Positional control system for a machine tool

Claim 2

In a machine tool having a positioning control system; a frame; a first member carried by said frame for selective rectilinear movement therealong; a second member movably carried by said first member for selective movement along an axis perpendicular to the axis of movement of said first member; a pair of rectilineal measuring transducers pivotally interconnected between said second member and spaced-apart portions s of said frame for respectively measuring the distance between said second member and spaced apart portions of said frame; separate triangulation position measuring means simultaneously responsive to said transducers for respectively indicating the positional movement of said first member along said frame and the perpendicular movement of said second member along said first member; and separate power translators respectively interconnected between said frame and said first member as well as between said first member and said second member; said translators respectively connected to be coordinately actuated by said separate triangulation measuring means.

Claim 3

In a machine tool according to claim 1 in which said measuring transducers comprise separate and individually extensible laser interferometers respectively adapted to measure the distance between said second member and said frame.

Claim 4

In a machine tool according to claim 1, including separate telescoping tubular supports respectively operative to protect and guidably constrain said respective transducers during measuring movement.

Claim 5

In a machine tool having a frame; a rotatable tool spindle movably guided by said frame for rectilinear movement in mutually perpendicular planes, each perpendicular to the rotational axis of said spindle; a first and a second power drive respectively connected to effect selective movement of said spindle along its perpendicular axes of movement; a first and a second lineal transducer each pivotally connected at its inner end to said spindle and extending outwardly in angularly diverging directions in a plane perpendicular to the axis of said spindle, said transducers being pivotally secured at their opposite outer ends to spaced apart portions of said frame; a fIrst and a second counter respectively connected to be actuated by said first and second transducers to indicate the respective rectilinear angular positions of said spindle relative to said frame; a first and a second accumulator respectively actuated by said first and second counters operative to provide output feedback control signals respectively representing the separate perpendicular axes of movement; a first modulator connected to transmit signals from said second accumulator to predeterminately modify the feedback signals from said first accumulator; a second modulator connected to transmit signals from said first accumulator to predeterminately modify the positional feedback signals from said second accumulator; and, a numerical control system adapted to selectively actuate said power drives for effecting corresponding positionally controlled movement of said tool support along its perpendicular paths of movement to predetermined positions as determined by the respectively modulated perpendicular feedback control signals from said first and second accumulators.

Claim 6

In a machine tool having a frame; a rotatable tool spindle movably guided by said frame for rectilinear movement in mutually perpendicular planes, each perpendicular to the rotational axis of said spindle; a first and a second power drive respectively connected to effect selective movement of said spindle along its perpendicular axes of movement; a first and a second lineal transducer each pivotally connected at its inner end to said spindle and extending outwardly in angularly diverging directions in a plane perpendicular to the axis of said spindle, said transducers being pivotally secured at their opposite outer ends to spaced apart portions of said frame; a fIrst and a second counter respectively connected to be actuated by said first and second transducers to indicate the respective rectilinear angular positions of said spindle relative to said frame; a first and a second accumulator respectively actuated by said first and second counters operative to provide output feedback control signals respectively representing the separate perpendicular axes of movement; a first modulator connected to transmit signals from said second accumulator to predeterminately modify the feedback signals from said first accumulator; a second modulator connected to transmit signals from said first accumulator to predeterminately modify the positional feedback signals from said second accumulator; and, a numerical control system adapted to selectively actuate said power drives for effecting corresponding positionally controlled movement of said tool support along its perpendicular paths of movement to predetermined positions as determined by the respectively modulated perpendicular feedback control signals from said first and second accumulators.

