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1. 发明授权

US4639172A Trace control method 失效
标题翻译：跟踪控制方法
公开(公告)号：US4639172A
公开(公告)日：1987-01-27
申请号：US700703
申请日：1985-01-25
申请人： Hajimu Kishi , Mitsuo Matsui , Hitoshi Matsuura
发明人： Hajimu Kishi , Mitsuo Matsui , Hitoshi Matsuura
IPC分类号： B23Q35/12 , B23Q35/123 , B23Q35/121 , G05B19/24
CPC分类号： B23Q35/123 , Y10T409/300896 , Y10T409/30196
摘要： Provided is a tracer control method in a master-slave type tracer system having first and second tracer units in each of which a tracer controller (TCC.sub.1, TCC.sub.2) generates velocity commands (V.sub.x, V.sub.y, V.sub.z) along respective axes by using a detection signal generated by a tracer head (TC.sub.1, TC.sub.2), motors (XM.sub.1, YM.sub.1, ZM.sub.1 ; XM.sub.2, YM.sub.2, ZM.sub.2) provided for respective axes are driven on the basis of the velocity commands and a workpiece (WK.sub.1, WK.sub.2) is subjected to tracer machining conforming to the profile of a model (MDL), tracer machining being performed by tracing a model (MDL.sub.1) with the tracer head (TC.sub.1) on the first tracer unit side and providing the second tracer unit with a move command on the basis of the tracing. In the tracer control method, the first tracer unit (TCC.sub.1, TCM.sub.1) produces the velocity commands (V.sub.x, V.sub.y, V.sub.z) in digital form to drive the motors (XM.sub.1, YM.sub.1, ZM.sub.1 ) for the respective axes, monitors a current position of a movable element, and sends a distance travelled along each axis during a predetermined time interval as a digital move command to the second tracer unit (TCC.sub.2, TCM.sub.2). A pulse distributor (PDC.sub.2) of the second tracer unit performs a pulse distribution calculation on the basis of move command data received as an input from the first tracer unit, thereby to control the motors (XM.sub.2, YM.sub.2, ZM.sub.2) of the respective axes on the side of the second tracer unit.
摘要翻译： PCT No.PCT / JP84 / 00056 Sec。 371日期1985年1月25日第 102（e）日期1985年1月25日PCT提交1984年2月20日PCT公布。第WO84 / 04718号公报日期为1984年12月6日。提供了一种具有第一和第二示踪器单元的主从型示踪器系统中的示踪器控制方法，每个示踪器单元中的示踪器控制器（TCC1，TCC2）沿着生成速度命令（Vx，Vy，Vz）通过使用由针对各轴设置的示踪头（TC1，TC2），电动机（XM1，YM1，ZM1，XM2，YM2，ZM2）生成的检测信号的各轴通过速度指令和工件（WK1 ，WK2）进行符合模型轮廓（MDL）的示踪加工，通过在第一示踪单元侧跟踪具有示踪头（TC1）的模型（MDL1）来执行示踪加工，并向第二示踪单元提供基于跟踪的移动命令。在跟踪器控制方法中，第一跟踪单元（TCC1，TCM1）产生数字形式的速度指令（Vx，Vy，Vz）来驱动各个轴的电机（XM1，YM1，ZM1），监视当前位置可移动元件，并且在预定时间间隔内将沿着每个轴行进的距离作为数字移动命令发送到第二示踪单元（TCC2，TCM2）。第二示踪单元的脉冲分配器（PDC2）基于从第一示踪单元作为输入接收的移动指令数据进行脉冲分布计算，从而控制各轴的电动机（XM2，YM2，ZM2）第二示踪器单元的一侧。

