inputs for the part program, - an output circuit ~or the part program cornprising 2Q outputs for the part program, b. the output of an interruption circuit is connected to the input o the controller and arithmetic circuit and its input is connected with the outputs of:
- a timing circuit, - a checking and supervisory circuit, - the keyboard controller circuit, - the display controller circuit, ~ 'i'3 ~ l(d)~
863~
- the measuring circuit, - the output circuit of the analog servo, - ~he input circuit of the machine status, - the output circuit controlling the machine status, and, - the input circuit ~or the part program, c. the timing outputs of th~ timing circuit are connected with the inputs of:
- a checking and supervisory circuit, ~ a measuring circuit, - the input circuit of the machine status, - the input circuit for the part program and, - the output circuit for the par-t program, d. the control input of a checking and super~isory circuit are connected with the outputs o~:
- the keyboard controlling circuit, - the display controller circuit, - the measuring circuit, - the output circuit of the analog servo, - the input circuit of the machine status, - the output circuit controlling the machine status, - the input circuit of the part program and, - the output circuit of the part program.
~ e~
~: J
., "
639~
Figure la shows a side view of a radial drilling machine and a workpiece;
Figure lb shows a top view of a radial drilling machine and a workpiece;
Figure 2 shows a radial drilling machine, a workpiece, and their interrelationship, Figure 3, which appears with figures la and lb, shows the interrelationship between the polar and rectangular coordinate 6ystems;
Figure 4 is a block diagram of the switching equipment according to the present invention.
More particularly, Figures la and lb shows:
1 - drill spindle
2 - dri.ll carriage
3 - carriage beam
4 - workpiece
5 - centerpoints of the bores
6 - base plate P - centerpoint of the drill spindle ~ K - point o rotation of -the carriage beam More particularly, Figure 2 shows:
K = point of rotation of the carriaye beam, center point /R=O/ of the polar coordinate system of t~e radial drilling machine.
P = center point of the drill spindle 1~63~
rp = the straight path swept by the center point of the drill spindle during the movement of the drill carriage on the carriage beam rk = the straight line parallel wi~h the straight line rp and passing through the point of rotation of the carriage beam Kp = the distance between the parallel straight lines rk and rp r = the radial coordinate axis of the polar coordinate system of the radial drilling machine a = the angular coordinate axis of the polar coordinate ~ystem of the radial drilling machine Rp ~ the radial coordinate value of the centerpoint of ~he drill splndle Rk = the vertical projection of the centerpoint of the drill spi.ndle on-to the straight line rk Ap - the angular coordinate value of the centerpoint of the drill spindle R = the radial coordinate value of the point Pk A = the angular coordinate value of the point Pk O = the origin of the rectangular coordinate system of the workpiece Ro = the radial coordinate value of the origin Ao - the angular coordinate value of the origin R~ = the length of the vec-tor pointing from -the origin to t~e centerpoint of the drill spindle 3~L
Axy ~ the angle of the vector pointing from the origin to the centerpoint of ~he drill spindle with respect to the X
axis Az - the angle between the axis X iJ.nd the straight line A = 0 x = the ordinate of th~ rectangular coordinate system of the workpiece y = the abscissa of the rectangular coordinate system of the workpiece X = the x coordinate value of the centerpoint of -the drill spindle Y = the y coordinate value of the centerpoint of the drill spindle XRA = the projection of the vector po:inting from the origin to the centerpoint of the drill spindle onto the straight line A = 0 Yr~A = the projection of the vector pointing from the origin to the centerpoint of the drill spindle onto the straight l:ine A ii= 90 More particularly, fiyure 3 shows:
x = the ordinake of the rectangular coordinate system of the workpiece y = the abscissa of the rectangular coordinate system of the workpiece Kl = marking point of the coordinate system K2 - marking point of the coordinate system Xl i= the x coordinate value of th~ point Kl X2 = the x coordinate value of the point K2 ~4-~8~391 Yl = the y coordinate value of tlle point Kl Y2 = the y coordinate value of ~le point K2 Rl = the radial coordinate value of the point Kl R2 = the radial coordinate value of the point K2 Al = the angular coordinate value ot -the point Kl A2 = the angular coordinate value of the point K2 More particularly, figure 4 shows:
10 - controller and arithmetic circuit (Motorola MC6800) Ll - interruption circuit (Motorola MC6828) 12 - timing circuit (Motorola MC6840) 13 - checking and supervisory circuit (Motorola MC6820) 14 ~ address signals 15 - data signals 16 ~ control signals 17 - interruption requesting signals 18 - timing signals 19 - control signals 20 - storage circuit for the control and arithmetic program (Texas TMS2516, Texas TMS4047) 25 - storage circuit for the part program (Texas TMS2516, Texas TMS4047) 30 - keyboard controller circuit 31 - keyboard controller signals 32 - keyboard 35 -- display control].er circuit (Intel 18279) 36 - display controller signals 37 - display 1~8~3~
40 - measuring circuit (Motorola MC74193) 41 - pulse generator signals 42 - pulse generators 43 - machine reference point signals 45 - output circuit of the analog servo (Analog Devices AD563) 46 - output signals of the analog servo 50 - .input circuit of the machine status ~Motorola MC6820 51 - input signals of the machine status 55 - output circuit controlling the machine lMotorola MC6820) 56 - output signals controlling the machine status 60 - input circuit ~or the part program (Motorola MC6850) 61 - input signals for the part program 65 - output circuit for the part program (Motorola MC6850) 66 - output signals for the part program The coordinate system of the radial drilling machine and o the workpiece and their interrelationship is illustrated on Fig~ 2. rrhe center point P o the drilling spindle during the movement o the drill carriage 2 on the carriage beam 3 will move along a straight line "rp" which is distant by the vertical "Kp"