Claim 7

In a machine tool having a rotatable tool support carried for rectilinear movement in mutually perpendicular planes; a frame disposed to guide said tool support for selective rectilinear movement in perpendicular planes both perpendicular to the rotational axis of said tool support; power drives respectively operable to selectively move said tool support along its perpendicular paths of movement; a pair of separate lineal measuring transducers each pivotally connected at one end to said tool support and each extending in angularly diverging directions and in planes perpendicular to the axis thereof, said transducers extending from said tool support in angular directions relative to the perpendicular paths of movement thereof and being pivotally secured at their opposite outer ends to spaced apart portions of said frame; a pair of separate counters respectively connected to be activated by said transducers for respectively indicating angular increments of change in the lineal distance measured by each of said transducers upon movement of said tool support in response to either of said power drives; a pair of separate squaring controls respectively connected to be actuated by said counters for providing output control signals; a first and a second accumulator responsive to output signals from said squaring controls; a first control actuated by one of said accumulators and connected to said first power drive for moving said tool support along one axis; first modulating means connected to transmit signals from said second accumulator to predeterminately modify the input signals to said first accumulator and said first control actuated thereby; a second control actuated by said second accumulator and connected to said second power drive for moving said tool support along the other perpendicular axis; and, second modulating means connected to transmit signals from said first signal accumulator to predeterminately modify the input signals to said second accumulator and said second control actuated thereby.

Claim 8

In a machine tool having a rotatable tool support carried for rectilinear movement in mutually perpendicular planes; a frame disposed to guide said tool support for selective rectilinear movement in perpendicular planes both perpendicular to the rotational axis of said tool support; power drives respectively operable to selectively move said tool support along its perpendicular paths of movement; a pair of separate lineal measuring transducers each pivotally connected at one end to said tool support and each extending in angularly diverging directions and in planes perpendicular to the axis thereof, said transducers extending from said tool support in angular directions relative to the perpendicular paths of movement thereof and being pivotally secured at their opposite outer ends to spaced apart portions of said frame; a pair of separate counters respectively connected to be activated by said transducers for respectively indicating angular increments of change in the lineal distance measured by each of said transducers upon movement of said tool support in response to either of said power drives; a pair of separate squaring controls respectively connected to be actuated by said counters for providing output control signals; a first and a second accumulator responsive to output signals from said squaring controls; a first control actuated by one of said accumulators and connected to said first power drive for moving said tool support along one axis; first modulating means connected to transmit signals from said second accumulator to predeterminately modify the input signals to said first accumulator and said first control actuated thereby; a second control actuated by said second accumulator and connected to said second power drive for moving said tool support along the other perpendicular axis; and, second modulating means connected to transmit signals from said first signal accumulator to predeterminately modify the input signals to said second accumulator and said second control actuated thereby.

Claim 9

In a machine having a frame; a support member guided by said frame for selective relative movement along first and second orthogonal axes; first and second transducers pivotally interconnected between a common pivot on said support member and a pair of spaced apart pivots on said frame; power drive means connected to move said support member along a selected one or both of said orthogonal axes; a first controller responsive to coordinate combinations of signals from both of said transducers for providing a first positional signal to indicate orthogonal positional movement of said support member along said first axis and; a second controller responsive to different combinations of signals from both of said transducers for providing a second positional signal to indicate coordinate positional movement of said sUpport member along said second transverse axis.

Claim 10

In a machine having a frame; a support member guided by said frame for selective relative movement along first and second orthogonal axes; first and second transducers pivotally interconnected between a common pivot on said support member and a pair of spaced apart pivots on said frame; power drive means connected to move said support member along a selected one or both of said orthogonal axes; a first controller responsive to coordinate combinations of signals from both of said transducers for providing a first positional signal to indicate orthogonal positional movement of said support member along said first axis and; a second controller responsive to different combinations of signals from both of said transducers for providing a second positional signal to indicate coordinate positional movement of said sUpport member along said second transverse axis.

Claim 11

In a machine according to claim 6 in which said first and second transducers respectively comprise individually extensible laser interferometers.

Claim 12

In a machine tool having: a frame; a tool support movably guided by said frame for selective movement along perpendicular axes; first and second power drives respectively operable to move said tool support in a selected one of its perpendicular axes of movement; a first and second lineal transducer each pivotally connected at one end to said tool support and disposed to extend in angularly diverging directions for pivotal connection at their outer ends to spaced apart portions of said frame; a first and second signal accumulator respectively connected to be actuated by said first and second transducers for measuring the angular distances between said tool support and the respectively spaced apart portions of said frame; a first modulator connected to transmit signals from said second accumulator to predeterminately modify said first accumulator for rendering a feedback signal therefrom indicative of the rectilinear position of said tool support along said first perpendicular axis; a second signal modulator connected to transmit signals from said first accumulator to predeterminately modify said second accumulator for rendering a feedback signal therefrom indicative of the rectilinear position of said tool support along said second perpendicular axis; and, a numerical control system operative to effect selective actuation of said first and second power drives for moving said tool support to a selected position along said first and second axes as determined by modulated feedback signals from said first and second signal accumulators.

