US3715644A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Proportional interpolator in multiaxis machines
Assignee: Bendix Corp
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Filing: 1971-06-02
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Granted: 1973-02-06
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Expires: 1991-06-02
Abstract
Abstract A system for causing proportional interpolation in a numerically controlled machine having three, or more, degrees of motion is described. Two of the degrees of motion may occur in a plane defined by perpendicular axes and can be planar or revolutional motions. These two motions would then be defined with respect to the axes and could be mathematically linear or nonlinear. The other degrees of motion can be revolutional or planar motions individually defined with respect to any of the axes of the system. The invention is directed to a system for causing all motions to be proportional to a selected one of the motions irrespective of whether the selected motion is linear or nonlinear. This is achieved by calculating proportionalities between the selected motion and the other motions and combining the calculated proportionalities with the programmed data to cause the final motion to be in accordance with the combined data.
Inventors
- 👤 V Bobrowicz
- 👤 H Henegar
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 01:33
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34041; G05B2219/42; G05B2219/42186; G05B2219/49; G05B2219/49242; G05B2219/49243; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
324 words
A control circuit for causing proportional motions in a controlled system having four degrees of motion, one of said motions being a first programmed motion defined with respect to an axis, and the other of said motions being programmed motions defined with respect to the other axes of an orthogonal axes system containing said axis, said controlled system including means for translating programmed data describing said four motions into output motion signals, and being capable of calculating proportional parameters useful in making said programmed motions proportional to said first programmed motion, said control circuit comprising: first signal combining means receiving programmed data relevant to said first programmed motion and producing a first of said output motion signals; second signal combining means receiving programmed data relevant to one of said other programmed motions and producing a second of said output motion signals, said first signal combining means receiving said second output motion signal as an input, and said second signal combining means receiving said first output motion signal as an input; third signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a third of said output motion signals; fourth signal combining means receiving at least one of said proportional parameters and producing a first interpolating signal, said third signal combining means receiving said first interpolating signal as an input and said fourth signal combining means receiving said third output motion signal as an input; fifth signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a fourth of said output motion signals; sixth signal combining means receiving at least one of said proportional parameters and producing a second interpolating signal, said fifth signal combining means receiving said second interpolating signal as an input, and said sixth signal combining means receiving said fourth output motion signal as an input.
Claim 2
Dependent Claim
324 words
A control circuit for causing proportional motions in a controlled system having four degrees of motion, one of said motions being a first programmed motion defined with respect to an axis, and the other of said motions being programmed motions defined with respect to the other axes of an orthogonal axes system containing said axis, said controlled system including means for translating programmed data describing said four motions into output motion signals, and being capable of calculating proportional parameters useful in making said programmed motions proportional to said first programmed motion, said control circuit comprising: first signal combining means receiving programmed data relevant to said first programmed motion and producing a first of said output motion signals; second signal combining means receiving programmed data relevant to one of said other programmed motions and producing a second of said output motion signals, said first signal combining means receiving said second output motion signal as an input, and said second signal combining means receiving said first output motion signal as an input; third signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a third of said output motion signals; fourth signal combining means receiving at least one of said proportional parameters and producing a first interpolating signal, said third signal combining means receiving said first interpolating signal as an input and said fourth signal combining means receiving said third output motion signal as an input; fifth signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a fourth of said output motion signals; sixth signal combining means receiving at least one of said proportional parameters and producing a second interpolating signal, said fifth signal combining means receiving said second interpolating signal as an input, and said sixth signal combining means receiving said fourth output motion signal as an input.
Claim 3
Dependent Claim
324 words
A control circuit for causing proportional motions in a controlled system having four degrees of motion, one of said motions being a first programmed motion defined with respect to an axis, and the other of said motions being programmed motions defined with respect to the other axes of an orthogonal axes system containing said axis, said controlled system including means for translating programmed data describing said four motions into output motion signals, and being capable of calculating proportional parameters useful in making said programmed motions proportional to said first programmed motion, said control circuit comprising: first signal combining means receiving programmed data relevant to said first programmed motion and producing a first of said output motion signals; second signal combining means receiving programmed data relevant to one of said other programmed motions and producing a second of said output motion signals, said first signal combining means receiving said second output motion signal as an input, and said second signal combining means receiving said first output motion signal as an input; third signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a third of said output motion signals; fourth signal combining means receiving at least one of said proportional parameters and producing a first interpolating signal, said third signal combining means receiving said first interpolating signal as an input and said fourth signal combining means receiving said third output motion signal as an input; fifth signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a fourth of said output motion signals; sixth signal combining means receiving at least one of said proportional parameters and producing a second interpolating signal, said fifth signal combining means receiving said second interpolating signal as an input, and said sixth signal combining means receiving said fourth output motion signal as an input.
