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81. 发明公开

EP0544346A1 Procédé de génération de trajectoire pour un système robotisé 失效
标题翻译：生成的轨迹对机器人系统的方法。
公开(公告)号：EP0544346A1
公开(公告)日：1993-06-02
申请号：EP92203271.9
申请日：1992-10-26
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE
发明人： Sgarbi, Frédéric , Cammoun, Riadh
IPC分类号： B25J9/16 , G05B19/4103
CPC分类号： B25J9/1664 , G05B19/4103 , G05B2219/43009 , G05B2219/43056 , G05B2219/43105 , G05B2219/45151
摘要： Procédé de génération de trajectoire pour un système robotisé (4) comprenant au moins un oregane (5) permettant de varier en temps réel la vitesse du mouvement.
Le proédé consiste à choisir un mouvement principal, par exemple le mouvement de translation de l'organe, auquel tous les autres sont asservis. Le mouvement principal est accompli sur la trajectoire décomposée en tronçon à une vitesse assurant la possibilité d'arrêter l'organe à la fin du tronçon qui suit celui qui est parcouru. Les mouvements asservis sont parcourus autant que possible en synchronisation au mouvement principal.
L'invention peut d'appliquer par exemple à l'ébavurage automatique de pièces de forme complexe. On peut envisager des systèmes robotisés formés de plusieurs solides mobiles indépendamment et coordonnées par le procédé, ou encore plusieurs ordres d'asservissement.

82. 发明公开

EP0420985A4 INVOLUTE INTERPOLATION SPEED CONTROL SYSTEM 失效
标题翻译：相关插值速度控制系统
公开(公告)号：EP0420985A4
公开(公告)日：1992-05-20
申请号：EP90901680
申请日：1990-01-10
申请人： FANUC LTD.
发明人： SASAKI, TAKAO , MURAKAMI, KUNIHIKO , SANO, MASAFUMI FANUC DAI-3 VIRA-KARAMATSU
IPC分类号： G05B19/4103 , G05B19/416 , G05B19/407 , G05B19/415
CPC分类号： G05B19/4103 , G05B2219/34144 , G05B2219/43141 , G05B2219/50336
摘要： This invention relates to an involute interpolation speed control system for making involute interpolation by applying tool correction for machining in a numerical controller or the like. The system instructs a rotating direction of a first involute curve (In1) as an actual machining shape, the coordinates (Pee) of an end point, the center position of a basic circle (C) as viewed from a start point (Pss), the radius (R) of the basic circle (C), a feed speed, a tool diameter offset direction and the radius of the tool (Rofs). An offset vector of the tool is generated from this instruction and an equation of a second involute curve (In2) connecting its start point (Ps) and its end point (Pe) is calculated. The radius of curvature of the second involute curve (In2) is determined and a feed speed override value is determined from the tool offset direction and the radius of curvature. The second involute curve (In2) is interpolated by the speed as the product of the feed speed and the feed speed override value. This interpolation is made so that the cutting speed (Fp) in the tangential direction of the outer periphery of the tool generating the actual machining shape becomes constant.

83. 发明公开

EP0474882A1 NUMERIC CONTROLLER 失效
标题翻译： NUMERISCHE STEUERUNG。
公开(公告)号：EP0474882A1
公开(公告)日：1992-03-18
申请号：EP91906283.6
申请日：1991-03-13
申请人： FANUC LTD.
发明人： SASAKI, Takao , FUJIBAYASHI, Kentaro , OTSUKI, Toshiaki , OGINO, Hideo, Fanuc Dai-3 Vira-karamatsu
IPC分类号： G05B19/18 , G05B19/4103
CPC分类号： G05B19/184 , B23F23/006 , G05B19/186 , G05B2219/45214 , G05B2219/50216 , Y10T409/100159
摘要： A numeric controller for controlling an NC gear cutting machine tool such as a gear hobbing machine. A feedback pulse signal from a position coder (7) coupled to a hob shaft (3) operate a shaft control circuit (14) disposed in synchronization control means (8), which controls the number of revolutions of a spindle motor (5) and a servomotor (11) to obtain a predetermined ratio of the number of revolutions between the hob shaft (3) and a C shaft (13). A first internal counter (15a) monitors the number of feedback pulses from the position coder (7) and a second internal counter (15b) monitors the number of pulses distributed to the C shaft (13). When the ratio of the number of revolutions between the hob shaft (3) and the C shaft (13) is changed, correction pulse computing means (9) computes correction pulses on the basis of the number of pulses corresponding to the revolutions of the hob shaft (3) and the C shaft (13) counted by the first and second internal counters (15a, 15b). The correction pulses are applied for controlling the C shaft (13) to change the positional relation to the hob shaft (3) for a new synchronous relation between the two shafts.
摘要翻译：一种用于控制诸如滚齿机之类的NC齿轮切削机床的数字控制器。耦合到滚轴（3）的来自位置编码器（7）的反馈脉冲信号操作设置在同步控制装置（8）中的轴控制电路（14），该控制电路控制主轴电动机（5）的转数和伺服马达（11），以获得滚刀轴（3）和C轴（13）之间的转数的预定比例。第一内部计数器（15a）监视来自位置编码器（7）的反馈脉冲的数量，第二内部计数器（15b）监视分配给C轴（13）的脉冲数。当改变滚刀轴（3）和C轴（13）之间的转数的比例时，校正脉冲计算装置（9）基于与滚刀的转数相对应的脉冲数来计算校正脉冲轴（3）和C轴（13）由第一和第二内部计数器（15a，15b）计数。施加校正脉冲以控制C轴（13），以改变与两轴之间的新的同步关系的与滚刀轴（3）的位置关系。