Claim 13

In a machine tool having: a frame; a tool support movably guided by said frame for selective movement along perpendicular axes; first and second power drives respectively operable to move said tool support in a selected one of its perpendicular axes of movement; a first and second lineal transducer each pivotally connected at one end to said tool support and disposed to extend in angularly diverging directions for pivotal connection at their outer ends to spaced apart portions of said frame; a first and second signal accumulator respectively connected to be actuated by said first and second transducers for measuring the angular distances between said tool support and the respectively spaced apart portions of said frame; a first modulator connected to transmit signals from said second accumulator to predeterminately modify said first accumulator for rendering a feedback signal therefrom indicative of the rectilinear position of said tool support along said first perpendicular axis; a second signal modulator connected to transmit signals from said first accumulator to predeterminately modify said second accumulator for rendering a feedback signal therefrom indicative of the rectilinear position of said tool support along said second perpendicular axis; and, a numerical control system operative to effect selective actuation of said first and second power drives for moving said tool support to a selected position along said first and second axes as determined by modulated feedback signals from said first and second signal accumulators.

Claim 14

In a machine having a frame presenting a pair of spaced apart parallel pivots; a first member guided by said frame for rectilinear movement along a first axis; a second member guided by said first member for rectilinear movement along a second axis perpendicular to said first axis; a tool receiving support carried by said second member presenting a common pivot parallel to said spaced apart pivots presented by said frame; a first and second measuring transducer each pivotally connected at one end to said common pivot and extending in diverging angular directions relative to said first and second axes for respective pivotal connection at their opposite ends to said spaced apart pivots presented by said frame; power drive means selectively operable to move said first member along said first axis and said second member along said second axis for moving said tool support to a selected position relative to said frame; a first controller connected to be simultaneously actuated by a position signal from said first transducer and a predetermined modulating signal from said second transducer in a manner to produce a single first feedback signal for controlling position along said first axis; a second controller connected to be simultaneously actuated by a principal signal from said second transducer and a predetermined modulating signal from said first transducer in a manner to produce a single second feedback signal for controlling position along said second axis; and, a data control system connected to effect positionally controlled operation of said power drive means for effecting positionally controlled movement of said tool support according to predetermined positional feedback signals from said first and second controllers.

Claim 15

In a machine having a frame presenting a pair of spaced apart parallel pivots; a first member guided by said frame for rectilinear movement along a first axis; a second member guided by said first member for rectilinear movement along a second axis perpendicular to said first axis; a tool receiving support carried by said second member presenting a common pivot parallel to said spaced apart pivots presented by said frame; a first and second measuring transducer each pivotally connected at one end to said common pivot and extending in diverging angular directions relative to said first and second axes for respective pivotal connection at their opposite ends to said spaced apart pivots presented by said frame; power drive means selectively operable to move said first member along said first axis and said second member along said second axis for moving said tool support to a selected position relative to said frame; a first controller connected to be simultaneously actuated by a position signal from said first transducer and a predetermined modulating signal from said second transducer in a manner to produce a single first feedback signal for controlling position along said first axis; a second controller connected to be simultaneously actuated by a principal signal from said second transducer and a predetermined modulating signal from said first transducer in a manner to produce a single second feedback signal for controlling position along said second axis; and, a data control system connected to effect positionally controlled operation of said power drive means for effecting positionally controlled movement of said tool support according to predetermined positional feedback signals from said first and second controllers.

