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71. 发明专利

JPH0628024A NUMERICALLY CONTROLLED APPARATUS AND TOOL- ROUTE DECISION METHOD 失效
公开(公告)号：JPH0628024A
公开(公告)日：1994-02-04
申请号：JP9603693
申请日：1993-04-22
申请人： PHILIPS ELECTRONICS NV
发明人： PIOTORU YAN MEIYAA , NOERU RIPORUUENSENATO
IPC分类号： G05B19/4093 , G05B19/41 , G05B19/4103 , G05B19/415 , G05B19/403
摘要： PURPOSE: To provide a numerical controller, which eliminates the need for preliminarilty calculating a spline approximate value for each processing work or object arrangement, and a method which sufficiently quickly calculates the movement route of a tool and is realized by implementing a small number of calculation resources in the numerical control unit. CONSTITUTION: A conversion means 5 is provided with a calculation means 6 which receives route data as outline data, where an outline with offset where the movement route of a tool 3 is at least partially determined by an offset value is described, and displays a route as parameters by plural spline segments having end part points whose positions and inclinations are derived from outline data and offset values. Further, the conversion means 5 is provided with a control signal generation means 9 which generates a control signal to operate the tool 3 along the route formed by spline segments.

72. 发明专利

JPH05341833A 失效
公开(公告)号：JPH05341833A
公开(公告)日：1993-12-24
申请号：JP15235292
申请日：1992-06-11
申请人： KOMATSU MFG CO LTD
发明人： YAMANAKA NOBUYOSHI , SAMEJIMA YASUO
IPC分类号： B25J9/06 , B25J9/10 , G05B19/4103 , G05B19/415
摘要： PURPOSE:To quickly perform the interpolation arithmetic and to attain the real-time control of a robot by defining the moving directions of the robot set at 1st and 2nd teaching positions as target positions at the tip of a tool after calculating a circle where the tangential directions are set at each teaching position defined by the next teaching point as a point set on the circumference of the circle. CONSTITUTION:The moving direction V3 set at an intermediate teaching position P3 among the continuous teaching positions P2-P4 is calculated as the direction of a segment element which divides an angle into two equal parts. This angle is formed between a segment P2P3 connecting both points P2 and P3 together and a segment P3P4 connecting both points P3 and P4 respectively. Then a 1st circle C3 passing the position P4 serving as a final point is calculated with the direction V3 set at the position P3 serving as a start point defined as a tangent. At the same time, a 2nd circle C4 passing the position P3 is calculated with the moving direction V4 set at the position P4 defined as a tangent. Then a target position is calculated based on the positions of the start point through the final point set on the circumference of each circle at each time.

73. 发明专利

JPH05313721A NUMERICAL CONTROLLER 失效
公开(公告)号：JPH05313721A
公开(公告)日：1993-11-26
申请号：JP14007792
申请日：1992-05-02
申请人： BROTHER IND LTD
发明人： YANASE SHUGO
IPC分类号： G05B19/19 , G05B19/4103 , G05D3/12 , G05B19/415
摘要： PURPOSE:To provide the numerical controller capable of making the position of a motor and contents of a present position register coincide with each other in whiechever state the motor is made to be in a free state. CONSTITUTION:When a command pulse signal is outputted and a motor 50 is rotated and the motor 50 is made to be in a free state by an emergency stop switch 226 in this state, while the motor is kept stopped by an auxiliary computer, contents of a presetnt position register 216 is made to coincide with the position of the motor to cause both of them to coincide with each other. If the command pulse signal is not outputted from an acceleration calculating part 214 and the motor 50 is stopped at the time when the motor 50 is made to be in the free state by a speed control circuit 224, the motor 50 is operated in accordance with contents of a deviation counter 218 by the auxiliary computer, and contents of the present position register 216 and the position of the motor 50 are caused to coincide with each other.

74. 发明专利

JPH05274026A 失效
公开(公告)号：JPH05274026A
公开(公告)日：1993-10-22
申请号：JP7081792
申请日：1992-03-27
IPC分类号： B25J9/10 , B25J9/22 , G05B19/4103 , G05B19/416 , G05B19/407 , G05B19/415
摘要： PURPOSE:To prevent the vibration of a robot near the teaching point, where the robot changes the direction, to accurately move the robot with respect to the teaching method where plural teaching points are given to the arm of the robot moving along a certain route. CONSTITUTION:Since a distance si(j) between two interpolation points Hi(j) and Hi(j+1) between teaching point Pi and Pi+1 is calculates based on si(j)= vixDELTAtxki(j) where the correction coefficient ki(j) is changed by an angle thetai at the intersection between the line connecting teaching points Pi-1 and Pi and the line connecting teaching points Pi and Pi+1, the robot can be decelerated near the teaching point where the robot changes the direction.

