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1. 发明公开

EP2778804A4 CONTROL PROGRAM, CONTROL METHOD, AND CONTROL DEVICE 有权
标题翻译：控制程序，控制方法和控制设备
公开(公告)号：EP2778804A4
公开(公告)日：2016-02-10
申请号：EP12848170
申请日：2012-10-30
申请人： KOKUSAI KEISOKUKI KK
发明人： MATSUMOTO SIGERU , MIYASHITA HIROSHI , TASHIRO KAZUYOSHI , MURAUCHI KAZUHIRO
IPC分类号： G05B13/04 , G01M7/02 , G01M13/02 , G05B17/02 , G05B19/18 , G05B19/414 , G05D3/12 , G06F3/05 , G06F17/50 , H02K7/10 , H02P5/00
CPC分类号： G06F17/5086 , G01M7/022 , G01M7/025 , G01M13/025 , G05B17/02 , G05B19/414 , G05B2219/42163 , G05B2219/50218 , G05B2219/50229
摘要： A control device including a simulation unit configured to simulate behaviors of a virtual mechanical system, and a drive control unit configured to control driving of a plurality of servomotors based on the results of the simulation, is provided. The virtual mechanical system includes a first drive module, a first main shaft module connected to the first drive module, and a plurality of power transmission subsystems, each of which is connected to the first main shaft module and is associated with one of the plurality of servomotors respectively. Each of the power transmission subsystems includes a second drive module, a differential gear module including a main input shaft, an auxiliary input shaft, and an output shaft, and an output module. The main input shaft is connected with the first main shaft module, the auxiliary input shaft is connected with the second drive module via a first clutch module, and the output shaft is connected with the output module.

2. 发明公开

EP1223487A4 OPERATION CONFIRMING METHOD AND DEVICE FOR INDUSTRIAL MACHINERY 有权
标题翻译：工业机械确认的过程处理和装置
公开(公告)号：EP1223487A4
公开(公告)日：2005-01-19
申请号：EP00966524
申请日：2000-10-16
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： TOMITA KOJI , NAKAZATO TATSUMI
IPC分类号： G05B19/416 , B25J9/22 , G05B19/18 , G05B19/406 , G05B19/425 , G05D3/12 , B23Q15/00
CPC分类号： G05B19/406 , G05B19/425 , G05B2219/36472 , G05B2219/42163
摘要： An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a control device therefor. The method comprises the steps of inputting respective shaft operation instruction values (φj) based on an actual operation speed to a mechanical simulator-carrying low-speed instruction converter (7), and instructing to a servo controller unit (4) a quantity (φij) (= φsj/P), obtained by dividing an output (φsj) from the mechanical simulator by a specified positive real number P at the low-speed instruction converter, as respective shaft operation values N times (N; maximum natural number not exceeding the real number P).

3. 发明公开

EP2778804A1 CONTROL PROGRAM, CONTROL METHOD, AND CONTROL DEVICE 有权
标题翻译： STEUERPROGRAMM，STEUERVERFAHREN UND STEUERVORRICHTUNG
公开(公告)号：EP2778804A1
公开(公告)日：2014-09-17
申请号：EP12848170.2
申请日：2012-10-30
申请人： Kokusai Keisokuki Kabushiki Kaisha
发明人： MATSUMOTO, Sigeru , MIYASHITA, Hiroshi , TASHIRO, Kazuyoshi , MURAUCHI, Kazuhiro
IPC分类号： G05B13/04 , G01M7/02 , G05B19/18 , G05D3/12 , G06F3/05 , H02K7/10 , H02P5/00
CPC分类号： G06F17/5086 , G01M7/022 , G01M7/025 , G01M13/025 , G05B17/02 , G05B19/414 , G05B2219/42163 , G05B2219/50218 , G05B2219/50229
摘要： A control device including a simulation unit configured to simulate behaviors of a virtual mechanical system, and a drive control unit configured to control driving of a plurality of servomotors based on the results of the simulation, is provided. The virtual mechanical system includes a first drive module, a first main shaft module connected to the first drive module, and a plurality of power transmission subsystems, each of which is connected to the first main shaft module and is associated with one of the plurality of servomotors respectively. Each of the power transmission subsystems includes a second drive module, a differential gear module including a main input shaft, an auxiliary input shaft, and an output shaft, and an output module. The main input shaft is connected with the first main shaft module, the auxiliary input shaft is connected with the second drive module via a first clutch module, and the output shaft is connected with the output module.
摘要翻译：提供一种控制装置，其包括：模拟单元，其被配置为模拟虚拟机械系统的行为;以及驱动控制单元，被配置为基于所述模拟的结果来控制多个伺服电动机的驱动。虚拟机械系统包括第一驱动模块，连接到第一驱动模块的第一主轴模块和多个动力传动子系统，每个动力传动子系统连接到第一主轴模块并且与多个伺服电机。每个动力传输子系统包括第二驱动模块，包括主输入轴，辅助输入轴和输出轴的差速齿轮模块和输出模块。主输入轴与第一主轴模块连接，辅助输入轴通过第一离合器模块与第二驱动模块连接，输出轴与输出模块连接。