2. 发明授权

US4803633A Machine tool for tracer controlled machinery and numerical controlled machinery 失效
标题翻译：示踪机控制机械和数控机床的机床
公开(公告)号：US4803633A
公开(公告)日：1989-02-07
申请号：US129374
申请日：1987-11-23
申请人： Hajimu Kishi , Mitsuo Matsui , Hitoshi Aramaki
发明人： Hajimu Kishi , Mitsuo Matsui , Hitoshi Aramaki
IPC分类号： B23Q35/12 , B23Q15/00 , B23Q35/121 , G05B19/18 , G05B19/414
CPC分类号： B23Q35/121 , G05B2219/50167
摘要： There are provided a tracing control apparatus (1), a numerical control apparatus (2), and switching circuits (3X, 3Y, 3Z) for switching and transmitting selectively control instructions from the tracing control apparatus (1) and the numerical control apparatus (2), to a three-axis driving means for the tracer controlled machining (4) and a three-axis driving means for the numerically controlled machining (5) in accordance with selection signals. A numerically controlled machining and tracer controlled machining selection signal (S.sub.C) is used as one of the selection signals besides a tracer controlled machining selection signal (S.sub.A) and a numerically controlled machining selection signal (S.sub.B). When the numerically controlled machining and tracer controlled machining selection signal (S.sub.C) is selected, the three-axis driving means for the tracer controlled machining (4) is controlled by the tracing control apparatus (1), and the three-axis driving means for the numerically controlled machining (5) is controlled by the numerical control apparatus (2), independently. As a result, it is possible to perform the preparation for the tracer controlled machining or the conversion of the tracer controlled machining data into digital information, simultaneously, with the numerically controlled machining.
摘要翻译：提供了一种跟踪控制装置（1），数字控制装置（2）和用于从跟踪控制装置（1）和数字控制装置（1）选择性地控制指令的切换和发送的切换电路（3X，3Y，3Z）根据选择信号，用于用于跟踪控制加工的三轴驱动装置（4）和用于数控加工的三轴驱动装置（5）。除了示踪器控制加工选择信号（SA）和数控加工选择信号（SB）之外，还使用数控加工和跟踪控制加工选择信号（SC）作为选择信号之一。当选择了数控加工和跟踪控制加工选择信号（SC）时，用于跟踪控制加工（4）的三轴驱动装置由跟踪控制装置（1）控制，三轴驱动装置用于数控加工（5）由数控装置（2）独立控制。结果，可以通过数控加工同时进行示踪剂控制加工的准备或示踪器控制的加工数据的转换成数字信息。

3. 发明授权

US4503372A Method and apparatus for sensing present position in position control system 失效
标题翻译：用于感测位置控制系统中当前位置的方法和装置
公开(公告)号：US4503372A
公开(公告)日：1985-03-05
申请号：US442422
申请日：1982-11-17
申请人： Ryoichiro Nozawa , Hidetsugu Komiya , Hajimu Kishi , Hitoshi Matsuura , Etsuo Yamazaki , Hiroshi Sakurai
发明人： Ryoichiro Nozawa , Hidetsugu Komiya , Hajimu Kishi , Hitoshi Matsuura , Etsuo Yamazaki , Hiroshi Sakurai
IPC分类号： G05D3/12 , B23Q35/123 , G05B19/18 , G05B19/19 , G05B19/23 , G05B19/404
CPC分类号： B23Q35/123 , G05B19/19 , G05B19/231 , G05B2219/41409 , G05B2219/42118 , G05B2219/42213
摘要： A method and apparatus for sensing the present position of a movable machine element in a position control system when a position control loop in the system is placed in the open state. In the position control system, error storage means computes and stores an error which corresponds to the difference between a command value produced by a control unit and an amount of movement sensed by a position sensor provided on a motor shaft or on the movable machine element. A speed control circuit controls the motor in accordance with the error from the error storage means. The method of sensing the present position includes the steps of reading and storing the error from the error storage means as a steady deviation immediately before the position control loop is switched from the closed to the open state, reading the error in the error storage means when the position control loop is in the open state, updating the content of a present position register on the basis of an arithmetic difference obtained by subtracting the steady deviation from the error read from the error storage means when the position control loop is in the open state, and revising the content of the error storage means in dependence upon the arithmetic difference.
摘要翻译：一种当系统中的位置控制回路处于打开状态时，用于感测位置控制系统中的可移动机构元件的当前位置的方法和装置。在位置控制系统中，误差存储装置计算并存储对应于由控制单元产生的命令值与由设置在电动机轴上或可移动机构元件上的位置传感器感测到的运动量之间的差异的误差。速度控制电路根据来自错误存储装置的错误来控制电动机。感测当前位置的方法包括以下步骤：在位置控制循环从关闭状态切换到打开状态之前将来自误差存储装置的误差作为稳定偏差读取并存储，读取错误存储装置中的错误，位置控制回路处于打开状态，基于当位置控制回路处于打开状态时通过从误差存储装置读取的误差中减去稳定偏差而获得的算术差异来更新当前位置寄存器的内容并且根据算术差异来修正错误存储装置的内容。