75. 实用新型

JPH0555203U 失效
公开(公告)号：JPH0555203U
公开(公告)日：1993-07-23
申请号：JP11225391
申请日：1991-12-24
IPC分类号： B25J9/10 , B25J13/08 , G05B19/18 , G05B19/4103 , G05B19/415

76. 实用新型

JPH0246207U 失效
公开(公告)号：JPH0246207U
公开(公告)日：1990-03-29
申请号：JP12578788
申请日：1988-09-27
IPC分类号： G05B19/4103 , G05B19/416 , G05B19/407 , G05B19/415

77. 发明专利

JPS59229618A MOVEMENT CONTROL DEVICE 失效
公开(公告)号：JPS59229618A
公开(公告)日：1984-12-24
申请号：JP10381483
申请日：1983-06-10
申请人： NIPPON ELECTRIC CO
发明人： MURAMATSU YASUO , OKAMOTO KIYOKAZU , OKANO AKIHIKO , SHISHIDO KENJI
IPC分类号： G05B19/4103 , G05B19/415
摘要： PURPOSE:To draw a smooth trace by applying an interpolating operation pulse distribution signal from one of two independent movement control devices to the other to draw similar movement on the surface of a cylinder. CONSTITUTION:One (master device) of two independent servo systems is constituted of a command device 101, a two-axis interpolation operator 102 generating time series pulses in accordance with a command from the command device 101, a servo system 103, a motor 104, etc. The other (slave device) is constituted of a command device 108, an interpolation operator 109, a servo system 110, a motor 111, etc. and a switch 114 for switching pulse distribution signals from the interpolation operator 109 and the two-axis interpolation operator 102 is also connected. When an arc trace is to be drawn, an arc two-axis interpolation command is inputted to the slave device side, the interpolator 102 is actuated by a start signal, so that a distribution pulse of an O-axis component is outputted to the servo system 103, a distribution pulse of an X-axis component is outputted to the servo system 110 through the switch 114 and then an arc working trace is drawn by composing two axes.

78. 发明专利

JPS5750010A Numeric control system 失效
标题翻译：数字控制系统
公开(公告)号：JPS5750010A
公开(公告)日：1982-03-24
申请号：JP12416480
申请日：1980-09-08
申请人： Fanuc Ltd
发明人： KINOSHITA MITSUO
IPC分类号： G05B19/18 , B25J9/18 , G05B19/404 , G05B19/41 , G05B19/4103 , G05B19/415
CPC分类号： G05B19/4103 , G05B19/41
摘要： PURPOSE: To improve cutting precision by perform arc interpolation after finding a new arc center when an arc terminal point is not present on an arc having a center running on an arc initial point.
CONSTITUTION: Based on a work command inputted through a paper tape 21, a tape reader 22 and an input control circuit 23, a radius arithmetic circuit 24 finds radii rA and rB at an initial and a terminal point. A comparing circuit 27 detects coincidence between the rA and rB and, when detecting it, outputs a coincidence signal COI. On inputting the COI, a multiplexer 30 outputs an xO, an yO, an iO and a jO to an arc interpolator 31, which performs normal interpolation. When not, an *COI is outputted and new centers iN and jN obtained by a new center arithmetic circuit 29 on the basis of radii (r) found by a new radius arithmetic circuit 28 are inputted to the multiplexer 30. On the basis of the xO, yO, iN, and jN, arc interpolation is performed.
COPYRIGHT: (C)1982,JPO&Japio
摘要翻译：目的：当圆弧终点不存在于圆弧初始点上运行的圆弧上时，通过在找到新的弧形中心之后执行电弧插补来提高切割精度。构成：根据通过纸带21输入的工作命令，带读取器22和输入控制电路23，半径运算电路24在初始点和终点处找到半径rA和rB。比较电路27检测rA和rB之间的一致性，并且当检测到它时输出一致信号COI。在输入COI时，多路复用器30将xO，yO，iO和jO输出到执行正常插值的圆弧插值器31。如果不是，则输出COI，并且由新的中心运算电路29基于由新的半径运算电路28找到的半径（r）获得的新的中心iN和jN被输入到多路复用器30。，yO，iN和jN，进行圆弧插补。

79. 发明专利

JPH06324729A ACCELERATION DECELERATION CONTROLLER 失效
公开(公告)号：JPH06324729A
公开(公告)日：1994-11-25
申请号：JP10830093
申请日：1993-05-10
申请人： OKUMA MACHINERY WORKS LTD
发明人： NASHIKI MASAYUKI , KONDO HISAMI
IPC分类号： G05B21/02 , G05B19/4103 , G05B19/416 , G05B19/407 , G05B19/415
摘要： PURPOSE:To reduce the operating time and to improve the processing efficiency by providing an acceleration/deceleration controller suppressing processing load and whose acceleration/deceleration time constant is optionally selected in an optional timing to attain optimum acceleration/deceleration processing to a machining condition such as a feed speed in the processing of a machine tool or the like. CONSTITUTION:A position moving quantity from a host controller is converted into an accumulated value of absolute positions by using two accumulators connected in series and the result is inputted to a 1st stage of a buffer register 4. A changeover device 5 is provided to allow an opposite party registration in the buffer register 4 to read the value. The substantial stage number of the buffer register 4 is revised by the changeover device 5 and a divisor of a divider 7 is selected in matching with the revision, then a time constant of acceleration/deceleration is optionally selected.

80. 发明专利

JPH06309038A METHOD FOR PLANNING TRACK OF ROBOT 失效
公开(公告)号：JPH06309038A
公开(公告)日：1994-11-04
申请号：JP9404693
申请日：1993-04-21
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： MORI NOBUHITO
IPC分类号： B25J9/10 , G05B19/4103 , G05B19/416 , G05D1/02 , G05D3/12 , G05B19/407 , G05B19/415
摘要： PURPOSE:To find a target position by internal division for smooth interpolation for the robot. CONSTITUTION:For movement from a point A to a point C through nearby a point B, operation in which BPe on BC is divided by an interpolation number or divided internally, an internal division point P1 between a found first point on BC and a point Ps on AB is found, and this internally dividing point P1 and a next divided point R2 or internally dividing point on BPe is divided internally is repeated.

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