4. 发明授权

EP1223487B1 OPERATION CONFIRMING METHOD AND DEVICE FOR INDUSTRIAL MACHINERY 有权
标题翻译：工业机械确认的过程处理和装置
公开(公告)号：EP1223487B1
公开(公告)日：2007-09-05
申请号：EP00966524.1
申请日：2000-10-16
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： TOMITA, Koji Kabushiki Kaisha Yaskawa Denki , NAKAZATO, Tatsumi Kabushiki Kaisha Yaskawa Denki
IPC分类号： G05B19/406 , B23Q15/00
CPC分类号： G05B19/406 , G05B19/425 , G05B2219/36472 , G05B2219/42163
摘要： An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a control device therefor. The method comprises the steps of inputting respective shaft operation instruction values (φj) based on an actual operation speed to a mechanical simulator-carrying low-speed instruction converter (7), and instructing to a servo controller unit (4) a quantity (φij) (= φsj/P), obtained by dividing an output (φsj) from the mechanical simulator by a specified positive real number P at the low-speed instruction converter, as respective shaft operation values N times (N; maximum natural number not exceeding the real number P).

5. 发明公开

EP3220216A1 METHOD AND DEVICE FOR SIMULATION OF A MECHANICAL SYSTEM 有权
标题翻译：用于模拟机械系统的方法和装置
公开(公告)号：EP3220216A1
公开(公告)日：2017-09-20
申请号：EP17151923.4
申请日：2017-01-18
申请人： Omron Corporation
发明人： Mori, Yasumoto , Egi, Mamoru , Miyaguchi, Shota
IPC分类号： G05B13/04 , G05B17/02
CPC分类号： G06F17/5086 , G05B13/042 , G05B13/044 , G05B17/02 , G05B2219/37612 , G05B2219/42154 , G05B2219/42155 , G05B2219/42163 , G06F17/141
摘要： The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.
摘要翻译：本发明适用于在短时间内容易地正确设定控制参数。本发明的模拟装置包括：频率响应函数计算部分（53），根据第一命令值和机械系统的测量值来计算频率响应函数; 脉冲响应计算部分（41），通过对根据频率响应函数和控制参数获得的频率响应函数执行傅立叶逆变换来计算脉冲响应; 以及根据第二命令值和脉冲响应执行机械系统（7）的时间响应模拟的时间响应输出部分（44）。

