Method of verifying operating command, method of controlling machining device, recording medium recorded with operating-command verification program, and operating-command verification system

Patent metadata

Field	Value
Publication number	US-10744549-B2
Application number	US-201615555864-A
Country	US
Kind code	B2
Filing date	Feb 5, 2016
Priority date	Mar 4, 2015
Publication date	Aug 18, 2020
Grant date	Aug 18, 2020

Abstract

The present disclosure includes calculating coordinates of a midpoint of one of a plurality of first tool teaching points and the subsequent first tool teaching point, and calculating coordinates of a midpoint of one of a plurality of second tool teaching points that corresponds to the one first tool teaching point and the subsequent second tool teaching point, calculating an inter-midpoint distance between the midpoint of the first tool teaching points and the midpoint of the corresponding second tool teaching points, determining whether the inter-midpoint distance is within a given tolerance range, and reporting, when the inter-midpoint distance is out of the given tolerance range, the corresponding first tool teaching points and second tool teaching points as poor.

First claim

What is claimed is:

1. A machining method using a machining device configured to perform incremental forming using a first tool and a second tool, the machining method comprising:
pressing a tip end of the first tool against a first surface of a workpiece disposed at a given location;
pressing a tip end of the second tool against a second surface of the workpiece, the second surface being located opposite from the first surface of the workpiece;
moving the first tool based on a plurality of first tool teaching points while maintaining the first tool pressed against the workpiece, the plurality of first tool teaching points defining a scheduled route of the tip end of the first tool;
moving the second tool based on a plurality of second tool teaching points while maintaining the second tool pressed against the workpiece, the plurality of second tool teaching points being set corresponding to the plurality of first tool teaching points and defining a scheduled route of the tip end of the second tool;
calculating coordinates of a midpoint between one of the plurality of first tool teaching points and a subsequent first tool teaching point, and calculating coordinates of a midpoint between one of the plurality of second tool teaching points that corresponds to the one first tool teaching point and a subsequent second tool teaching point;
calculating an inter-midpoint distance between the midpoint of the one and the subsequent first tool teaching points and the midpoint of the corresponding one and the subsequent second tool teaching points;
determining whether the calculated inter-midpoint distance is determined to be outside of the predetermined tolerance range; and
when the inter-midpoint distance is determined to be outside of the predetermined tolerance range, notifying that the corresponding one and the subsequent first tool teaching points and the one and the subsequent second tool teaching points as poor.

2. The method of claim 1 , wherein:
the scheduled route of the second tool is defined based on the scheduled route of the first tool,
the method further comprises:
calculating a first tool traveling distance between the one of the plurality of first tool teaching points and the subsequent first tool teaching points, and calculating a second tool traveling distance between the one of the plurality of second tool teaching points corresponding to the one first tool teaching point and the subsequent second tool teaching point; and
comparing the first tool traveling distance with the second tool traveling distance,

wherein the determining that the inter-midpoint distance is outside of the predetermined tolerance range, such that the teaching point is poor, occurs when the second tool traveling distance is greater than the first tool traveling distance, and determining the teaching point is not poor occurs when the second tool traveling distance is less than the first tool traveling distance.

3. The method of claim 2 , wherein:
the tip end of the first tool and the tip end of the second tool are formed in a hemispherical shape, respectively, and
the tolerance range is defined based on a radius of the tip end of the first tool, a radius of the tip end of the second tool, and a plate thickness of the workpiece.

4. The method of claim 1 , wherein:
the tip end of the first tool and the tip end of the second tool are formed in a hemispherical shape, respectively, and
the tolerance range is defined based on a radius of the tip end of the first tool, a radius of the tip end of the second tool, and a plate thickness of the workpiece.

5. A non-transitory computer readable recording medium storing an operating-command verification program for a machining system including a machining device configured to perform incremental forming, and a control device configured to control operation of the machining device based on an operating command, the machining device including:
a first tool of which a tip-end part is arranged toward a first surface of a plate-like workpiece in a state where the workpiece is disposed at a given location;
a first link part configured to hold the first tool and move the first tool with respect to the workpiece;
a second tool of which a tip-end part is arranged toward a second surface opposite from the first surface of the workpiece; and
a second link part configured to hold the second tool and move the second tool with respect to the workpiece, independently from the first tool,
wherein the incremental forming is performed so that the tip-end part of the first tool and the tip-end part of the second tool are pressed against the workpiece,
wherein the control device controls operations of the first link part and the second link part based on the operating command containing information on a plurality of first tool teaching points that define a scheduled route of the tip-end part of the first tool, and a plurality of second tool teaching points that are set corresponding to the plurality of first tool teaching points and define a scheduled route of the tip-end part of the second link, and
wherein the operating-command verification program causes a computer to execute a teaching point poor determination comprising:
calculating coordinates of a midpoint between one of the plurality of first tool teaching points and a subsequent first tool teaching point, and calculating coordinates of a midpoint between one of the plurality of second tool teaching points that corresponds to the one first tool teaching point and a subsequent second tool teaching point;
calculating an inter-midpoint distance between the midpoint of the one and the subsequent first tool teaching points and the midpoint of the corresponding one and the subsequent second tool teaching points;
determining whether the inter-midpoint distance is within a predetermined tolerance range; and
when the inter-midpoint distance is determined to be outside of the predetermined tolerance range, notifying that the one and the subsequent first tool teaching points and the one and the subsequent second tool teaching points as poor.

6. A machining system comprising:
a machining device configured to perform incremental forming;
a control device configured to control operation of the machining device based on an operating command; and
a computer configured to create the operating command,
wherein the machining device includes:
a first tool of which a tip end is arranged toward a first surface of a workpiece in a state where the workpiece is disposed at a given location;
a first link part configured to hold the first tool and move the first tool with respect to the workpiece;
a second tool of which a tip end is arranged toward a second surface opposite from the first surface of the workpiece; and
a second link part configured to hold the second tool and move the second tool with respect to the workpiece, independently from the first tool,

wherein the incremental forming is performed so that the tip end of the first tool and the tip end of the second tool are pressed against the workpiece,
wherein the control device controls operations of the first link part and the second link part based on the operating command containing information on a plurality of first tool teaching points that define a scheduled route of the tip end of the first tool, and a plurality of second tool teaching points that are set corresponding to the plurality of first tool teaching points and define a scheduled route of the tip end of the second link, and
wherein the computer executes a teaching point poor determination including:
calculating coordinates of a midpoint between one of the plurality of first tool teaching points and a subsequent first tool teaching point, and calculating coordinates of a midpoint between one of the

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Watanabe Masayuki
• Kawabata Junichi

Classifications

• B21D31/005 Primary

  Incremental shaping or bending, e.g. stepwise moving a shaping tool along the surface of the workpiece (B21D22/14 takes precedence) · CPC title

• 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 program data in numerical form (G05B19/418 takes precedence) · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B21D22/18 Primary

  using tools guided to produce the required profile · CPC title

• B21C51/00

  Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F · CPC title