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1. 发明授权

US5475602A Acceleration constant switching apparatus 失效
标题翻译：加速恒定开关装置
公开(公告)号：US5475602A
公开(公告)日：1995-12-12
申请号：US244454
申请日：1994-06-02
申请人： Toshiaki Otsuki , Haruhiko Kozai , Masahiko Miyake
发明人： Toshiaki Otsuki , Haruhiko Kozai , Masahiko Miyake
IPC分类号： G05B19/18 , G05B19/4103 , G05B19/4155 , G05B19/416
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/43085 , G05B2219/43103
摘要： A computerized numerical control apparatus for switching an acceleration constant for acceleration/deceleration prior to interpolation in accordance with the kind of an axis, in which an acceleration/deceleration prior to interpolation unit subjects a feed speed to an acceleration/deceleration process based on an acceleration constant designated by an acceleration constant switching unit. The feed speed subjected to the acceleration/deceleration process is transferred to an interpolation unit. The interpolation unit determines distribution pulses X.sub.p, Y.sub.p, Z.sub.p based on the speed data and movement data thereof. The distribution pulses are applied to an X-axis control unit and the like, respectively, and output to the respective axis motors M.sub.x and the like to execute the drive control thereof. On the other hand, a commanded axis recognition unit recognizes the kind of an axis commanded in a next block and the acceleration constant switching unit switches an acceleration constant in accordance with the kind of the axis. For example, when only an X-axis or Y-axis or both X- and Y- axes are used as the kind of an axis, an acceleration constant TA is selected, whereas when a Z-axis is included in the kind of the axis, an acceleration constant TB is selected. In this case, the acceleration constant TA is set to a value larger than the acceleration constant TB.
摘要翻译： PCT No.PCT / JP93 / 01450 Sec。 371日期：1994年6月2日 102（e）日期1994年6月2日PCT提交1993年10月7日PCT公布。第WO94 / 09421号公报日期：1994年04月28日。一种计算机化数值控制装置，用于根据轴的种类来切换加速/减速之前的加速度/加速度，其中在插补单元之前的加速/减速将进给速度加速到加速度基于由加速度常数切换单元指定的加速度常数进行减速处理。进行加速/减速处理的进给速度被传送到内插单元。内插单元基于速度数据及其移动数据来确定分配脉冲Xp，Yp，Zp。分配脉冲分别施加到X轴控制单元等，并输出到各个轴电机Mx等，以执行其驱动控制。另一方面，指令轴识别单元识别在下一个块中指定的轴的种类，并且加速度常数切换单元根据轴的种类切换加速度常数。例如，当仅使用X轴或Y轴或X轴和Y轴两者作为轴的种类时，选择加速度常数TA，而当Z轴包含在轴，选择加速度常数TB。在这种情况下，将加速度常数TA设定为大于加速常数TB的值。

2. 发明授权

US5589750A Acceleration/deceleration control apparatus for numerical control apparatus 失效
标题翻译：数控装置的加速/减速控制装置
公开(公告)号：US5589750A
公开(公告)日：1996-12-31
申请号：US307808
申请日：1994-09-28
申请人： Takashi Idei , Shoichi Sagara , Kentaro Fujibayashi
发明人： Takashi Idei , Shoichi Sagara , Kentaro Fujibayashi
IPC分类号： G05B19/19 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43008 , G05B2219/43041 , G05B2219/43085
摘要： An acceleration/deceleration control apparatus for a numerical control apparatus which controls a tool in a vicinity of a stroke end by making maximum use of a stroke. The tool moves along a locus in an in-stroke region surrounded by a stroke end and carries out machining of a workpiece such as cutting and the like. The tool, which is moved by the numerical control apparatus according to a machining program, starts from a start point and moves up to an end point in accordance with preread machining blocks. The tool moves in response to usual feed speed control except that tool feed speed is decelerated in sections of the machining blocks when the tool approaches the stroke end. The tool feed speed is controlled to a minute speed just before the tool reaches the boundary of the stroke end and maintains the minute speed while moving along the stroke end. The tool is then accelerated after moving from the stroke end and returns to usual feed speed control.
摘要翻译： PCT No.PCT / JP94 / 00106 Sec。 371日期1994年9月28日 102（e）1994年9月28日PCT 1994年1月26日PCT PCT。公开号WO94 / 19730 1994年9月1日，一种用于通过最大限度地利用行程来控制行程末端附近的工具的数控装置的加减速控制装置。工具沿着由行程端围绕的行程区域中的轨迹移动，并进行诸如切割等的工件的加工。由数控机器根据加工程序移动的刀具从起始点开始，并根据预加工块向上移动到终点。该刀具响应于通常的进给速度控制而移动，但是当刀具接近行程末端时，刀具进给速度在加工块的部分减速。在刀具到达行程末端的边界之前，刀具进给速度被控制到一分钟的速度，并且在行程末端移动时保持微小的速度。然后在从行程末端移动之后加工该工具并返回到通常的进给速度控制。