6. 发明公开

EP2183652A1 VERFAHREN ZUR OPTIMIERTEN BEWEGUNGSKOORDINATION VON MESS- ODER WERKZEUGMASCHINEN MIT REDUNDANTEN TRANSLATORISCH WIRKSAMEN ACHSEN 失效
标题翻译： VERFAHREN ZUR OPTIMIERTEN BEWEGUNGSKOORDINATION VON MESS-ODER WERKZEUGMASCHINEN MIT REDUNDANTEN TRANSLATORISCH WIRKSAMEN ACHSEN
公开(公告)号：EP2183652A1
公开(公告)日：2010-05-12
申请号：EP08785346.1
申请日：2008-08-05
申请人： TRUMPF Werkzeugmaschinen GmbH + Co. KG
发明人： Ehlerding, Andreas
IPC分类号： G05B19/4069 , G05B19/416
CPC分类号： G05B19/416 , B23Q1/445 , G05B19/4069 , G05B2219/41457 , G05B2219/42163 , G05B2219/49284
摘要： A method for the optimized movement coordination of measuring machines or machine tools having redundant translatory axes, the respectively longer partial axes enabling a relatively low-acceleration partial movement over a relatively large measuring or machining space and the respectively shorter partial axes substantially carrying out the movement components of an overall movement at a substantially overall constant measuring or machining speed, characterized in that the highest possible and constant movement speed of a measuring device or a tool compared to the item to be measured or machined (Vmax) is determined in that first a simulation of the machining path is performed using a reference speed (Vref), and the ratio of the maximum deflection (Sz_ref_max) to the maximum deflectability (Sz) determined from said simulation is used in conjunction with Vref in order to determine Vmax.
摘要翻译：一种用于具有冗余平移轴线的测量机器或机床的优化运动协调的方法，所述相应较长的部分轴线能够在相对大的测量或加工空间上进行相对低加速度的部分运动，并且相应较短的部分轴线基本上执行运动以基本上整体恒定的测量或加工速度进行总体运动的部件，其特征在于，测量装置或工具与待测量或机械加工的物品（Vmax）相比最高可能的和恒定的运动速度在第一a 使用参考速度（Vref）来执行加工路径的模拟，并且为了确定Vmax，结合Vref使用由所述模拟确定的最大偏转（Sz_ref_max）与最大偏转性（Sz）的比率。

7. 发明公开

EP1223487A1 OPERATION CONFIRMING METHOD AND DEVICE FOR INDUSTRIAL MACHINERY 有权
标题翻译： EINRICHTUNGEÜRICHTUNGFÜRINDUSTRIELLES机械公司的BESTITIGUNGSVERFAHREN EINES PROZESSES
公开(公告)号：EP1223487A1
公开(公告)日：2002-07-17
申请号：EP00966524.1
申请日：2000-10-16
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： TOMITA, Koji Kabushiki Kaisha Yaskawa Denki , NAKAZATO, Tatsumi Kabushiki Kaisha Yaskawa Denki
IPC分类号： G05B19/406 , B23Q15/00
CPC分类号： G05B19/406 , G05B19/425 , G05B2219/36472 , G05B2219/42163
摘要： An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a control device therefor. The method comprises the steps of inputting respective shaft operation instruction values (ωj) based on an actual operation speed to a mechnaical simulator-carrying low-speed instruction converter (7), and instructing to a servo controller unit (4) a quantity (ωij) (=ωsj/P), obtained by dividing an output (ωsj) from the mechanical simulator by a specified positive real number P at the low-speed instruction converter, as respective shaft operation values N times (N; maximum natural number not exceeding the real number P).
摘要翻译：一种操作确认方法，其能够尽可能地提供与实际作业时间（播放模式）相同的操作确认时间（教学模式）的操作程序校正效率的操作路径; 及其控制装置。该方法包括以下步骤：将基于实际操作速度的相应的轴操作指令值（omega j）输入到机载模拟器携带低速指令转换器（7），并向伺服控制器单元（4）指示数量（通过将来自机械模拟器的输出（ωsj）除以低速指令转换器处的指定正实数P获得的（ωωij）（=ωsj / P）作为各自的轴操作值N次（N;最大值自然数不超过实数P）。