4. 发明授权

US5066847A Automatic welding machine path correction method 失效
标题翻译：自动焊接机路径校正方法
公开(公告)号：US5066847A
公开(公告)日：1991-11-19
申请号：US269742
申请日：1988-10-28
申请人： Hajimu Kishi , Tohru Mizuno , Yuichi Kanda
发明人： Hajimu Kishi , Tohru Mizuno , Yuichi Kanda
IPC分类号： B23K9/127
CPC分类号： B23K9/127
摘要： According to a path correction method in an automatic welding machine in accordance with the invention, the torch TC of a welding machine is grasped by a robot and welding is performed while the welding torch is weaved to the left and right of a welding line. At such time, an integrated value of welding current of the torch weaved with respect to a given welding line is computed every half cycle, the correction direction is decided, the amount of correction is decided by performing a computation, which is based on the integrated value, in dependence upon the correction direction decided, and the weaving path of the torch is corrected by multiplying the decided amount of correction by a predetermined coefficient.

5. 发明授权

US4841432A Method of reconfiguration of storage areas in an apparatus for cheating NC tapes 失效
标题翻译：用于作弊NC磁带的设备中存储区域的重新配置方法
公开(公告)号：US4841432A
公开(公告)日：1989-06-20
申请号：US145739
申请日：1988-01-19
申请人： Hajimu Kishi , Takashi Takegahara , Masashi Yukutomo
发明人： Hajimu Kishi , Takashi Takegahara , Masashi Yukutomo
IPC分类号： G05B19/42 , G06F9/445 , G06F12/02 , G06F12/08
CPC分类号： G05B19/4202 , G06F12/0223 , G05B2219/33125 , Y02P90/185
摘要： In an apparatus wherein a memory is subdivided into plural storage areas, and predetermined data are adapted to be written into respective ones of the storage areas, a method of reconfiguring the storage areas of the memory. The leading addresses of the respective storage areas and the sizes of blank portions of the respective storage areas are stored while it is discriminated whether a blank portion exists in a predetermined one of the storage areas. When there is no blank portion or substantially no blank portion in the predetermined storage area, the blank portions of the remaining storage areas are reduced in size on the basis of the leading addresses and the sizes of the blank portions. The predetermined storage area is enlarged by an amount equal to the amount of blank portion reduction effected in the remaining areas.
摘要翻译：在将存储器细分为多个存储区域并且将预定数据适于写入相应的存储区域的装置中，重新配置存储器的存储区域的方法。在识别存储区域中的预定的一个中是否存在空白部分的同时，存储各个存储区域的前导地址和各个存储区域的空白部分的大小。当在预定的存储区域中没有空白部分或基本上没有空白部分时，剩余存储区域的空白部分的大小基于空白部分的前导地址和大小而减小。预定的存储区域被扩大了与剩余区域中的空白部分减少量相等的量。

6. 发明授权

US4831235A Automatic welding machine torch movement control system 失效
标题翻译：自动焊机割炬运动控制系统
公开(公告)号：US4831235A
公开(公告)日：1989-05-16
申请号：US871415
申请日：1986-05-21
申请人： Hajimu Kishi , Shinsuke Sakakibara , Haruyuki Ishikawa
发明人： Hajimu Kishi , Shinsuke Sakakibara , Haruyuki Ishikawa
IPC分类号： B23K9/12 , B23K9/022 , B23K9/127
CPC分类号： B23K9/127
摘要： A welding control system in an automatic welding machine controls the movement of a torch (TC) such that while the torch is weaving along a welding line (CT), the torch is moved under the control of a control device (3). The amplitudes on the lefthand side (aL) and righthand side (aR) of a welding line are based on independent commands. The welding control system can provide a weaving pattern according to the manner in which a desired workpiece is to be welded.
摘要翻译： PCT No.PCT / JP85 / 00532 Sec。 371日期：1986年5月21日 102（e）日期1986年5月21日PCT提交1985年9月26日PCT公布。出版物WO86 / 02029 PCT 日期：1986年04月10日。自动焊接机中的焊接控制系统控制手电筒（TC）的移动，使得在割炬沿着焊接线（CT）编织时，焊炬在控制下移动装置（3）。焊接线的左侧（aL）和右侧（aR）的振幅基于独立的命令。焊接控制系统可以根据期望的工件要焊接的方式提供编织图案。