3. 发明授权

US4728872A Robot path error correction system 失效
标题翻译：机器人路径纠错系统
公开(公告)号：US4728872A
公开(公告)日：1988-03-01
申请号：US899299
申请日：1986-08-14
申请人： Hajimu Kishi , Shinsuke Sakakibara , Takayuki Ito , Tatsuo Karakama
发明人： Hajimu Kishi , Shinsuke Sakakibara , Takayuki Ito , Tatsuo Karakama
IPC分类号： B25J9/16 , B25J9/10 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/404 , G05B19/416 , G05B11/26
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A robot path error correction system is provided for driving and controlling a movable element in a designated direction. The system includes a sensing device for sensing a remaining amount of command pulses at deceleration of the movable element; timing deciding device for specifying start timing of a pulse distribution calculation along a subsequent travel path in dependence upon the sensed amount of command pulses remaining; and an adding device for adding command pulses which accelerate the feedrate and command pulses which decelerate the feedrate in accordance with a commanded velocity and commanded position at the specified timing.
摘要翻译： PCT No.PCT / JP85 / 00724 Sec。 371日期1986年8月14日 102（e）日期1986年8月14日PCT提交1985年12月26日PCT公布。公开号WO86 / 04162 日期1986年7月17日。一种机器人路径误差校正系统，用于沿指定方向驱动和控制可移动元件。该系统包括用于感测可移动元件减速时的指令脉冲剩余量的感测装置; 定时决定装置，用于根据感测到的指令脉冲量来确定沿着后续行进路径的脉冲分布计算的开始定时; 以及添加装置，用于添加加速进给速度的指令脉冲和根据指定时刻的指令速度和指令位置使进给速度减速的指令脉冲。

4. 发明公开

EP0207997A4 SYSTEM FOR CORRECTING ERROR IN THE PATH OF A ROBOT. 失效
标题翻译：纠错提交给机器人。
公开(公告)号：EP0207997A4
公开(公告)日：1989-06-27
申请号：EP86900281
申请日：1985-12-26
申请人： FANUC LTD
发明人： KISHI HAJIMU , SAKAKIBARA SHINSUKE , ITO TAKAYUKI , KARAKAMA TATSUO
IPC分类号： B25J9/16 , B25J9/10 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/404 , G05B19/416 , G05B19/407
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A system for correcting errors in the path of a robot that controls a moving unit toward a specified direction comprises detecting means for detecting the remaining amount of instruction pulses when said moving unit is decelerated, timing determining means which specifies the timing for initiating the pulse distributing operation on a next path depending upon the remaining amount of instruction pulses that is detected, and adding means which adds up together the instruction pulses during said deceleration and instruction pulses for accelerating the feed speed in accordance with an instructed speed and an instructed position at said specified timing. The time for decelerating the moving unit is suitably curtailed and the acceleration control is assumed.