8. 发明授权

EP2778804B1 CONTROL PROGRAM, CONTROL METHOD, AND CONTROL DEVICE 有权
公开(公告)号：EP2778804B1
公开(公告)日：2018-10-24
申请号：EP12848170.2
申请日：2012-10-30
申请人： Kokusai Keisokuki Kabushiki Kaisha
发明人： MATSUMOTO, Sigeru , MIYASHITA, Hiroshi , TASHIRO, Kazuyoshi , MURAUCHI, Kazuhiro
IPC分类号： G05B13/04 , G01M7/02 , G05B19/18 , G05D3/12 , G06F3/05 , H02K7/10 , H02P5/00 , G01M13/02 , G05B17/02 , G05B19/414 , G06F17/50
CPC分类号： G06F17/5086 , G01M7/022 , G01M7/025 , G01M13/025 , G05B17/02 , G05B19/414 , G05B2219/42163 , G05B2219/50218 , G05B2219/50229
摘要： A control device including a simulation unit configured to simulate behaviors of a virtual mechanical system, and a drive control unit configured to control driving of a plurality of servomotors based on the results of the simulation, is provided. The virtual mechanical system includes a first drive module, a first main shaft module connected to the first drive module, and a plurality of power transmission subsystems, each of which is connected to the first main shaft module and is associated with one of the plurality of servomotors respectively. Each of the power transmission subsystems includes a second drive module, a differential gear module including a main input shaft, an auxiliary input shaft, and an output shaft, and an output module. The main input shaft is connected with the first main shaft module, the auxiliary input shaft is connected with the second drive module via a first clutch module, and the output shaft is connected with the output module.

9. 发明公开

EP3220217A1 METHOD AND DEVICE FOR SIMULATION OF A MECHANICAL SYSTEM 有权
标题翻译：用于模拟机械系统的方法和装置
公开(公告)号：EP3220217A1
公开(公告)日：2017-09-20
申请号：EP17151955.6
申请日：2017-01-18
申请人： Omron Corporation
发明人： Mori, Yasumoto , Egi, Mamoru , Ohno, Yasushi , Miyaguchi, Shota , Kawanishi, Yasutomo
IPC分类号： G05B13/04 , G05B17/02
CPC分类号： G06F17/5086 , G05B13/042 , G05B13/044 , G05B17/02 , G05B2219/42154 , G05B2219/42155 , G05B2219/42163 , G06F17/14
摘要： The present invention easily displays a frequency response and a time response to a user. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a measured value of a response of a mechanical system (7), a time response outputting part (44) executing time response simulation, a frequency response outputting part (45) outputting a frequency response characteristic and a display control part (26) displaying the time response simulation and frequency response characteristic simultaneously or selectively.
摘要翻译：本发明容易地向用户显示频率响应和时间响应。本发明的模拟装置包括：频率响应函数计算部分（53），根据机械系统（7）的响应的测量值计算频率响应函数;时间响应输出部分（44），执行时间响应模拟;频率响应输出部分（45），输出频率响应特性;以及显示控制部分（26），同时或选择性地显示时间响应模拟和频率响应特性。

10. 发明授权

EP2183652B1 VERFAHREN ZUR OPTIMIERTEN BEWEGUNGSKOORDINATION VON MESS- ODER WERKZEUGMASCHINEN MIT REDUNDANTEN TRANSLATORISCH WIRKSAMEN ACHSEN 失效
标题翻译：具有冗余平移作用的轴和方法以获得最佳动作的协调性测量机床
公开(公告)号：EP2183652B1
公开(公告)日：2010-12-01
申请号：EP08785346.1
申请日：2008-08-05
申请人： TRUMPF Werkzeugmaschinen GmbH + Co. KG
发明人： Ehlerding, Andreas
IPC分类号： G05B19/4069 , G05B19/416
CPC分类号： G05B19/416 , B23Q1/445 , G05B19/4069 , G05B2219/41457 , G05B2219/42163 , G05B2219/49284
摘要： A method for the optimized movement coordination of measuring machines or machine tools having redundant translatory axes, the respectively longer partial axes enabling a relatively low-acceleration partial movement over a relatively large measuring or machining space and the respectively shorter partial axes substantially carrying out the movement components of an overall movement at a substantially overall constant measuring or machining speed, characterized in that the highest possible and constant movement speed of a measuring device or a tool compared to the item to be measured or machined (Vmax) is determined in that first a simulation of the machining path is performed using a reference speed (Vref), and the ratio of the maximum deflection (Sz_ref_max) to the maximum deflectability (Sz) determined from said simulation is used in conjunction with Vref in order to determine Vmax.

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