Claim 16

In a machine tool having a support frame; a first member movably carried by said frame for rectilinear movement along a first axis; a second member movably carried by said first member for rectilinear movement along a second axis perpendicular to the first axis of movement; a tool support carried by said second member and extending in a direction perpendicular to the axes of movement of said first and second members; A first interferometer pivotally connected at one end to said tool support and pivotally connected at its opposite end to a first portion of said frame; a second interferometer pivotally connected at one end to said tool support and pivotally connected at its opposite end to a portion of said frame spaced from said first portion of said frame; first and second power drives respectively connected to move said first and second members in their respective perpendicularly disposed axes of movement for positioning said tool support; first and second position controllers respectively connected to receive signal pulses from said respective angularly disposed first and second interferometers during movement of said tool support in either perpendicular axis of movement; a first modulator connected to transmit predetermined signal pulses from said second controller to said first controller for so combining with the angular position pulses transmitted thereto as to provide uniform positional control signals for indicating rectilinear movement of said tool support along said first axis; a second modulator connected to transmit predetermined signal pulses from said first controller to said second controller for so combining with the angular position pulses transmitted thereto as to provide uniform positional control signals for indicating rectilinear movement of said tool support along said second axis; and, a numerical control system connected to effect selective actuation of said power drives for moving said first and second members to predetermined positions along their respective perpendicular aces of movement as determined by positional control signals from said first and second position controllers.

Claim 17

In a machine tool having a support frame; a first member movably carried by said frame for rectilinear movement along a first axis; a second member movably carried by said first member for rectilinear movement along a second axis perpendicular to the first axis of movement; a tool support carried by said second member and extending in a direction perpendicular to the axes of movement of said first and second members; A first interferometer pivotally connected at one end to said tool support and pivotally connected at its opposite end to a first portion of said frame; a second interferometer pivotally connected at one end to said tool support and pivotally connected at its opposite end to a portion of said frame spaced from said first portion of said frame; first and second power drives respectively connected to move said first and second members in their respective perpendicularly disposed axes of movement for positioning said tool support; first and second position controllers respectively connected to receive signal pulses from said respective angularly disposed first and second interferometers during movement of said tool support in either perpendicular axis of movement; a first modulator connected to transmit predetermined signal pulses from said second controller to said first controller for so combining with the angular position pulses transmitted thereto as to provide uniform positional control signals for indicating rectilinear movement of said tool support along said first axis; a second modulator connected to transmit predetermined signal pulses from said first controller to said second controller for so combining with the angular position pulses transmitted thereto as to provide uniform positional control signals for indicating rectilinear movement of said tool support along said second axis; and, a numerical control system connected to effect selective actuation of said power drives for moving said first and second members to predetermined positions along their respective perpendicular aces of movement as determined by positional control signals from said first and second position controllers.

Claim 18

In a machine tool having: a frame; a first member slidably carried thereby for rectilinear movement along one axis; a second member slidably carried by said first member for rectilinear movement along a perpendicular axis; a tool support carried by said second member and extending in a direction perpendicular to the mutually perpendicular axes of member movement; separate servodrives respectively connected to move said first and second members along their perpendicular axes of movement; a numerical control system operative to actuate said servodrives for moving said tool support along its selected perpendicular axes of movement relative to said frame; first and second rectilinear transducers pivotally connected at one end to said tool support and extending therefrom in angularly diverging directions, said transducers being pivotally secured at their opposite outer ends to spaced apart portions of said frame; first and second signal accumulators respectively actuated by said first and second transducers upon movement of said tool support along either of its perpendicular axes of movement; first modulating means connected to transmit signals from said second accumulator to predeterminately modify the signal output from said first accumulator to indicate the proportional incremental movement of said tool support along said first axis; second modulating means connected to transmit signals from said first accumulator to predeterminately modify the transducer signal input to said second accumulator to indicate the proportional incremental movement of said tool support along said second perpendicular axis; and, a numerical control system connected to effect predetermined actuation of said first and second servo servodrives for controlling perpendicular movement of said tool support to selected positions along said first and second perpendicular axes as determined by modulated positional feedback signals from said first and second accumulators.