84. 发明公开

EP0470564A2 Method of and apparatus for controlling motion of a machine member 失效
标题翻译： Verfahren und Einrichtung zur Steuerung der Bewegung eines Maschinenteiles。
公开(公告)号：EP0470564A2
公开(公告)日：1992-02-12
申请号：EP91113159.7
申请日：1991-08-05
申请人： CINCINNATI MILACRON INC.
发明人： Morser, Harold A. , Minnich, Thomas
IPC分类号： G05B19/4103
CPC分类号： G05B19/4103
摘要： A method and apparatus for machine member motion control are provided which reduce position path errors in sampled data motion control systems. Position commands defining locations of a moveable machine member are periodically produced at a predetermined interval as is conventional in sampled data motion control. Intermediate position commands are produced at a predetermined sub-interval less than the predetermined interval in response to a parametric function relating member position and time, the parametric function being continuous through positions defined by the position commands. The intermediate position coordinates are computed as the sum of products of coefficients and coordinates of selected member position commands. To reduce processing time, the coefficients are computed and stored in advance of execution of motion for recall as motion progresses. Where a parabolic function is used to produce intermediate position commands, the sum of products of coefficients and, respectively, past, present and target coordinates are used to compute intermediate positions between the present and target positions.
摘要翻译：提供了一种用于机器运动控制的方法和装置，其减少采样数据运动控制系统中的位置路径误差。按照采样数据运动控制中常规的预定间隔周期性地产生定义可移动机器构件位置的位置指令。中间位置命令是响应于与成员位置和时间有关的参数功能而以预定间隔小于预定间隔产生的，该参数函数通过由位置命令定义的位置连续。中间位置坐标被计算为所选成员位置命令的系数和坐标的乘积之和。为了减少处理时间，当运动进行时，系数被预先计算并存储在运动执行之前用于召回。在使用抛物线函数来产生中间位置命令的情况下，使用系数的乘积和分别与过去的，当前的和目标坐标的乘积来计算当前位置和目标位置之间的中间位置。

85. 发明公开

EP0362391A4 INVOLUTE INTERPOLATING METHOD 失效
标题翻译：插值插值法
公开(公告)号：EP0362391A4
公开(公告)日：1990-12-19
申请号：EP89901300
申请日：1989-01-06
申请人： FANUC LTD
发明人： KAWAMURA, HIDEAKI , FUJIBAYASHI, KENTARO , SANO, MASAFUMI FANUC DAI-3 VIRA-KARAMATSU
IPC分类号： G05B19/4103 , G05B19/41 , G05B19/415
CPC分类号： G05B19/41 , G05B2219/34144
摘要： An involute interpolating method for a numerical control unit having both rotary and linear axis comprises the steps of commanding the direction of rotation of an involute curve (IC1), the center of a basic circle (BC), the radius (R) of the basic circle and a Z-axis, interpolating the involute curve (IC1) and Z-axis in accordance with this command, and converting the quantity of the interpolation into the respective rotary axis, linear axis and Z-axis to thereby control a machine tool (9).
摘要翻译：一种具有旋转轴和直线轴的数控装置的渐开线插补方法包括以下步骤：指令渐开线曲线（IC1）的旋转方向，基本圆（BC）的中心，基本半径（R）根据该指令对渐开线曲线（IC1）和Z轴进行插补，将该插补量转换为各旋转轴，直线轴和Z轴来控制机床（ 9）。