7. 发明授权

US4755926A Method and apparatus for producing a three-dimensional curved surface from two-dimensional curves in perpendicular planes 失效
标题翻译：用于从垂直平面中的二维曲线生成三维曲面的方法和装置
公开(公告)号：US4755926A
公开(公告)日：1988-07-05
申请号：US711578
申请日：1985-03-06
申请人： Hajimu Kishi , Masaki Seki
发明人： Hajimu Kishi , Masaki Seki
IPC分类号： B23Q15/00 , G05B19/4093 , G05B19/4097 , G05B19/4099 , G05B19/41 , G05B19/4103 , G06F17/50 , G06F15/46 , G05B19/18
CPC分类号： G05B19/4099 , G05B19/41 , G05B2219/35146
摘要： A method and apparatus for specifying a three-dimensional curve having steps of entering data specifying a first projection curve (CV.sub.1) and a second projection curve (CV.sub.2) is obtained when a three-dimensional curve (31a) is projected onto two adjacent planes (e.g., an XY plane and a YZ plane) in a rectangular coordinate system. The method also includes finding coordinate values (a.sub.i, b.sub.i) of an i-th (i=1, 2 . . . ) partition point P.sub.i from among partition points partitioning the first projection curve (CV.sub.1) into a number of line segments and finding coordinate values (b.sub.i,c.sub.i) of a point Q.sub.i on the second projection curve (CV.sub.2) having a coordinate value b.sub.i on a common axis (Y axis) among coordinate axes of the two adjacent planes. The three-dimensional curve (31a) is specified by a collection of points (R.sub.i) having the three-dimensional coordinate values (a.sub.i, b.sub.i, c.sub.i).
摘要翻译： PCT No.PCT / JP84 / 00347 Sec。 371日期：1985年3月6日 102（e）1985年3月6日PCT PCT。1984年7月7日PCT公布。公开号WO85 / 00442 日期：1985年1月31日。当三维曲线（31a）为三维曲线（31a）时，获得用于指定具有输入指定第一投影曲线（CV1）和第二投影曲线（CV2）的数据的步骤的三维曲线的方法和装置被投影到矩形坐标系中的两个相邻平面（例如，XY平面和YZ平面）上。该方法还包括从划分第一投影曲线（CV1）的分割点中找到第i（i = 1,2，...）分割点Pi的坐标值（ai，bi）到多个线段并找到在两个相邻平面的坐标轴之间的公共轴（Y轴）上具有坐标值bi的第二投影曲线（CV2）上的点Qi的坐标值（bi，ci）。三维曲线（31a）由具有三维坐标值（ai，bi，ci）的点（Ri）的集合来指定。

8. 发明授权

US4680719A Method of controlling comb-cutter lathe 失效
标题翻译：控制梳刀车床的方法
公开(公告)号：US4680719A
公开(公告)日：1987-07-14
申请号：US621925
申请日：1984-06-18
申请人： Hajimu Kishi , Masaki Seki , Takashi Takegahara
发明人： Hajimu Kishi , Masaki Seki , Takashi Takegahara
IPC分类号： B23B1/00 , G05B19/416 , G05B19/00 , G06F15/00
CPC分类号： B23B1/00 , G05B19/4166 , G05B2219/45141 , G05B2219/49157 , G05B2219/49392 , G05B2219/50291 , Y10T82/2502
摘要： A method of controlling a comb-cutter lathe in which one face of a tool rest (TBS) is provided with two or more juxtaposed tools (TL1, TL2) for subjecting a workpiece (WK) to machining by using: (1) predetermined tools in succession, (2) part dimensions, (3) a tool selection sequence, (4) a machining start location for each tool, and (5) mounting dimension information measured from a reference point on the tool rest to a distal end of each tool. Machining is sequentially performed based on this information by predetermined tools at machining locations (P.sub.5 -P.sub.4 -P.sub.3 -P.sub.2 -P.sub.1 ; P.sub.6 -P.sub.7 -P.sub.8 -P.sub.9 -P.sub.10) assigned to the tools, and after machining is completed by a first tool (TL1), the tool rest (TBS) is moved to position the next tool (TL2) at a machining location and machining is performed by that tool. The method includes moving the tool rest along a Z axis to a point P.sub.r at which none of the tools (TL1, TL2) will contact the workpiece (WK) when the tool rest (TBS) is moved in a direction (X-axis direction) at right angles to the longitudinal direction (Z-axis direction) of the workpiece, and thereafter moving the tool rest along the X axis to a point P.sub.t at which an X-axis position of a selected tool coincides with an X-axis coordinate value of a position at which machining is to be started by the selected tool, and thenforth performing machining using the selected tool.
摘要翻译： PCT No.PCT / JP83 / 00373 Sec。 371日期1984年6月18日 102（e）日期1984年6月18日PCT提交1983年10月25日PCT公布。出版物WO84 / 01730 日期：1984年5月10日。一种控制梳齿机床的方法，其中刀架（TBS）的一个面设有两个或多个并置工具（TL1，TL2），用于使工件（WK）通过使用：（1）连续预定的工具，（2）零件尺寸，（3）刀具选择顺序，（4）每个刀具的加工开始位置，以及（5）将从刀具座上的参考点测量的尺寸信息安装到每个工具的远端。基于该信息，通过分配给工具的加工位置（P5-P4-P3-P2-P1; P6-P7-P8-P9-P10）上的预定工具依次进行加工，并且在通过第一工具 TL1），移动刀架（TBS）以将下一个刀具（TL2）定位在加工位置，并通过该刀具进行加工。该方法包括：将工具架沿着Z轴移动到点Pr，在点X（X轴方向）移动刀架（TBS）时，刀具（TL1，TL2）将不接触工件（WK）的点Pr ）与工件的纵向（Z轴方向）成直角，然后将刀架沿着X轴移动到所选刀具的X轴位置与X轴坐标重合的点Pt 由所选择的刀具开始加工的位置的值，然后使用所选择的刀具进行加工。