5. 发明授权

EP0207997B1 SYSTEM FOR CORRECTING ERROR IN THE PATH OF A ROBOT 失效
标题翻译：用于校正机器人路径中的错误的系统
公开(公告)号：EP0207997B1
公开(公告)日：1993-09-29
申请号：EP86900281.6
申请日：1985-12-26
申请人： FANUC LTD.
发明人： KISHI, Hajimu , SAKAKIBARA, Shinsuke , ITO, Takayuki , KARAKAMA, Tatsuo
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A system for correcting errors in the path of a robot that controls a moving unit toward a specified direction comprises detecting means for detecting the remaining amount of instruction pulses when said moving unit is decelerated, timing determining means which specifies the timing for initiating the pulse distributing operation on a next path depending upon the remaining amount of instruction pulses that is detected, and adding means which adds up together the instruction pulses during said deceleration and instruction pulses for accelerating the feed speed in accordance with an instructed speed and an instructed position at said specified timing. The time for decelerating the moving unit is suitably curtailed and the acceleration control is assumed.

6. 发明公开

EP0207997A1 SYSTEM FOR CORRECTING ERROR IN THE PATH OF A ROBOT 失效
标题翻译：纠错提交给机器人。
公开(公告)号：EP0207997A1
公开(公告)日：1987-01-14
申请号：EP86900281.6
申请日：1985-12-26
申请人： FANUC LTD.
发明人： KISHI, Hajimu , SAKAKIBARA, Shinsuke , ITO, Takayuki , KARAKAMA, Tatsuo
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A system for correcting errors in the path of a robot that controls a moving unit toward a specified direction comprises detecting means for detecting the remaining amount of instruction pulses when said moving unit is decelerated, timing determining means which specifies the timing for initiating the pulse distributing operation on a next path depending upon the remaining amount of instruction pulses that is detected, and adding means which adds up together the instruction pulses during said deceleration and instruction pulses for accelerating the feed speed in accordance with an instructed speed and an instructed position at said specified timing. The time for decelerating the moving unit is suitably curtailed and the acceleration control is assumed.

7. 发明申请

WO1994009421A1 ACCELERATION CONSTANT SWITCHING SYSTEM 审中-公开
标题翻译：加速恒定切换系统
公开(公告)号：WO1994009421A1
公开(公告)日：1994-04-28
申请号：PCT/JP1993001450
申请日：1993-10-07
申请人： FANUC LTD , OTSUKI, Toshiaki , KOZAI, Haruhiko , MIYAKE, Masahiko
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/43085 , G05B2219/43103
摘要： A numerically controlled apparatus in which the acceleration constant of pre-interpolation acceleration and deceleration is switched in accordance with the kind of axes. A pre-interpolation acceleration and deceleration means (4) in the numerically controlled apparatus is adapted to carry out acceleration and deceleration processing, which are based on an acceleration constant designated by an acceleration constant switching means (3), on a feed speed. The feed speed subjected to the acceleration and deceleration processing is sent to an interpolation means (5). The interpolation means (5) determines distributing pulses Xp, Yp, Zp on the basis of the speed data and transfer data, and these distributing pulses are supplied to an X-axis control means (6a), etc. respectively and then output to a relative-axis motor M, etc. in a machine tool so as to control the driving of the same. On the other hand, a commanded axis recognition means (2) is adapted to recognize the kind of an axis commanded in a subsequent block on the basis of the axis data, and the acceleration constant is switched by the acceleration constant switching means (3) in accordance with the kind of the axis. For example, when the kind of the axis is X axis only, Y axis only, or both the X axis and Y axis, an acceleration constant TA is selected, and, when the Z axis is included in these axes, an acceleration constant TB is selected. In this case, the acceleration constant TA is set to a value larger than that of the acceleration constant TB.
摘要翻译：一种数控装置，其中根据轴的种类切换预插入加速和减速的加速度常数。数控装置中的插补前加速减速装置（4）适于基于加速度常数切换装置（3）指定的加速常数，以进给速度进行加速和减速处理。进行加速和减速处理的进给速度被送到内插装置（5）。内插装置（5）基于速度数据和传送数据确定分配脉冲Xp，Yp，Zp，并将这些分配脉冲分别提供给X轴控制装置（6a）等，然后输出到相对轴马达M等，以控制其驱动。另一方面，指令轴识别装置（2）适于基于轴数据识别在随后的块中指令的轴的种类，并且加速常数由加速度常数切换装置（3）切换，按照轴的种类。例如，当轴的种类仅为X轴，仅Y轴，或X轴和Y轴同时选择加速常数TA时，并且当Z轴包含在这些轴中时，加速度常数TB 被选中。在这种情况下，将加速常数TA设定为大于加速常数TB的值。