Claim 4
Dependent Claim
324 words
A control circuit for causing proportional motions in a controlled system having four degrees of motion, one of said motions being a first programmed motion defined with respect to an axis, and the other of said motions being programmed motions defined with respect to the other axes of an orthogonal axes system containing said axis, said controlled system including means for translating programmed data describing said four motions into output motion signals, and being capable of calculating proportional parameters useful in making said programmed motions proportional to said first programmed motion, said control circuit comprising: first signal combining means receiving programmed data relevant to said first programmed motion and producing a first of said output motion signals; second signal combining means receiving programmed data relevant to one of said other programmed motions and producing a second of said output motion signals, said first signal combining means receiving said second output motion signal as an input, and said second signal combining means receiving said first output motion signal as an input; third signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a third of said output motion signals; fourth signal combining means receiving at least one of said proportional parameters and producing a first interpolating signal, said third signal combining means receiving said first interpolating signal as an input and said fourth signal combining means receiving said third output motion signal as an input; fifth signal combining means receiving programmed data relevant to another of said programmed motions and at least one of said proportional parameters and producing a fourth of said output motion signals; sixth signal combining means receiving at least one of said proportional parameters and producing a second interpolating signal, said fifth signal combining means receiving said second interpolating signal as an input, and said sixth signal combining means receiving said fourth output motion signal as an input.
Claim 5
Dependent Claim
25 words
The control circuit of claim 1 in which said programmed data and said proportional parameters are input to said signal combining means in digital form.
Claim 6
Dependent Claim
15 words
The control circuit of claim 2 wherein said signal combining means are digital differential analyzers.
Claim 7
Dependent Claim
79 words
The control circuit of claim 1 further including feedrate determining means, said feedrate determining means receiving a fixed rate signal and a variable rate signal to thereby yield a feedrate signal dependent upon said variable rate signal, said variable rate signal being dependent upon initial displacement values along said axes, and said feedrate signal containing said programmed data and said proportional parameters so that said output motion signals determine the direction and rate of change of said four motions.
Claim 8
Dependent Claim
177 words
The control circuit of claim 4 wherein said proportional parameters are defined as: Ia I ( Delta A/ Delta X) Delta A'' Delta Z ( Delta A/ Delta X) Ka K ( Delta A/ Delta X) Ic I ( Delta C/ Delta X) Kc K ( Delta C/ Delta X) Delta C'' Delta Z ( Delta C/ Delta X) where: Delta X programmed changes along an X of said perpendicular axes Delta Z programmed changes along a Z of said perpendicular axes Delta A programmed changes in one of said revolutional motions about an A axis Delta C programmed changes in the other of said revolutional motions about a C axis I an initial displacement along said X axis K an initial displacement along said Z axis Delta A'' calculated changes about a hypothetical A'' axis Delta C'' calculated changes about a hypothetical C'' aXis Ia calculated initial displacement along said A axis Ka calculated initial displacement along said A'' axis Ic calculated initial displacement along said C axis Kc calculated initial displacement along said C'' axis.
Claim 9
Dependent Claim
65 words
The control circuit of claim 5 wherein said variable rate signal (FRN) is defined as: where: K a constant determined by the characteristics of the system IPM X, Z the linear rate of motion in the X-Z plane Delta R Square Root (I2 + K2)/2n , with 2n selected so that where Imax and Kmax are the largest I-K pair among I-K, Ia-K2 and Ic-Kc.
Claim 10
Dependent Claim
247 words
An interpolating system for receiving programmed motion directing data and calculated motion directing data and yielding control signals, said programmed data including Delta X and Delta Z motions with respect to perpendicular X and Z axes and I and K displacement values with respect to said X and Z axes respectively, said programmed data also including Delta A and Delta C revolutional motions with respect to an A axis of motion and a C axis of motion respectively, said calculated data including Delta A'' and Delta C'' revolutional motions with respect to a hypothetical A'' axis of motion and a hypothetical C'' axis of motion respectively, said calculated data also including Ia and Ka displacement values with respect to said A and A'' axes, respectively, and Io and Ko with respect to said C and C'' axes, respectively, said calculated data being established so that said revolutional motions vary in relationship to said Delta X motions in all instances, said interpolating system including: first interpolating means receiving said Delta X, Delta Z, I and K data and yielding control signals for controlling motion with respect to said X and Z axes; second interpolating means receiving said Delta A, Delta A'', Ia, and Ka data and yielding a control signal for controlling motion with respect to said A motion axis; third interpolating means receiving said Delta C, Ic, Delta C'', and Kc data and yielding a control signal for controlling motion with respect to said C motion axis.
Claim 11
Dependent Claim
247 words
An interpolating system for receiving programmed motion directing data and calculated motion directing data and yielding control signals, said programmed data including Delta X and Delta Z motions with respect to perpendicular X and Z axes and I and K displacement values with respect to said X and Z axes respectively, said programmed data also including Delta A and Delta C revolutional motions with respect to an A axis of motion and a C axis of motion respectively, said calculated data including Delta A'' and Delta C'' revolutional motions with respect to a hypothetical A'' axis of motion and a hypothetical C'' axis of motion respectively, said calculated data also including Ia and Ka displacement values with respect to said A and A'' axes, respectively, and Io and Ko with respect to said C and C'' axes, respectively, said calculated data being established so that said revolutional motions vary in relationship to said Delta X motions in all instances, said interpolating system including: first interpolating means receiving said Delta X, Delta Z, I and K data and yielding control signals for controlling motion with respect to said X and Z axes; second interpolating means receiving said Delta A, Delta A'', Ia, and Ka data and yielding a control signal for controlling motion with respect to said A motion axis; third interpolating means receiving said Delta C, Ic, Delta C'', and Kc data and yielding a control signal for controlling motion with respect to said C motion axis.