~rom a straight line "rk" passin~ through the center of rotation "K" of the carriage beam 3, while during the rota-tion of the carriage beam 3 it will move along an arc "a" abou-t the center of rotation "K". On the xadial drilling machine, one will directly measure the radial coordinates "R" of the projection "Pk" of the center point "P" of the drill spindle as being vertical on the straight line "r~" and the magnitude of the angular coordinate "A", and rom khis one will calculate the values of the radial '~ -6-3~91 coordinates "~p" of t~e center point "P" of the drilling spindle and of the angular coordinates "Ap" ~ccording to -the following relationships:
r--/1/ Rp = V R2 + Kp2 /2/ Ap = A~arctg ~P
wherein the value of "R" is measured from the center of rotation "K", while the value of "A" is measured from the base position of the straight line "rk" of the carriage beam 1 running parallel with the clamping grooves of the base plate 6~
The "O" origin of the rectangular coordinate system of the workpiece 4 is given from the values "Ro" and "Aol' within the coordinate sy~tem of the radial drilling machine, and its location, on the other hand, i.5 given by the angle "Ax" of the axis "x". From the knowledge of this the X and Y rectangular coordinates of the center point P of the drill spindle can be calculated within the coordinate system of the workpiece from the polar coordinate va].ues "Rp" and "Ap" according to the followiny ~elation~hips (3), (4), (5) and (6):
/3/ P~y = ~-Rp.cosAp~RO.cosAO/2 -~ / Rp.sinAp-RO.sin Ao/2 R .sinAp-R . sin Ao /4/ Axy ~ arctg ~ ~ - Ax R . cosA -R .cosA
X y X y /6/ Y=Rxy.sin Axy By reversing the transformation~ from the rectangular coordinate values X and Y the polar coordinate values "Rp" and 1l~ll are calculated from the relationship (7), (8), (9), and (10) as follows:
36~
/7/ XRA=Ro ~ cos Ao ~ . cos /Ax-~ arctg~Y/
/8/ YR~=Ro . sin ~O + ~ . sin /Ax+ arctg~Y/
/9/ Rp ~ XRA +YRA
RA
/10~ Ap- arctg -RA
From the values "Rp" and " ~ " one will calculate the values "R" and "A" according to the relationships (11) and (12):
/11/ R- ~Rp2_Kp2 /12/ ~= Ap ~ arctg -The interrelationship o~ the two coordinate systems are determined by the parameters "Rol~ "Aol' and "XO"- They are calculated from the characteristic points of the coordinate system "Kl" and "K2" (Fig. 3~ when the associated rectangular and polar coordinates of these points are given, that is, taken.
R2. sin A2-Rl- sinAl arctgY2~~1 /13/ Ax~ arctg . _ __ _ _ _ R2 .cos A2-- Rl . cosAl X2-Xl ~_ Yl /14/ XO= Rl. cos Al- ~ X12+ yl2. cos/Ax~ arctg ~/
~-- Yl /15/ YO- Rl. sin Al- ~ X12+ yl2. sin/Ax+ arctg -/
/16/ Ro= ~ Xo2 + yO2 /17/ Ao= arctg -XO
Inasmuch as the coordination of the values (Rl, Al), (Xl, Yl) and (R2~ A2), (X2, Y2), the coordination becomes redundant, for purpose of checking one will calculate the values (Ro~ Ao) 1~l863~:~
frorn the related values (R2, A2), (X2, Y2) according to the following relationships (18) and (19):
/18/ XO= R2. sin A2 ~ . cos/A~ arctg /--~ Y
/19/ YO= R2. sin A2- ~ X22~ Y22. sin/Ax~ arctg ~
To be noted: the interpretation of the arc-tg functions of the ratios is performed with the consideration of the signs of the numerators and denominators. The switching equipment according to the present invention is illustrated in Fig. 4 and with the help of that the functions will be also described.
The controller and arithmetic circuit 10 (Motorola MC6~00) will perform in accordance with -the contents of the control and arithmetic program storage circuit 20 (Texas TMS2516, Texas TMS4047) and in acco.rdance with the contents of the part program storage circuit 25 (Texas TMS2516, Texas TMS4047) the control of the operation and their coordination of the individual ~unctional units with the help of the address signals 14, data ~ignals 15, and control signals 16, in such manner tha-t the control of the radial drilling machine should proceed according to the contents of the part program and, also performs the arithmetic calculations associated with the above-described coordinate transformations.
The interruption affecting circuit 11 (Motorola MC6828) on the basis o the interruption requesting signals 17 will evaluate the request coming from the checking and supervisory circuit 13 (Motorola MC6820), the measuring circuit 40 (Motorola g_ 3~
MC74193), the machine status input circuit 50 (Motorola MC6820), the timing circuit 12 (Motorola MC68)0), the part program input circuit 60 (Motorola MC6850) and of t~ie keyboard controller circuit 30 ~Intel 18279) and will assign to them priorities decreasing in order of sequence and transfers them to the controller and arithmetic circuit 10 which is actuated by them.
The timing circuit 12 with the help o~ the timing signals 18 will timely coordinate the operation of the individual circuits, that is, in given times with ~he signals requesting interruption 17 through the interruption circuit 11 will signal the controller and arithmetic circuit 10. ~he checking and ~upervising circuit 13 with the help of the control signals 19 will perform the supervision o~ the operational capability of the indiviclual blocks or circuits and in the event of a defective operation it will signal with an interruption requesting signal 17 throu~h the circuit ll evaluating the interruption requesting signal, will deliver siynals to the controller and arithmetic circuit 10.
The control and arithmetic storage circuit 20 which contains the control program will contain also -those algorithms and data with the help of which the controller and ari-thmetic circuit 10 will control and perform the transformation data, the checking of the operation of the individual units, their interconnection and their connection with the controlled radial drilling machine as well as the connection with the operating personnel and with the peripheral equipment. Its structure contains pre~erably storage elements which retain the information.
~' ~863~:~
The contents of the ciruit 25 storing the part program will define a data to be performed with the radial drilling machine (values o~ the bore centers aild tolerances, feed and number of revolutions) and their functions (loosening, fixing, cool.ing water, changing of the number of the revolutions, die change etc.). Its layout should be pre:Eerably read and write type, and contain storage elements which retain their contents for a long time at a minimum energy consumption.
The keyboard controller circui~ 30 with the help of the keyboard controller signals 31 from the keyboard 32 wlll make it possible that the part prograrn can be put. in manually and modified and also permits the manual intervention of th~ operating personnel.
The display controller circuit 35 (Intel ].8279) with the help o display controller signals 36 will make it possible at the display 37 to inorm the operating personnel about the part program, the actual position and status of the radi.al drilling machine and general information.