Claim 19

In a machine tool having: a frame; a first member slidably carried thereby for rectilinear movement along one axis; a second member slidably carried by said first member for rectilinear movement along a perpendicular axis; a tool support carried by said second member and extending in a direction perpendicular to the mutually perpendicular axes of member movement; separate servodrives respectively connected to move said first and second members along their perpendicular axes of movement; a numerical control system operative to actuate said servodrives for moving said tool support along its selected perpendicular axes of movement relative to said frame; first and second rectilinear transducers pivotally connected at one end to said tool support and extending therefrom in angularly diverging directions, said transducers being pivotally secured at their opposite outer ends to spaced apart portions of said frame; first and second signal accumulators respectively actuated by said first and second transducers upon movement of said tool support along either of its perpendicular axes of movement; first modulating means connected to transmit signals from said second accumulator to predeterminately modify the signal output from said first accumulator to indicate the proportional incremental movement of said tool support along said first axis; second modulating means connected to transmit signals from said first accumulator to predeterminately modify the transducer signal input to said second accumulator to indicate the proportional incremental movement of said tool support along said second perpendicular axis; and, a numerical control system connected to effect predetermined actuation of said first and second servo servodrives for controlling perpendicular movement of said tool support to selected positions along said first and second perpendicular axes as determined by modulated positional feedback signals from said first and second accumulators.

Claim 20

In a machine tool having: a frame; a tool support guided by said frame for rectilinear movement in first and second mutually transverse axes; power drive means operative to effect movement of said tool support along a selected axis; a pair of posItion measuring transducers each pivotally connected at one end to said tool support and each pivotally connected at their opposite ends to spaced apart portions of said frame; a first and second measuring control respectively responsive to said transducers for measuring the angular distances between said tool support and said spaced apart portions of said frame; a first modulator means connected to combine predetermined signals from said second control with the input to said first control for producing a uniform first rectilinear measurement parallel to said first rectilinear axis of movement of said tool support; second modulating means connected to combine predetermined signals from said first control with the input to said second control for rendering said second control operable to provide a combined rectilinear measurement signal parallel to said second axis of movement of said tool support; and, a numerical control system operative to provide command data for actuating said power drive means to effect selective rectilinear movement of said tool support along a selected axis as determined by each of the combined positional indicating feedback signals from said first and second measuring controls respectively.

Claim 21

In a machine tool having: a frame; a tool support guided by said frame for rectilinear movement in first and second mutually transverse axes; power drive means operative to effect movement of said tool support along a selected axis; a pair of posItion measuring transducers each pivotally connected at one end to said tool support and each pivotally connected at their opposite ends to spaced apart portions of said frame; a first and second measuring control respectively responsive to said transducers for measuring the angular distances between said tool support and said spaced apart portions of said frame; a first modulator means connected to combine predetermined signals from said second control with the input to said first control for producing a uniform first rectilinear measurement parallel to said first rectilinear axis of movement of said tool support; second modulating means connected to combine predetermined signals from said first control with the input to said second control for rendering said second control operable to provide a combined rectilinear measurement signal parallel to said second axis of movement of said tool support; and, a numerical control system operative to provide command data for actuating said power drive means to effect selective rectilinear movement of said tool support along a selected axis as determined by each of the combined positional indicating feedback signals from said first and second measuring controls respectively.

Claim 22

In a machine tool having: a frame; a tool support guidably carried by said frame for selective rectilinear movement along mutually perpendicular axes; first and second transducers being respectively and pivotally connected at their outer ends to spaced apart pivot axes presented by said frame and at their inner ends to a common pivot axis carried by said tool support; first and second power drives connected to effect selective movement of said tool support along each perpendicular axis of movement a first controller responsive to predeterminately proportioned signals from said transducers for producing feedback signals adapted to control movement of said tool support along its first axis of movement; a second controller responsive to predeterminately proportioned signals from said transducers for producing feedback signals adapted to control movement of said tool support along its second perpendicular axis of movement; and, a positional control system operative to effect coordinate control of said power drives for moving said tool support to a selected position as determined by preselected feedback error control signals from said controllers.

Claim 23

In a machine tool having: a frame; a tool support guidably carried by said frame for selective rectilinear movement along mutually perpendicular axes; first and second transducers being respectively and pivotally connected at their outer ends to spaced apart pivot axes presented by said frame and at their inner ends to a common pivot axis carried by said tool support; first and second power drives connected to effect selective movement of said tool support along each perpendicular axis of movement a first controller responsive to predeterminately proportioned signals from said transducers for producing feedback signals adapted to control movement of said tool support along its first axis of movement; a second controller responsive to predeterminately proportioned signals from said transducers for producing feedback signals adapted to control movement of said tool support along its second perpendicular axis of movement; and, a positional control system operative to effect coordinate control of said power drives for moving said tool support to a selected position as determined by preselected feedback error control signals from said controllers.