9. 发明授权

US4635185A Machining area specifying method for an automatic programming system 失效
标题翻译：自动编程系统的加工区域指定方法
公开(公告)号：US4635185A
公开(公告)日：1987-01-06
申请号：US680252
申请日：1984-11-28
申请人： Hajimu Kishi , Kunio Tanaka , Takashi Takegahara
发明人： Hajimu Kishi , Kunio Tanaka , Takashi Takegahara
IPC分类号： B23Q15/00 , G05B19/4093 , G06F15/46 , G05B19/18
CPC分类号： G05B19/40937 , G05B2219/35431 , G05B2219/36257 , G05B2219/36318 , Y02P90/265
摘要： A machining area specifying method for an automatic programming system specifies a partial path to be machined, wherein the path is part of a closed path. The machining area specifying method includes the step of displaying a closed path trajectory form by a number of path blocks (b.sub.1, b.sub.2 . . . b.sub.16) on a display screen (105) by using path data prepared beforehand. First and second points (P.sub.5, P.sub.12) on the closed path are entered by designating the points with a cursor (CSR). A point (P.sub.6) on a first path (P.sub.5 .fwdarw.P.sub.6 .fwdarw. . . . P.sub.12) and a point (P.sub.13) on a second path which are connected to the first and second points, are designated by the cursor. An area to be machined is specified by operating a machining area input switch when the first path is being designated by the cursor in a case where the first path is to be machined, while the machining area input switch is operated when the second path is being designated by the cursor in a case where the second path is to be machined.
摘要翻译： PCT No.PCT / JP84 / 00136 Sec。 371日期1984年11月28日 102（e）日期1984年11月28日PCT提交1984年3月27日PCT公布。公开号WO84 / 03958 日期：1984年10月11日。自动编程系统的加工区域指定方法指定要加工的部分路径，其中路径是封闭路径的一部分。加工区域指定方法包括通过使用预先准备的路径数据在显示屏幕（105）上通过多个路径块（b1，b2 ... b16）显示闭路径轨迹形式的步骤。通过用光标（CSR）指定点来输入封闭路径上的第一和第二点（P5，P12）。通过光标指定第一路径上的点（P6）和连接到第一和第二点的第二路径上的点（P13）和点（P13）。当在第一路径被加工的情况下，当加工区域输入开关被操作时，在第一路径被光标指定的第一路径被操作时，通过操作加工区域输入开关来指定要加工的区域在要加工第二路径的情况下由光标指定。

10. 发明授权

US4034192A Numerical control system having a symmetrical path generation means 失效
标题翻译：具有对称路径产生装置的数控系统
公开(公告)号：US4034192A
公开(公告)日：1977-07-05
申请号：US637971
申请日：1975-12-05
申请人： Hajimu Kishi , Fumio Onoda
发明人： Hajimu Kishi , Fumio Onoda
IPC分类号： G05B19/4093 , B23Q15/00 , G05B19/408 , G05B19/4103 , G05B19/24
CPC分类号： G05B19/4103 , G05B19/408 , G05B2219/35554 , G05B2219/36503
摘要： A numerical control comprising an input means for reading a program, a forward-interpolating-information producing circuit, a reverse-interpolating-information producing circuit, an interpolation circuit and a control circuit for controlling the above means is provided.
摘要翻译：提供了包括用于读取程序的输入装置，前向内插信息产生电路，反向内插信息产生电路，内插电路和用于控制上述装置的控制电路的数字控制。

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