The measuring circuit 40 on the basis of the pulse generators 42 registering the deflections of the radial drilling machine with the help of pulse generator signals 41 as well as with the help of the machine reference points signals 43 will determine the deflections, about their increases between two interrogations and, on the basis of such data the controller and arithmetic circuit 10 will calculate the actual values "Rp" and "Ap" of the bore center "P" of the drill spindle. The credibility of the calculated actual position values is always check~d when ' 363~
passing over the reference points ancl in the event deviations, error will be signaled, and by this -he production of a waste or defective workpiece is eliminated whi~h would result from the defects or errors of the measuring sys~emsO The measuring circui~
40 is capable in addition to calculating the A and R coordinates of the radial dri]ling machine, also to measure the further deflections, such as, a vertical movement of the carriage beam and drill spindle if they are also provided with pulse generators and reference position contacts.
The analog ervo-output 45 circuit (Analog Devices ~D563) with the help of the analog servo-output signals 46 will regulate the servo drives controlling and regulating the deflections and, i~ needed, also the main drive driving the drill spindle in a controllable manner.
The input circuit 50 about the state of the machine will process the input signals of the machine status 51 and representing the position contacts of the radial drilling machine, i.ts pressure switches, sensors, push buttons, switches etc. and will transer them to the controller and arithmetic circuit 10 which will consider them during the processing of the operating program and the control of the radial drilling machine.
The output circuit 55 ~Motorola MC6820) controlling the statu~ of the machine on the basis of the commands coming fr~m the controller and arithmetic circuit 10 will perform -the control with the help of output signals 56 controlling the machine status, the various machine functions of the radial drilling machine ~for example, loosening, fixing, cooling liquid, tool change, feed of " ~ .
~"~
3~
the drill spindle or change of its m.~gnitude, etc.) and also drives the indicating lights of th~ operating console.
The input circuit 60 for the part program with the help of the input signals 61 for the part program coming from some information carriers (cassette tape, punch tape reader, etc.) with the help of the controller and arithmetic circuit 10 will deliver the part p.rogram to the storage circuit 25 of the part program.
While putting in the data will be cont.inuously checked for credi~ility.
The output circuit 65 (Motorola MC6850) of the part program under the control of the controller and arithmetic circuit 10 will deliver the part programs stored in the circuit 25 for the part program with the help of the output signals 66 for the part program to a program recording peripheral equipment (cassette tape, tape punching unit etc.), that is, will prepare a list of the part program with the help of a printer type peripheral equ.ipment.
The structuring of the positioning control preferably can be put in three steps. All variations will contain, although in different form, the controller and arithmetic circuit 10, the control and arithmetic program storing circuit ~0, the par~
program containing circuit 25, the measuring circuit 40, the input circuit 50 of the machine status and the output circuit (55) controlling the machine status. The most simplified embodiment is adapted for receiving a program and for its returning, with the help of very few keys and indicating lights. An embodiment having an average structure, to the keyboard controller circuit 30 a part ~363~
program can be fed from the keyboard 32 manually and ~he part program and the various states of th~ processing can be signalized through the display controller circuit 35 with the help of display 37, and further it is possible to put in the program through the part program input circuit 60 from a cassette tape or other information carrier, as well as the printing of the prograrn by a printer. The most simple and the average structured embodiments can be mounted on conventional and existing radial drilling machines without making major changes on the machine and the positioning will be perEormed manually. In the case of a fully developed embodiment, by the output circuit 45 of the analog servo the positioning can be regulated with servo drives and the operation of the radial drilling machine becomes automatized to a great extent (loosening, ixing, feed and main spindle to any degree, tool change, cooling water, etc.) which, however, will r~quire the pre.sence of a radial drilling machine which is ~pecially constructed for such purpose.
The basic function o~ the position control mounted on a radial drilling machine resides in that the position of the center point "P" of the drill spindle 1 should be measured and compared with the position of the bore centers 5 given in the part program by employing the dual transformation between the rectangular coordinate system of the workpiece and the polar coordinate system of the radial drilling machine~
At the learning of the program the bore coordinates X and Y are calculated from the coordinates R and A using the relationships (1), (2), (3~ (4), (5), and (6) while during the 3~L
delivery of the program the eventual R and A coordinates are calculated from the programmed X and Y values on the basis of the relationships (7), (8), (9), (lO~, (11), and (12). ~he relative position of the two coordinate systems ~re determined by the parameters "Rol', Ao'l, and "Ax", which are calculated by the control after the establishing of ~he marXing points of the coordinate system Kl and K2 or after such points were given and their associated values Rl, Al and Xl, Yl, e.g. R2~ A2 and X2, Y~
using the relationships (13), (14), (15), (16), and (17) and will check the correctness of the given values by using the relationships (18) and (l9).
The part program which contains the bore centers and ~heir tolerances (in a more complex structuring the depth of the bore, the magnitude of the feed and spindle revolution)~ in the sequence of processing and in the coordinate system of the workpiece and receives it by being fed to it from a machine~ that ~ rom an outside program carrier. The problem itself is independent of the coordinate system of the radial drilling maahlne, and as a result, the workpiece 4 can be mounted in any clesired position on plate 6. The change of individual points or instructions in the program or addition of instructions or erasure of instructions or the complete erasure of programs is also possible.
The storage of program is performed always with the help of control data or indices so that a defective program can be recogni~ed or corrected.
~ ~, ' '
K = point of rotation of the carriaye beam, center point /R=O/ of the polar coordinate system of t~e radial drilling machine.