86. 发明公开

EP0331739A1 INVOLUTE INTERPOLATION SYSTEM 失效
标题翻译： GERÄTZUR EVOLVENTEN-INTERPOLATION。
公开(公告)号：EP0331739A1
公开(公告)日：1989-09-13
申请号：EP88907360.7
申请日：1988-08-18
申请人： FANUC LTD.
发明人： KAWAMURA, Hideaki , SASAKI, Takao , FUJIBAYASHI, Kentaro , MURAKAMI, Kunihiko , SANO, Masafumi Fanuc Dai-3 Vira-karamatsu
IPC分类号： G05B19/4103
CPC分类号： G05B19/4103 , G05B2219/34144
摘要： An involute interpolation system for effecting the machining by a numerical controller is disclosed. The involute unwinding direction, the center position of a basic circle (C) and the radius (R) of the basic circle (C) are instructed to interpolate an involute that begins at a point (Ps) on a first involute (IC₁) and ends at a point (P c ) on a second involute (IC₂). A special involute curve that does not exist on the same involute curve can be machined.
摘要翻译：指示渐开线展开方向，基本圆（C）的中心位置和基本圆（C）的半径（R）插入从第一渐开线（IC1）上的点（Ps）开始的渐开线，并且在第二渐开线（IC2）上的点（Pc）处结束。可以加工在同一渐开线曲线上不存在的特殊渐开线曲线。

87. 发明公开

EP0068031A4 CURVED SURFACE FORMING METHOD. 失效
标题翻译：方法为塑造一个扭曲的区域。
公开(公告)号：EP0068031A4
公开(公告)日：1985-09-02
申请号：EP82900192
申请日：1981-12-23
申请人： FANUC LTD
发明人： KISHI HAJIMU , SEKI MASAKI
IPC分类号： G05B19/4103 , G05B19/41
CPC分类号： G05B19/41 , G05B2219/35151

88. 发明授权

EP4070909B1 COORDINATE PATTERN FILE CREATING DEVICE, TRAJECTORY PATTERN CREATING DEVICE, AND METHOD FOR CONTROLLING LASER PROCESSING MACHINE 有权
公开(公告)号：EP4070909B1
公开(公告)日：2024-04-03
申请号：EP20895407.3
申请日：2020-11-30
发明人： KAWAHARA, Chiaki , NISHIMURA, Tomohiro , IRIE, Shin
IPC分类号： G05B19/4103 , G05B19/4069 , G05B19/4097 , B23K26/08 , B23K26/082 , B23K26/38 , B23K37/02 , B23K37/04

89. 发明公开

EP3798773A1 EFFICIENT TOOL PATH DISCRETIZATION BASED ON PHYSICALLY JUSTIFIED CRITERIA 审中-公开
公开(公告)号：EP3798773A1
公开(公告)日：2021-03-31
申请号：EP19200565.0
申请日：2019-09-30
申请人： Siemens Aktiengesellschaft , Siemens Industry Software Ltd.
发明人： ARMBRUST, Frank , BITTEROLF, David , FINARO, Eduard , GRABOWSKI, Volker , HARTMANN, Dirk , KAMPS, Tobias , OBST, Brigit , REGULIN, Daniel , SCHNÖS, Florian Ulli Wolfgang , TAUCHMANN, Sven
IPC分类号： G05B19/4103 , G05B19/4069
摘要： The invention relates to a method for providing a discretised tool path for machining a workpiece to obtain a predetermined workpiece geometry. The method comprises providing a first discretised tool path for machining the workpiece with a pre-determined numerical controlled machine, wherein the first discretised tool path is defined by a first sequence of support points; providing for each support point of the first sequence of support points at least a value for at least one interaction parameter describing an interaction of the tool with the workpiece; comparing at least one support point, except for the first and last support point of the first sequence of support points, of the first sequence of support points and the associated value of the at least one interaction parameter of the support point with the subsequent support point and the value of the at least one interaction parameter associated with the subsequent support point; and removing the respective support point from the first sequence of support points based on the result of the comparison to obtain a second sequence of support points defining a second discretised tool path for machining the workpiece with the predetermined numerical controlled machine to obtain the predetermined workpiece geometry. Furthermore, a computer program for performing the method and a sequence of control commands for a numerical controlled machine obtained by the method is provided.

90. 发明公开

EP3776111A1 SYSTEM AND METHOD FOR GENERATING OPTIMAL LATTICE TOOL PATHS 有权
公开(公告)号：EP3776111A1
公开(公告)日：2021-02-17
申请号：EP19845913.3
申请日：2019-12-25
申请人： MITSUBISHI ELECTRIC CORPORATION
发明人： BRAND, Matthew
IPC分类号： G05B19/4097 , G05B19/4103

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