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1. 发明公开

EP3076252A4 DEVICE FOR CONTROLLING MACHINE TOOL 有权
标题翻译： VORRICHTUNG ZUR STEUERUNG EINER WERKZEUGMASCHINE
公开(公告)号：EP3076252A4
公开(公告)日：2017-08-09
申请号：EP13898270
申请日：2013-11-29
申请人： MAKINO MILLING MACHINE
发明人： ISHII KAZUNARI , SHINADA TAKEHITO , NAGAYA MASASHI
IPC分类号： G05B19/18 , G05B19/408
CPC分类号： G05B19/402 , G05B19/18 , G05B19/35 , G05B19/4086 , G05B2219/50174 , G05B2219/50353
摘要： This machine tool has a first rotating feed shaft around a first axis line that is inclined with respect to all the linear motion axes of the machine coordinates. Table coordinates are set ahead of time in the machine tool. The table coordinates have an imaginary first linear motion axis, an imaginary second linear motion axis, and an imaginary third linear motion axis that are perpendicular to each other, and an imaginary first rotating feed axis around an imaginary first axis line. The imaginary third linear motion axis is parallel to a third linear motion shaft extending in the direction of the axial line of a main spindle. One imaginary linear motion axis of the imaginary first linear motion axis or the imaginary second linear motion axis is set above the surface of a workpiece attachment surface, and the imaginary first axis line is set parallel to the one imaginary linear motion axis. A computation unit computes the coordinate values of the imaginary first rotating feed axis in the table coordinates, and a display unit displays the coordinate values of the imaginary first rotating feed axis.
摘要翻译：该机床具有围绕第一轴线的第一旋转进给轴，该第一轴线相对于机器坐标的所有直线运动轴线倾斜。表格坐标是在机床中提前设定的。工作台坐标具有相互垂直的假想的第一直线运动轴，假想的第二直线运动轴和假想的第三直线运动轴以及围绕假想的第一轴线的假想的第一旋转进给轴。假想的第三直线运动轴线与在主轴的轴线方向上延伸的第三直线运动轴线平行。假想的第一直线运动轴或假想的第二直线运动轴的假想直线运动轴被设定在工件附接表面的上方，并且虚拟第一轴线被设定为平行于该一个假想直线运动轴。计算单元计算表格坐标中虚拟第一旋转进给轴的坐标值，显示单元显示虚拟第一旋转进给轴的坐标值。

2. 发明公开

EP3039496A4 COMPUTERIZED TOOL PATH GENERATION 有权
标题翻译： COMPUTERISIERTE WERKZEUGWEG-ERSTELLUNG
公开(公告)号：EP3039496A4
公开(公告)日：2017-05-03
申请号：EP14841078
申请日：2014-08-26
申请人： SOLIDCAM LTD
发明人： BERMAN MICHAEL , OSOVLANSKI DORON , CALDERONE CHRISTOPHER MATTHEW , CALDERONE ANTHONY JOSEPH
IPC分类号： G05B19/4093 , G05B19/18 , G05B19/19
CPC分类号： G05B19/40937 , G05B2219/35097 , G05B2219/35184 , G05B2219/36214 , G05B2219/45145 , G05B2219/49372 , G05B2219/50353 , Y02P90/265

3. 发明授权

EP2482155B1 Machine tool, machining method, program and NC data generation device 有权
标题翻译：机床加工方法，程序和装置的NC数据的生成
公开(公告)号：EP2482155B1
公开(公告)日：2016-09-07
申请号：EP11010278.7
申请日：2011-12-29
申请人： DMG MORI SEIKI CO., LTD.
发明人： Kimura, Akira , Ono, Katsuhiko
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/35128 , G05B2219/50353 , G05B2219/50355