P = center point of the drill spindle 1~63~
rp = the straight path swept by the center point of the drill spindle during the movement of the drill carriage on the carriage beam rk = the straight line parallel wi~h the straight line rp and passing through the point of rotation of the carriage beam Kp = the distance between the parallel straight lines rk and rp r = the radial coordinate axis of the polar coordinate system of the radial drilling machine a = the angular coordinate axis of the polar coordinate ~ystem of the radial drilling machine Rp ~ the radial coordinate value of the centerpoint of ~he drill splndle Rk = the vertical projection of the centerpoint of the drill spi.ndle on-to the straight line rk Ap - the angular coordinate value of the centerpoint of the drill spindle R = the radial coordinate value of the point Pk A = the angular coordinate value of the point Pk O = the origin of the rectangular coordinate system of the workpiece Ro = the radial coordinate value of the origin Ao - the angular coordinate value of the origin R~ = the length of the vec-tor pointing from -the origin to t~e centerpoint of the drill spindle 3~L
Axy ~ the angle of the vector pointing from the origin to the centerpoint of ~he drill spindle with respect to the X
axis Az - the angle between the axis X iJ.nd the straight line A = 0 x = the ordinate of th~ rectangular coordinate system of the workpiece y = the abscissa of the rectangular coordinate system of the workpiece X = the x coordinate value of the centerpoint of -the drill spindle Y = the y coordinate value of the centerpoint of the drill spindle XRA = the projection of the vector po:inting from the origin to the centerpoint of the drill spindle onto the straight line A = 0 Yr~A = the projection of the vector pointing from the origin to the centerpoint of the drill spindle onto the straight l:ine A ii= 90 More particularly, fiyure 3 shows:
x = the ordinake of the rectangular coordinate system of the workpiece y = the abscissa of the rectangular coordinate system of the workpiece Kl = marking point of the coordinate system K2 - marking point of the coordinate system Xl i= the x coordinate value of th~ point Kl X2 = the x coordinate value of the point K2 ~4-~8~391 Yl = the y coordinate value of tlle point Kl Y2 = the y coordinate value of ~le point K2 Rl = the radial coordinate value of the point Kl R2 = the radial coordinate value of the point K2 Al = the angular coordinate value ot -the point Kl A2 = the angular coordinate value of the point K2 More particularly, figure 4 shows:
10 - controller and arithmetic circuit (Motorola MC6800) Ll - interruption circuit (Motorola MC6828) 12 - timing circuit (Motorola MC6840) 13 - checking and supervisory circuit (Motorola MC6820) 14 ~ address signals 15 - data signals 16 ~ control signals 17 - interruption requesting signals 18 - timing signals 19 - control signals 20 - storage circuit for the control and arithmetic program (Texas TMS2516, Texas TMS4047) 25 - storage circuit for the part program (Texas TMS2516, Texas TMS4047) 30 - keyboard controller circuit 31 - keyboard controller signals 32 - keyboard 35 -- display control].er circuit (Intel 18279) 36 - display controller signals 37 - display 1~8~3~
40 - measuring circuit (Motorola MC74193) 41 - pulse generator signals 42 - pulse generators 43 - machine reference point signals 45 - output circuit of the analog servo (Analog Devices AD563) 46 - output signals of the analog servo 50 - .input circuit of the machine status ~Motorola MC6820 51 - input signals of the machine status 55 - output circuit controlling the machine lMotorola MC6820) 56 - output signals controlling the machine status 60 - input circuit ~or the part program (Motorola MC6850) 61 - input signals for the part program 65 - output circuit for the part program (Motorola MC6850) 66 - output signals for the part program The coordinate system of the radial drilling machine and o the workpiece and their interrelationship is illustrated on Fig~ 2. rrhe center point P o the drilling spindle during the movement o the drill carriage 2 on the carriage beam 3 will move along a straight line "rp" which is distant by the vertical "Kp"
~rom a straight line "rk" passin~ through the center of rotation "K" of the carriage beam 3, while during the rota-tion of the carriage beam 3 it will move along an arc "a" abou-t the center of rotation "K". On the xadial drilling machine, one will directly measure the radial coordinates "R" of the projection "Pk" of the center point "P" of the drill spindle as being vertical on the straight line "r~" and the magnitude of the angular coordinate "A", and rom khis one will calculate the values of the radial '~ -6-3~91 coordinates "~p" of t~e center point "P" of the drilling spindle and of the angular coordinates "Ap" ~ccording to -the following relationships:
r--/1/ Rp = V R2 + Kp2 /2/ Ap = A~arctg ~P
wherein the value of "R" is measured from the center of rotation "K", while the value of "A" is measured from the base position of the straight line "rk" of the carriage beam 1 running parallel with the clamping grooves of the base plate 6~
The "O" origin of the rectangular coordinate system of the workpiece 4 is given from the values "Ro" and "Aol' within the coordinate sy~tem of the radial drilling machine, and its location, on the other hand, i.5 given by the angle "Ax" of the axis "x". From the knowledge of this the X and Y rectangular coordinates of the center point P of the drill spindle can be calculated within the coordinate system of the workpiece from the polar coordinate va].ues "Rp" and "Ap" according to the followiny ~elation~hips (3), (4), (5) and (6):
/3/ P~y = ~-Rp.cosAp~RO.cosAO/2 -~ / Rp.sinAp-RO.sin Ao/2 R .sinAp-R . sin Ao /4/ Axy ~ arctg ~ ~ - Ax R . cosA -R .cosA
X y X y /6/ Y=Rxy.sin Axy By reversing the transformation~ from the rectangular coordinate values X and Y the polar coordinate values "Rp" and 1l~ll are calculated from the relationship (7), (8), (9), and (10) as follows:
36~
/7/ XRA=Ro ~ cos Ao ~ . cos /Ax-~ arctg~Y/
/8/ YR~=Ro . sin ~O + ~ . sin /Ax+ arctg~Y/
/9/ Rp ~ XRA +YRA
RA
/10~ Ap- arctg -RA
From the values "Rp" and " ~ " one will calculate the values "R" and "A" according to the relationships (11) and (12):
/11/ R- ~Rp2_Kp2 /12/ ~= Ap ~ arctg -The interrelationship o~ the two coordinate systems are determined by the parameters "Rol~ "Aol' and "XO"- They are calculated from the characteristic points of the coordinate system "Kl" and "K2" (Fig. 3~ when the associated rectangular and polar coordinates of these points are given, that is, taken.
R2. sin A2-Rl- sinAl arctgY2~~1 /13/ Ax~ arctg . _ __ _ _ _ R2 .cos A2-- Rl . cosAl X2-Xl ~_ Yl /14/ XO= Rl. cos Al- ~ X12+ yl2. cos/Ax~ arctg ~/
~-- Yl /15/ YO- Rl. sin Al- ~ X12+ yl2. sin/Ax+ arctg -/
/16/ Ro= ~ Xo2 + yO2 /17/ Ao= arctg -XO
Inasmuch as the coordination of the values (Rl, Al), (Xl, Yl) and (R2~ A2), (X2, Y2), the coordination becomes redundant, for purpose of checking one will calculate the values (Ro~ Ao) 1~l863~:~
frorn the related values (R2, A2), (X2, Y2) according to the following relationships (18) and (19):
/18/ XO= R2. sin A2 ~ . cos/A~ arctg /--~ Y
/19/ YO= R2. sin A2- ~ X22~ Y22. sin/Ax~ arctg ~
To be noted: the interpretation of the arc-tg functions of the ratios is performed with the consideration of the signs of the numerators and denominators. The switching equipment according to the present invention is illustrated in Fig. 4 and with the help of that the functions will be also described.