Claim 24

In a machine tool according to claim 13 wherein said first and second transducers respectively comprise first and second laser interferometers.

Claim 25

In a machine tool having a base and a column slidably carried by said base; a spindlehead slidably carried by said column for movement along an axis perpendicular to the axis of column movement; first and second servo-driven translators respectively connected to selectively move said column and said spindlehead; a numerical control system connected to selectively move said translators; a spindle journaled in said spindle head for rotation about an axis perpendicular to the axes of head and column movement; a first transducer pivotally connected at one end to said tool spindle and at its opposite end to said base; a second transducer pivotally connected at one end to said tool spindle and at its opposite end pivotally connected to a spaced apart portion of said base; first triangulation measuring means actuated by said transducers during movement of said spindle relative to said base to provide a first signal for indicating the positional movement of said column along said base; second triangulation measuring means actuated by said transducers during bodily movement of said spindle relative to said base to provide a second signal for indicating the positional movement of said spindlehead along said column; first feedback control means providing an error signal to actuate said first servo translator comprising the difference between positional command signals from saiD numerical control system and said first triangulation measuring means; and, second feedback control means providing an error signal to actuate said second servo translator comprising the difference between positional command signals from said numerical control system and said second triangulation measuring means.

Claim 26

In a machine tool having a base and a column slidably carried by said base; a spindlehead slidably carried by said column for movement along an axis perpendicular to the axis of column movement; first and second servo-driven translators respectively connected to selectively move said column and said spindlehead; a numerical control system connected to selectively move said translators; a spindle journaled in said spindle head for rotation about an axis perpendicular to the axes of head and column movement; a first transducer pivotally connected at one end to said tool spindle and at its opposite end to said base; a second transducer pivotally connected at one end to said tool spindle and at its opposite end pivotally connected to a spaced apart portion of said base; first triangulation measuring means actuated by said transducers during movement of said spindle relative to said base to provide a first signal for indicating the positional movement of said column along said base; second triangulation measuring means actuated by said transducers during bodily movement of said spindle relative to said base to provide a second signal for indicating the positional movement of said spindlehead along said column; first feedback control means providing an error signal to actuate said first servo translator comprising the difference between positional command signals from saiD numerical control system and said first triangulation measuring means; and, second feedback control means providing an error signal to actuate said second servo translator comprising the difference between positional command signals from said numerical control system and said second triangulation measuring means.

Claim 27

In a machine tool, a pair of members carried for relative movement along perpendicular axes; separate power translators connected to effect rectilinear movement of said members along said respective axes; a common pivot carried by one of said members relative to a pair of spaced apart pivots carried by the other of said members; a pair of extensible rectilinear measuring transducers pivotally secured at one end to said common pivot and extending in angularly diverging directions, said measuring transducers being pivotally secured at their opposite outer ends to said spaced apart pivots; first triangulation measuring means responsive to rectilinear measuring signals from said transducers connected to indicate relative positional movement between said members along one axis of movement and, second triangulation measuring means responsive to rectilinear measuring signals from said transducers connected to indicate relative positional movement between said members along the other perpendicular axis of movement.

Claim 28

In a machine tool, a pair of members carried for relative movement along perpendicular axes; separate power translators connected to effect rectilinear movement of said members along said respective axes; a common pivot carried by one of said members relative to a pair of spaced apart pivots carried by the other of said members; a pair of extensible rectilinear measuring transducers pivotally secured at one end to said common pivot and extending in angularly diverging directions, said measuring transducers being pivotally secured at their opposite outer ends to said spaced apart pivots; first triangulation measuring means responsive to rectilinear measuring signals from said transducers connected to indicate relative positional movement between said members along one axis of movement and, second triangulation measuring means responsive to rectilinear measuring signals from said transducers connected to indicate relative positional movement between said members along the other perpendicular axis of movement.