4. 发明公开

EP2482155A2 Machine tool, machining method, program and NC data generation device 有权
标题翻译： Maschinenwerkzeug，maschinelles Bearbeitungsverfahren，Programm und Vorrichtung zur Erzeugung von NC-Daten
公开(公告)号：EP2482155A2
公开(公告)日：2012-08-01
申请号：EP11010278.7
申请日：2011-12-29
申请人： Mori Seiki Co.,Ltd.
发明人： Kimura, Akira , Ono, Katsuhiko
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/35128 , G05B2219/50353 , G05B2219/50355
摘要： A work having a non-circular cross-section is to be machined by relative movement between the work and a tool, as the relative position and the relative angle between the work and the tool are changed at least within a plane including the cross-section of the work. In machining the work along a preset tool path on the work with the tool, the difference between the relative angle between the work and the tool at a point on the preset tool path at which the machining by the tool is started and that between the work and the tool at another point on the preset tool path at which the machining is finished is calculated. The time needed in the machining along the preset tool path is equally divided by a preset number at equal time divisions, and positions on the tool path corresponding to the equal time divisions are set as equal time division tool path points. When the tool moves through each of the equal time division tool path points, the relative angle between the tool and the work is continuously changed an angle corresponding to division of the difference of the relative angles by the preset number of the equal time divisions
摘要翻译：具有非圆形横截面的工件将通过工件和工具之间的相对运动来加工，因为工件和工具之间的相对位置和相对角度至少在包括横截面的平面内改变的工作。在使用刀具对工件进行加工时，工件和工具之间的相对角度在工具开始加工的预设刀具路径上的点与工件之间的相对角度之间的差异并且计算在加工完成的预设刀具路径上的另一点上的刀具。沿着预设刀具路径的加工所需的时间在相等的时间刻度上被等同地预定数量，并且对应于相等的时间分割的刀具路径上的位置被设置为相等的时分刀具路径点。当工具移动通过相等的时分刀具路径点中的每一个时，刀具和工件之间的相对角度连续地改变与相对角度的差分除以相等时间段的预设数量的角度

5. 发明公开

EP1470458A2 VERFAHREN ZUR BAHNSTEUERUNG 有权
公开(公告)号：EP1470458A2
公开(公告)日：2004-10-27
申请号：EP02777073.4
申请日：2002-09-12
申请人： Dr. Johannes Heidenhain GmbH
发明人： HAUNERDINGER, Josef , ZACEK, Johann , BRADER, Anton , RAUTH, Michael
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43056 , G05B2219/43057 , G05B2219/43105 , G05B2219/45145 , G05B2219/49243 , G05B2219/50297 , G05B2219/50353
摘要： The invention relates to a method for continuous-path control by means of a digital control system (5). According to the invention, the speed of the linear axes (X, Y, Z) and of the angle axes (A, B) of a machine-tool (1) is controlled separately. The speed profile of the angle axes (A, B) is then rounded to a greater extent than the speed profile of the linear axes. Positioning errors of the tool (2) in relation to the tool (3) which are produced in this way are corrected by means of compensation shifts in the linear axes (X, Y, Z). This can be advantageously carried out by means of an RTCP unit (6) which is mostly already present in modern multiaxis machine-tools. Improved surface quality or optionally higher machining speed is achieved by means of the reduced accelerations in the angle axes.
摘要翻译：本发明涉及一种借助数字控制系统（5）进行连续路径控制的方法。根据本发明，机床（1）的直线轴线（X，Y，Z）和角度轴线（A，B）的速度被分别控制。角度轴（A，B）的速度曲线然后比线性轴的速度曲线更大程度地取整。通过这种方式生成的刀具（3）相对于刀具（3）的定位误差通过线性轴（X，Y，Z）中的补偿偏移进行校正。这可以有利地通过大多已经存在于现代多轴机床中的RTCP单元（6）来执行。通过降低角度轴上的加速度可以实现更高的表面质量或更高的加工速度。