The controller and arithmetic circuit 10 (Motorola MC6~00) will perform in accordance with -the contents of the control and arithmetic program storage circuit 20 (Texas TMS2516, Texas TMS4047) and in acco.rdance with the contents of the part program storage circuit 25 (Texas TMS2516, Texas TMS4047) the control of the operation and their coordination of the individual ~unctional units with the help of the address signals 14, data ~ignals 15, and control signals 16, in such manner tha-t the control of the radial drilling machine should proceed according to the contents of the part program and, also performs the arithmetic calculations associated with the above-described coordinate transformations.
The interruption affecting circuit 11 (Motorola MC6828) on the basis o the interruption requesting signals 17 will evaluate the request coming from the checking and supervisory circuit 13 (Motorola MC6820), the measuring circuit 40 (Motorola g_ 3~
MC74193), the machine status input circuit 50 (Motorola MC6820), the timing circuit 12 (Motorola MC68)0), the part program input circuit 60 (Motorola MC6850) and of t~ie keyboard controller circuit 30 ~Intel 18279) and will assign to them priorities decreasing in order of sequence and transfers them to the controller and arithmetic circuit 10 which is actuated by them.
The timing circuit 12 with the help o~ the timing signals 18 will timely coordinate the operation of the individual circuits, that is, in given times with ~he signals requesting interruption 17 through the interruption circuit 11 will signal the controller and arithmetic circuit 10. ~he checking and ~upervising circuit 13 with the help of the control signals 19 will perform the supervision o~ the operational capability of the indiviclual blocks or circuits and in the event of a defective operation it will signal with an interruption requesting signal 17 throu~h the circuit ll evaluating the interruption requesting signal, will deliver siynals to the controller and arithmetic circuit 10.
The control and arithmetic storage circuit 20 which contains the control program will contain also -those algorithms and data with the help of which the controller and ari-thmetic circuit 10 will control and perform the transformation data, the checking of the operation of the individual units, their interconnection and their connection with the controlled radial drilling machine as well as the connection with the operating personnel and with the peripheral equipment. Its structure contains pre~erably storage elements which retain the information.
~' ~863~:~
The contents of the ciruit 25 storing the part program will define a data to be performed with the radial drilling machine (values o~ the bore centers aild tolerances, feed and number of revolutions) and their functions (loosening, fixing, cool.ing water, changing of the number of the revolutions, die change etc.). Its layout should be pre:Eerably read and write type, and contain storage elements which retain their contents for a long time at a minimum energy consumption.
The keyboard controller circui~ 30 with the help of the keyboard controller signals 31 from the keyboard 32 wlll make it possible that the part prograrn can be put. in manually and modified and also permits the manual intervention of th~ operating personnel.
The display controller circuit 35 (Intel ].8279) with the help o display controller signals 36 will make it possible at the display 37 to inorm the operating personnel about the part program, the actual position and status of the radi.al drilling machine and general information.
The measuring circuit 40 on the basis of the pulse generators 42 registering the deflections of the radial drilling machine with the help of pulse generator signals 41 as well as with the help of the machine reference points signals 43 will determine the deflections, about their increases between two interrogations and, on the basis of such data the controller and arithmetic circuit 10 will calculate the actual values "Rp" and "Ap" of the bore center "P" of the drill spindle. The credibility of the calculated actual position values is always check~d when ' 363~
passing over the reference points ancl in the event deviations, error will be signaled, and by this -he production of a waste or defective workpiece is eliminated whi~h would result from the defects or errors of the measuring sys~emsO The measuring circui~
40 is capable in addition to calculating the A and R coordinates of the radial dri]ling machine, also to measure the further deflections, such as, a vertical movement of the carriage beam and drill spindle if they are also provided with pulse generators and reference position contacts.
The analog ervo-output 45 circuit (Analog Devices ~D563) with the help of the analog servo-output signals 46 will regulate the servo drives controlling and regulating the deflections and, i~ needed, also the main drive driving the drill spindle in a controllable manner.
The input circuit 50 about the state of the machine will process the input signals of the machine status 51 and representing the position contacts of the radial drilling machine, i.ts pressure switches, sensors, push buttons, switches etc. and will transer them to the controller and arithmetic circuit 10 which will consider them during the processing of the operating program and the control of the radial drilling machine.
The output circuit 55 ~Motorola MC6820) controlling the statu~ of the machine on the basis of the commands coming fr~m the controller and arithmetic circuit 10 will perform -the control with the help of output signals 56 controlling the machine status, the various machine functions of the radial drilling machine ~for example, loosening, fixing, cooling liquid, tool change, feed of " ~ .
~"~
3~
the drill spindle or change of its m.~gnitude, etc.) and also drives the indicating lights of th~ operating console.
The input circuit 60 for the part program with the help of the input signals 61 for the part program coming from some information carriers (cassette tape, punch tape reader, etc.) with the help of the controller and arithmetic circuit 10 will deliver the part p.rogram to the storage circuit 25 of the part program.
While putting in the data will be cont.inuously checked for credi~ility.
The output circuit 65 (Motorola MC6850) of the part program under the control of the controller and arithmetic circuit 10 will deliver the part programs stored in the circuit 25 for the part program with the help of the output signals 66 for the part program to a program recording peripheral equipment (cassette tape, tape punching unit etc.), that is, will prepare a list of the part program with the help of a printer type peripheral equ.ipment.
The structuring of the positioning control preferably can be put in three steps. All variations will contain, although in different form, the controller and arithmetic circuit 10, the control and arithmetic program storing circuit ~0, the par~
program containing circuit 25, the measuring circuit 40, the input circuit 50 of the machine status and the output circuit (55) controlling the machine status. The most simplified embodiment is adapted for receiving a program and for its returning, with the help of very few keys and indicating lights. An embodiment having an average structure, to the keyboard controller circuit 30 a part ~363~
program can be fed from the keyboard 32 manually and ~he part program and the various states of th~ processing can be signalized through the display controller circuit 35 with the help of display 37, and further it is possible to put in the program through the part program input circuit 60 from a cassette tape or other information carrier, as well as the printing of the prograrn by a printer. The most simple and the average structured embodiments can be mounted on conventional and existing radial drilling machines without making major changes on the machine and the positioning will be perEormed manually. In the case of a fully developed embodiment, by the output circuit 45 of the analog servo the positioning can be regulated with servo drives and the operation of the radial drilling machine becomes automatized to a great extent (loosening, ixing, feed and main spindle to any degree, tool change, cooling water, etc.) which, however, will r~quire the pre.sence of a radial drilling machine which is ~pecially constructed for such purpose.