8. 发明申请

WO1986004162A1 SYSTEM FOR CORRECTING ERROR IN THE PATH OF A ROBOT 审中-公开
标题翻译：用于校正机器人路径中的错误的系统
公开(公告)号：WO1986004162A1
公开(公告)日：1986-07-17
申请号：PCT/JP1985000724
申请日：1985-12-26
申请人： FANUC LTD , KISHI, Hajimu , SAKAKIBARA, Shinsuke , ITO, Takayuki , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/35569 , G05B2219/43009 , G05B2219/43085 , G05B2219/43115 , G05B2219/45083
摘要： A system for correcting errors in the path of a robot that controls a moving unit toward a specified direction comprises detecting means for detecting the remaining amount of instruction pulses when said moving unit is decelerated, timing determining means which specifies the timing for initiating the pulse distributing operation on a next path depending upon the remaining amount of instruction pulses that is detected, and adding means which adds up together the instruction pulses during said deceleration and instruction pulses for accelerating the feed speed in accordance with an instructed speed and an instructed position at said specified timing. The time for decelerating the moving unit is suitably curtailed and the acceleration control is assumed.

9. 发明专利

JPWO2002077729A1 多軸加工機及びそのモータの制御方法审中-公开
公开(公告)号：JPWO2002077729A1
公开(公告)日：2004-07-15
申请号：JP2002575723
申请日：2001-03-27
申请人：株式会社テクノウェイブ , 旭精機工業株式会社
发明人：蜂谷　智章 , 智章蜂谷 , 高橋　宏近 , 宏近高橋 , 中山　真志 , 真志中山 , 駒澤　雄一 , 雄一駒澤 , 夏目　季佳 , 季佳夏目 , 大林　栄次 , 栄次大林
IPC分类号： G05B19/416 , G05B19/18 , G05B19/4103 , G05D3/12
CPC分类号： G05B19/4103 , G05B2219/43085 , G05B2219/50001
摘要：各軸に設けたモータを順次駆動することによって各軸を順次目標位置に到達させて各軸に取り付けられたツールによりワークの加工を行うようにした多軸加工機におけるモータの制御方法及びモータ制御用ソフトウェアであって、位置、速度及び加速度のデータ系列のうち少なくとも位置のデータ系列を入力とし、速度連続となる補間用データを出力するような補間前加減速方式を採用するとともに、各ステップの目標位置をそのステップの開始位置に近い側にずらすことで、各ステップ毎にそのステップの動作中に所定の移動距離オーバーラップさせて次ステップを起動させることを特徴とする。

10. 发明授权

EP0646852B1 ACCELERATION/DECELERATION CONTROL SYSTEM OF NUMERIC CONTROLLER 失效
标题翻译：控制系统数控加/ DELAY
公开(公告)号：EP0646852B1
公开(公告)日：1999-01-07
申请号：EP94905212.0
申请日：1994-01-26
申请人： FANUC LTD.
发明人： IDEI, Takashi Fanuc Dai-3 Vira-karamatsu , SAGARA, Shoichi Fanuc Dai-3 Vira-karamatsu , FUJIBAYASHI, Kentaro
IPC分类号： G05B19/18 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43008 , G05B2219/43041 , G05B2219/43085
摘要： This invention relates to an acceleration/deceleration control system of a numeric controller for effecting acceleration/deceleration control of a tool in the vicinity of a stroke end. The system makes it possible to move the tool by utilizing the stroke to maximum. The tool moves along a path (1) within a region (20) encompassed by a stroke end (2), and executes machining such as cutting. The movement of the tool is effected by the numeric controller in accordance with a machining program. The tool starts from the start point (P1) and moves along machining blocks (N1, N2, ..., N10) to an end point (P2). The tool moves on the basis of ordinary feed speed control in zones other than the machining blocks (N5 and N6). In the zone of the machining block (N5) near the stroke end (2), however, the tool is decelerated to a very low speed before it reaches a point (P3) of the stroke end (2). After moving from a point (P3) to a point (P4), the tool goes outside the stroke end (2). It is again accelerated according to the ordinary feed speed control when entering the block (N6) again.

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