Claim 12
Dependent Claim
24 words
The interpolating system of claim 7 wherein said first, second, and third interpolating means each includes a plurality of mutually actuating signal comparison means.
Claim 13
Dependent Claim
24 words
The interpolating system of claim 8 wherein said programmed and said calculated data is digital and said signal comparison means are digital differential analyzers.
Claim 14
Dependent Claim
18 words
The interpolating system of claim 8 further including feedrate determining means for controlling the velocities of said motions.
Claim 15
Dependent Claim
177 words
The interpolating system of claim 10 wherein said calculated motions are defined as: Ia I ( Delta A/ Delta X) Delta A'' Delta Z ( Delta A/ Delta X) Ka K ( Delta A/ Delta X) Ic I ( Delta C/ Delta X) Kc K ( Delta C/ Delta X) Delta C'' Delta Z ( Delta C/ Delta X) where: Delta X programmed changes along an X of said perpendicular axes Delta Z programmed changes along a Z of said perpendicular axes Delta A programmed changes in one of said revolutional motions about an A axis Delta C programmed changes in the other of said revolutional motions about a C axis I an initial displacement along said X axis K an initial displacement along sAid Z axis Delta A'' calculated changes about a hypothetical A'' axis Delta C'' calculated changes about a hypothetical C'' axis Ia calculated initial displacement along said A axis Ka calculated initial displacement along said A'' axis Ic calculated initial displacement along said C axis Kc calculated initial displacement along said C'' axis.
Claim 16
Dependent Claim
63 words
The interpolating system of claim 11 wherein said feedrate number is defined as: where: K a constant determined by the characteristics of the system IPM X, Z the linear rate of motion in the X-Z plane Delta R Square Root (I2 + K2)/2n , with 2n selected so that where Imax and Kmax are the largest I-K pair among I-K, Ia-K2 and Ic-Kc.
Claim 17
Dependent Claim
24 words
The interpolating system of claim 12 wherein said programmed and said calculated data is digital and said signal comparison means are digital differential analyzers.
Claim 18
Dependent Claim
146 words
A control circuit for causing proportional motions in a system having at least three degrees of motion and including means for producing programmed motion inputs and for calculating proportional motion inputs, said proportional motion inputs being calculated so that at least some of said motions are proportional to a selected one of said motions, said programmed motion inputs defining degrees of motion with respect to at least two perpendicular axes and said calculated proportional motion inputs defining degrees of motion with respect to at least one assumed axis selected so that said calculated motion inputs combine with said programmed motion inputs and cause proportionality of movement among said degrees of motion, said control circuit comprising: a plurality of signal combining means selectively receiving combinations of said programmed motion inputs and said proportional motion inputs and individually generating control signals individually representative of said degrees of motions.
Claim 19
Dependent Claim
146 words
A control circuit for causing proportional motions in a system having at least three degrees of motion and including means for producing programmed motion inputs and for calculating proportional motion inputs, said proportional motion inputs being calculated so that at least some of said motions are proportional to a selected one of said motions, said programmed motion inputs defining degrees of motion with respect to at least two perpendicular axes and said calculated proportional motion inputs defining degrees of motion with respect to at least one assumed axis selected so that said calculated motion inputs combine with said programmed motion inputs and cause proportionality of movement among said degrees of motion, said control circuit comprising: a plurality of signal combining means selectively receiving combinations of said programmed motion inputs and said proportional motion inputs and individually generating control signals individually representative of said degrees of motions.
Claim 20
Dependent Claim
63 words
The control circuit of claim 14 further including first interpolator means for interpolating at least one of said programmed motion inputs in accordance with a particular mathematically defined path, and second interpolating means for receiving said calculated motion inputs so that said calculated motion inputs cause the other of said programmed motion inputs to be interpolated in accordance with said mathematically defined path.
Claim 21
Dependent Claim
89 words
The control circuit of claim 14 wherein said plurality of signal combining includes one interpolating means for each of said degrees of motion, one of said interpolating means receiving one of said programmed motion inputs and interpolating said input according to a particular mathematical expression and yielding said selected one of said motions as an output; and the other of said interpolating means receiving the other of said programmed motion inputs and said calculated proportional inputs and interpolating said other programmed motion inputs in accordance with said mathematical expression.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-02-06 | 1976-08-07 | 1977-02-06 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-02-06 | 1980-08-07 | 1981-02-06 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-02-06 | 1984-08-07 | 1985-02-06 | $7700.00 | Window Closed / Lapsed |