The basic function o~ the position control mounted on a radial drilling machine resides in that the position of the center point "P" of the drill spindle 1 should be measured and compared with the position of the bore centers 5 given in the part program by employing the dual transformation between the rectangular coordinate system of the workpiece and the polar coordinate system of the radial drilling machine~
At the learning of the program the bore coordinates X and Y are calculated from the coordinates R and A using the relationships (1), (2), (3~ (4), (5), and (6) while during the 3~L
delivery of the program the eventual R and A coordinates are calculated from the programmed X and Y values on the basis of the relationships (7), (8), (9), (lO~, (11), and (12). ~he relative position of the two coordinate systems ~re determined by the parameters "Rol', Ao'l, and "Ax", which are calculated by the control after the establishing of ~he marXing points of the coordinate system Kl and K2 or after such points were given and their associated values Rl, Al and Xl, Yl, e.g. R2~ A2 and X2, Y~
using the relationships (13), (14), (15), (16), and (17) and will check the correctness of the given values by using the relationships (18) and (l9).
The part program which contains the bore centers and ~heir tolerances (in a more complex structuring the depth of the bore, the magnitude of the feed and spindle revolution)~ in the sequence of processing and in the coordinate system of the workpiece and receives it by being fed to it from a machine~ that ~ rom an outside program carrier. The problem itself is independent of the coordinate system of the radial drilling maahlne, and as a result, the workpiece 4 can be mounted in any clesired position on plate 6. The change of individual points or instructions in the program or addition of instructions or erasure of instructions or the complete erasure of programs is also possible.
The storage of program is performed always with the help of control data or indices so that a defective program can be recogni~ed or corrected.
~ ~, ' '
Claims (2)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:-
1. Method for position control in radial drilling machines, wherein the center point /P/ of the drill spindle is positioned by the movement of the drill carriage /2/ over the carriage beam /3/
in radial coordinates /r/ and by the rotation of the carriage beam /3/ in angular coordinates /a/ onto the bore centers /5/ of the workpiece /4/ given /X, Y/ in rectangular coordinate system /x, Y/, comprising the steps of:
a. measuring the vertical projection /Pk/ of the center point /P/ of the drill spindle onto the straight line /rk/ parallel with the straight line /rp/ and passing through the point of rotation of the carriage beam /K/
and swept by the center point /P/ of the drill spindle during the movement of the drill carriage /2/ on the carriage beam /3/, that is, the radial coordinate value /R/ thereof measured from the point of rotation /K/ of the carriage beam and the angular coordinate value /A/
measured from the base groove /6/;
b. calculating the radial coordinate value /Rp/ and angular coordinate value /Ap/ of the center point /P/ of the drill spindle from relationships 1 and 2 from the measured radial coordinate values /R/ and measured angular coordinate values /A/ with the knowledge of the distance /Kp/ of the parallel straight lines rk and rp;
c. establishing by accurate positioning the marking points /K1, K2/ of the coordinate system given as the the first two points in the processing program and the associated values /X1, Y1, R1, A1, resp. X2, Y2, R2, R2, A2/ of the values /X, Y/ given in the rectangular coordinate system /x, y/ of the workpiece and of the values /R, A/ measured in the polar coordinate system /r, a/ of the radial drilling machine;
d. calculating the parameters defining the interrelationship between the polar coordinate system /r, a/ of the radial drilling machine and the rectangular coordinate system /x, y/ of the workpiece, that is, the radial coordinate value /Ro/ of the origin /O/ of the rectangular coordinate system /x, y/ of the workpiece and its angular coordinate value /Ao/ in the polar coordinate system /r, a/ of the radial drilling machine, that is, the angular coordinate value /Ax/ of its X axis as measured with respect to the straight line A = O using the relationships 13, 14, 15, 16, and 17.
e. checking the accuracy of the locating of the marking points /K1, K2/ marking the coordinate system, using the relationships 18 and 19;
f. calculating on the basis of the relationships 8, 9, 10, 11 and 12 the polar coordinate /r, a/ values /R, A/ of the radial drilling machine which correspond to bore centers /5/ of the workpiece given in rectangular /x, y/
coordinate values /X, Y/;
g. positioning the center point /P/ of the drill spindle by /a/ rotating carriage beam /3/ to the calculated angular coordinate value /A/ and by moving /r/ the drill carriage /2/ on the carriage beam /3/ to the calculated radial coordinate value /R/ and performing the drilling;
h. for the teaching of new bore centers, positioning -the center point /P/ of the drill spindle to the bore centers /5/ of the workpiece /4/ to be learned and from their coordinate values /R, A/ measured in the polar /r, a/
coordinate system of the radial drilling machine and the knowledge of the parameters /Ro, Ao, Ax/ defining the interrelationship between the positions of the rectangular coordinate system /x, y/ of the workpiece and of the polar coordinate system /r, a/ of the radial drilling machine calculating the coordinate values /X, Y/
associated with the rectangular coordinate system /x, y/
of the workpiece using the relationships 1, 2, 3, 4, 5, and 6.
