Patent ID: 7241200
Filing Date: 2007-07-10
Classification: B24B

Abstract:
1. A method of controlling a processing machine to process a plurality of workpieces, the processing machine having a gantry unit for x, y and z translational positioning of a workpiece, a gimbal unit mounted on the gantry unit for x, y and z rotational positioning of the workpiece, a main gripper unit for holding the workpiece from the inside or the outside and in horizontal or vertical orientations, and a plurality of spaced workstations for manipulating or processing the workpiece, the method comprising the following steps: setting up at least one desired trajectory of a workpiece from a storage tray through a selected series of end positions at workstations, the trajectory being associated with a selected workpiece style; setting up a series of parameters for processing each style of workpiece, the parameters comprising grinding force parameters and motor speeds; setting up a series of workpiece locations on a storage tray; controlling the gantry and gimbal motors to move the main gripper unit to a first position over a workpiece on the storage tray; controlling the gantry motors and gripper unit to move to the workpiece, grip the workpiece, and move the workpiece from the tray; controlling the gantry and gimbal motors to move the workpiece along the desired trajectory and stop at each end position; at each end position, controlling the tool at the workstation and the gantry and gimbal motors to carry out a processing operation at the workstation before continuing to move the workpiece along the desired trajectory to the next workstation; after the workpiece has been processed at the last workstation in the series, moving the workpiece to an end position; controlling the gripper unit to release the workpiece; controlling the gantry, gimbal and gripper units to move to the next workpiece position on the tray and to pick up the next workpiece to be processed according to the instructions associated with the style stored for that workpiece; and repeating the procedure until all workpieces on a tray have been processed.