in radial coordinates /r/ and by the rotation of the carriage beam /3/ in angular coordinates /a/ onto the bore centers /5/ of the workpiece /4/ given /X, Y/ in rectangular coordinate system /x, Y/, comprising the steps of:
a. measuring the vertical projection /Pk/ of the center point /P/ of the drill spindle onto the straight line /rk/ parallel with the straight line /rp/ and passing through the point of rotation of the carriage beam /K/
and swept by the center point /P/ of the drill spindle during the movement of the drill carriage /2/ on the carriage beam /3/, that is, the radial coordinate value /R/ thereof measured from the point of rotation /K/ of the carriage beam and the angular coordinate value /A/
measured from the base groove /6/;
b. calculating the radial coordinate value /Rp/ and angular coordinate value /Ap/ of the center point /P/ of the drill spindle from relationships 1 and 2 from the measured radial coordinate values /R/ and measured angular coordinate values /A/ with the knowledge of the distance /Kp/ of the parallel straight lines rk and rp;
c. establishing by accurate positioning the marking points /K1, K2/ of the coordinate system given as the the first two points in the processing program and the associated values /X1, Y1, R1, A1, resp. X2, Y2, R2, R2, A2/ of the values /X, Y/ given in the rectangular coordinate system /x, y/ of the workpiece and of the values /R, A/ measured in the polar coordinate system /r, a/ of the radial drilling machine;
d. calculating the parameters defining the interrelationship between the polar coordinate system /r, a/ of the radial drilling machine and the rectangular coordinate system /x, y/ of the workpiece, that is, the radial coordinate value /Ro/ of the origin /O/ of the rectangular coordinate system /x, y/ of the workpiece and its angular coordinate value /Ao/ in the polar coordinate system /r, a/ of the radial drilling machine, that is, the angular coordinate value /Ax/ of its X axis as measured with respect to the straight line A = O using the relationships 13, 14, 15, 16, and 17.
e. checking the accuracy of the locating of the marking points /K1, K2/ marking the coordinate system, using the relationships 18 and 19;
f. calculating on the basis of the relationships 8, 9, 10, 11 and 12 the polar coordinate /r, a/ values /R, A/ of the radial drilling machine which correspond to bore centers /5/ of the workpiece given in rectangular /x, y/
coordinate values /X, Y/;
g. positioning the center point /P/ of the drill spindle by /a/ rotating carriage beam /3/ to the calculated angular coordinate value /A/ and by moving /r/ the drill carriage /2/ on the carriage beam /3/ to the calculated radial coordinate value /R/ and performing the drilling;
h. for the teaching of new bore centers, positioning -the center point /P/ of the drill spindle to the bore centers /5/ of the workpiece /4/ to be learned and from their coordinate values /R, A/ measured in the polar /r, a/
coordinate system of the radial drilling machine and the knowledge of the parameters /Ro, Ao, Ax/ defining the interrelationship between the positions of the rectangular coordinate system /x, y/ of the workpiece and of the polar coordinate system /r, a/ of the radial drilling machine calculating the coordinate values /X, Y/
associated with the rectangular coordinate system /x, y/
of the workpiece using the relationships 1, 2, 3, 4, 5, and 6.
2. Switching arrangement for position control in radial drilling machines, wherein the control is accomplished by suitably interconnected electronic circuits, characterized in that:
a. a control and arithmetic unit (10) for accomplishing a two-way data transfer, is connected with:
- a storage circuit for the control and arithmetic program (20), - a storage circuit for the part program (25), - a keyboard controller circuit (30) which is in two-way communication with the keyboard (32), - a display controller circuit (35) which is in two-way communication with the display (37), - a measuring circuit (40) to the inputs of which the outputs of the pulse generators (42) and the machine status reference point signals (43) are connected, -the output circuit of the analog servo (45) comprising analog servo outputs (46), - an input circuit of the machine status (50) comprising machine status inputs (51), an input circuit controlling the machine status (55) comprising outputs controlling the machine status (56), - an input circuit for the part program (60) comprising inputs for the part program (61), - an output circuit for the part program (65) comprising outputs for the part program (66), b. the output of the interruption circuit (11) is connected to the input of the controller and arithmetic circuit (10) and its input is connected with the outputs of:
- a timing circuit (12) - a checking and supervisory circuit (13), - the keyboard controller circuit (30), - the display controller circuit (35), - the measuring circuit (40), - the output circuit of the analog servo (45), - the input circuit of the machine status (50), - the output circuit controlling the machine status (55), and, - the input circuit for the part program (60), c. the timing outputs (18) of the timing circuit (12) are connected with the inputs of:
- the checking and supervisory circuit (13), - measuring circuit (40), - the input circuit of the machine status (50), - the input circuit for the part program (60) and, - the output circuit for the part program (65), d. the control input (19) of the checking and supervisory circuit (13) are connected with the outputs of:
- the keyboard controlling circuit (30) - the display controller circuit (35), - the measuring circuit (40), - the output circuit of the analog servo (45), - the input circuit of the machine status (50), - the output circuit controlling the machine status (55), - the input circuit of the part program (60) and, - the output circuit of the part program (65).
a. a control and arithmetic unit (10) for accomplishing a two-way data transfer, is connected with:
- a storage circuit for the control and arithmetic program (20), - a storage circuit for the part program (25), - a keyboard controller circuit (30) which is in two-way communication with the keyboard (32), - a display controller circuit (35) which is in two-way communication with the display (37), - a measuring circuit (40) to the inputs of which the outputs of the pulse generators (42) and the machine status reference point signals (43) are connected, -the output circuit of the analog servo (45) comprising analog servo outputs (46), - an input circuit of the machine status (50) comprising machine status inputs (51), an input circuit controlling the machine status (55) comprising outputs controlling the machine status (56), - an input circuit for the part program (60) comprising inputs for the part program (61), - an output circuit for the part program (65) comprising outputs for the part program (66), b. the output of the interruption circuit (11) is connected to the input of the controller and arithmetic circuit (10) and its input is connected with the outputs of:
- a timing circuit (12) - a checking and supervisory circuit (13), - the keyboard controller circuit (30), - the display controller circuit (35), - the measuring circuit (40), - the output circuit of the analog servo (45), - the input circuit of the machine status (50), - the output circuit controlling the machine status (55), and, - the input circuit for the part program (60), c. the timing outputs (18) of the timing circuit (12) are connected with the inputs of:
- the checking and supervisory circuit (13), - measuring circuit (40), - the input circuit of the machine status (50), - the input circuit for the part program (60) and, - the output circuit for the part program (65), d. the control input (19) of the checking and supervisory circuit (13) are connected with the outputs of:
- the keyboard controlling circuit (30) - the display controller circuit (35), - the measuring circuit (40), - the output circuit of the analog servo (45), - the input circuit of the machine status (50), - the output circuit controlling the machine status (55), - the input circuit of the part program (60) and, - the output circuit of the part program (65).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
HU2647/81 | 1981-09-14 | ||
HU812647A HU185955B (en) | 1981-09-14 | 1981-09-14 | Method and connection arrangement for controlling the positioning for radial drilling machines |
Publications (1)
Publication Number | Publication Date |
---|---|
CA1186391A true CA1186391A (en) | 1985-04-30 |
Family
ID=10960433
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA000411257A Expired CA1186391A (en) | 1981-09-14 | 1982-09-13 | Process and switching circuit for the positional control of radial drilling machines |
Country Status (6)
Country | Link |
---|---|
US (1) | US4543635A (en) |
EP (1) | EP0075196B1 (en) |
AT (1) | ATE27502T1 (en) |
CA (1) | CA1186391A (en) |
DE (1) | DE3276452D1 (en) |
HU (1) | HU185955B (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4670849A (en) * | 1983-03-31 | 1987-06-02 | Hitachi, Ltd. | Position error correcting method and apparatus for industrial robot |
JPS61128319A (en) * | 1984-11-28 | 1986-06-16 | Nippon Kogaku Kk <Nikon> | Driving device |
ATE125775T1 (en) * | 1988-12-06 | 1995-08-15 | Boral Johns Perry Ind Pty Ltd | CONTROL SYSTEM FOR AN ENGINE. |
US5903459A (en) * | 1996-06-06 | 1999-05-11 | The Boeing Company | Method for product acceptance by improving the accuracy of machines |
US6681145B1 (en) | 1996-06-06 | 2004-01-20 | The Boeing Company | Method for improving the accuracy of machines |
US5949685A (en) * | 1997-06-03 | 1999-09-07 | The Boeing Company | Real-time orientation of machine media to improve machine accuracy |
SE512338C2 (en) * | 1998-06-25 | 2000-02-28 | Neos Robotics Ab | System and method for controlling a robot |
JP4450302B2 (en) * | 2002-03-27 | 2010-04-14 | スター精密株式会社 | Numerical control device for machine tools |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
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DE1477390B2 (en) * | 1963-05-18 | 1971-05-19 | M Hensoldt & Sohne Optische Werke AG, 6330 Wetzlar | DEVICE FOR DISPLAYING THE DISPLACEMENT SIZE OF A SLEDGE |
US3633011A (en) * | 1968-08-29 | 1972-01-04 | Ibm | Method and apparatus for precisely contouring a workpiece imprecisely positioned on a supporting fixture |
US4120583A (en) * | 1970-12-28 | 1978-10-17 | Hyatt Gilbert P | High registration photomask method and apparatus |
US4370720A (en) * | 1970-12-28 | 1983-01-25 | Hyatt Gilbert P | Coordinate rotation for numerical control system |
US4364110A (en) * | 1970-12-28 | 1982-12-14 | Hyatt Gilbert P | Computerized machine control system |
US3920972A (en) * | 1974-07-16 | 1975-11-18 | Cincinnati Milacron Inc | Method and apparatus for programming a computer operated robot arm |
US4427970A (en) * | 1974-09-18 | 1984-01-24 | Unimation, Inc. | Encoding apparatus |
US4002827A (en) * | 1975-05-15 | 1977-01-11 | General Electric Company | Polar coordinate format to a cartesian coordinate format scan converter |
US3986007A (en) * | 1975-08-20 | 1976-10-12 | The Bendix Corporation | Method and apparatus for calibrating mechanical-visual part manipulating system |
US4115858A (en) * | 1976-01-12 | 1978-09-19 | Houdaille Industries, Inc. | Machine tool controller employing microprocessor system for controlling Z axis |
US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
US4043700A (en) * | 1976-11-15 | 1977-08-23 | Toolmatic Corporation | X-Y control for radial arm and headstock of a radial drilling machine |
US4106021A (en) * | 1977-07-01 | 1978-08-08 | Rca Corporation | Polar to rectangular coordinate converter |
US4162527A (en) * | 1977-07-29 | 1979-07-24 | Hamill Company, Inc. | Numerically controlled machine tool system with programmable tool offset |
US4152765A (en) * | 1977-09-15 | 1979-05-01 | Weber John M | Programmer unit for N/C systems |
JPS5918194B2 (en) * | 1978-01-31 | 1984-04-25 | ファナック株式会社 | Industrial robot control method |
US4208675A (en) * | 1978-03-20 | 1980-06-17 | Agence Nationale De Valorization De La Recherche (Anvar) | Method and apparatus for positioning an object |
US4271471A (en) * | 1978-12-28 | 1981-06-02 | Westinghouse Electric Corp. | Method of operating a remotely controlled tool positioning table |
GB2022869B (en) * | 1978-05-23 | 1983-01-12 | Mckechnie R E | Method and apparatus for programming and operating a machine tool |
US4228495A (en) * | 1978-12-19 | 1980-10-14 | Allen-Bradley Company | Multiprocessor numerical control system |
US4272818A (en) * | 1979-07-19 | 1981-06-09 | The Bendix Corporation | Position feedback control system for a numerically controlled machine tool |
US4279013A (en) * | 1979-10-31 | 1981-07-14 | The Valeron Corporation | Machine process controller |
DE3001954A1 (en) * | 1980-01-21 | 1981-08-06 | Vereinigte Glaswerke Gmbh, 5100 Aachen | METHOD AND DEVICE FOR CORRECTING A CUTTING PROGRAM FOR A CUTTING MACHINE FOR GLASS DISCS |
US4401930A (en) * | 1980-12-30 | 1983-08-30 | Toyota Jidosha Kogyo Kabushiki Kaisha | Method of sensing position of movable body and apparatus therefor |
US4434437A (en) * | 1981-01-26 | 1984-02-28 | Rca Corporation | Generating angular coordinate of raster scan of polar-coordinate addressed memory |
-
1981
- 1981-09-14 HU HU812647A patent/HU185955B/en not_active IP Right Cessation
-
1982
- 1982-09-08 DE DE8282108276T patent/DE3276452D1/en not_active Expired
- 1982-09-08 EP EP82108276A patent/EP0075196B1/en not_active Expired
- 1982-09-08 AT AT82108276T patent/ATE27502T1/en not_active IP Right Cessation
- 1982-09-09 US US06/416,106 patent/US4543635A/en not_active Expired - Fee Related
- 1982-09-13 CA CA000411257A patent/CA1186391A/en not_active Expired
Also Published As
Publication number | Publication date |
---|---|
EP0075196A1 (en) | 1983-03-30 |
US4543635A (en) | 1985-09-24 |
DE3276452D1 (en) | 1987-07-02 |
HU185955B (en) | 1985-04-28 |
ATE27502T1 (en) | 1987-06-15 |
EP0075196B1 (en) | 1987-05-27 |
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