6. 发明公开

EP1341065A2 Verfahren zur Bearbeitung von Werkstücken mit geraden Oberflächenausnehmungen 有权
标题翻译：维尔法恩·贝尔贝特恩·冯·韦克斯特肯
公开(公告)号：EP1341065A2
公开(公告)日：2003-09-03
申请号：EP03001234.8
申请日：2003-01-20
申请人： Werkzeugmaschinenfabrik Zerbst GmbH
发明人： Walz, Jürgen
IPC分类号： G05B19/408
CPC分类号： G05B19/4086 , G05B2219/49113 , G05B2219/49121 , G05B2219/49313 , G05B2219/50053 , G05B2219/50054 , G05B2219/50213 , G05B2219/50353 , Y10T408/03 , Y10T408/08 , Y10T408/93 , Y10T409/30112 , Y10T409/303808 , Y10T409/304088
摘要： Das Verfahren zur Bearbeitung von geraden Oberflächenausnehmungen, die links- und rechtssteigend ausgebildet sind, ist im wesentlichen dadurch gekennzeichnet, dass zur Bearbeitung zuerst der Anstellwinkel des Werkzeuges eingestellt wird, dass dann die kartesischen Koordinatensysteme von Werkstück und Werkzeug solange relativ zueinander verdreht werden, bis die Projektion der Werkzeugachse auf die X-Y-Ebene parallel zu einer angenommenen Hauptachse des Maschinenkoordinatensystems liegt, dass bei einem Schrägungswinkel von 0° die Oberflächenausnehmung ausschließlich durch Relativverschiebung von Werkzeug und Werkstück in Richtung der Z-Achse und bei Schrägungswinkeln von ± > 0° die Bearbeitung ausschließlich durch Relativverschiebung in allen drei Achsen des Maschinenkoordinatensystems erfolgt, und dass das Werkzeug relativ zum Werkstück für die positiven Schrägungswinkel an der einen Seite und für die negativen Schrägungswinkel an der spiegelbildlich gegenüber liegenden Seite in Eingriff gebracht wird.
摘要翻译：该方法包括将铣刀轴线相对于铣削刀具（5）的坐标系中的z轴设置为一个设定角度。工件（4）和工具的坐标系相对于彼此旋转直到工具轴线在工件的坐标系的XY平面上的投影平行于工具的坐标系的主轴线。然后加工表面凹槽，之后工件和铣削工具朝向c轴旋转，从加工凹槽转换到另一个凹槽。随后加工了这个凹槽。铣刀机床工件的一侧为正偏斜角，相反侧为镜像，为负斜角。在工件上使用机床凹槽加工的方法也包括独立权利要求。

7. 发明公开

EP1162018A4 METHOD FOR PLANING OBJECTS 审中-公开
标题翻译：法拼块蟑螂
公开(公告)号：EP1162018A4
公开(公告)日：2003-01-15
申请号：EP00981977
申请日：2000-12-09
申请人： OTKRYTOE AKTSIONERNOE OBSCHEST
发明人： ESTERZON MIKHAIL ABRAMOVICH , ALEXEEV LEONID VASILIEVICH , ASHKINAZY YAKOV MIKHAILOVICH , GRIGORIEV SERGEI VSEVOLODOVICH , IPATOVA TATIYANA PETROVNA , KLIMOV ALEXEI IVANOVICH , MOCHALOV IGOR ALEXANDROVICH , PISAREV ALEXANDR GEORGIEVICH , RAKHOVSKY VADIM IZRAILOVICH , CHEGLAKOV ANDREI VALERIEVICH , CHEKMAREV VIKTOR AFANASIEVICH , CHERPAKOV BORIS ILIICH , YAKUNIN VALERY ALEXANDROVICH
IPC分类号： B23D1/28 , B23D1/00 , B23D5/02 , B23Q15/14 , B23D3/04
CPC分类号： B23D5/02 , B23Q15/14 , G05B2219/50353
摘要： The inventive method can be mainly used for machining metallographic forms. Before machining, a longitudinal axis (1) of a cutter (P) 2 is oriented at an angle close or equal to 90° to the plane on which axes 'X' and 'Y' lie. The point 3 P2 is placed on an initial point of the cutting trajectory (T) 4 and a front surface 5 P2 is normally oriented towards cutting T4 in this point. During machining the object and P2 are moved, according to a specified program, along the axes 'X' and 'Y' in synchronism with and in relation to each other. Said displacement is carried out with the possibility of ensuring a resulting displacement of the object and P2 along the prescribed T4. When for instance, a curve radius on this part of T4 is changed, the spatial position of the front surface 5 P2 is also changed in relation to its previous position in such a way that the front surface 5, while passing any point of the part of T4 remains perpendicular to plane 6 which crosses the plane on which axes X and Y lie. The front surface 5 is also oriented parallel to a projection of vector 'V' of the instant speed P2 at this point on the plane where said axes 'X' and 'Y' lie.

8. 发明授权

EP0440816B1 ROBOT CONTROL METHOD 失效
标题翻译： ROBOTERSTEUERUNGSVERFAHREN
公开(公告)号：EP0440816B1
公开(公告)日：1998-06-10
申请号：EP90912489.3
申请日：1990-08-27
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： MINAMI, Yoshikatsu Yahata Plant K.K.Yaskawa DenkiY , TANAKA, Masato Yahata Plant K.K.Yaskawa Denki
IPC分类号： G05B19/425
CPC分类号： G05B19/425 , G05B2219/36446 , G05B2219/36448 , G05B2219/45083 , G05B2219/50353

9. 发明授权

EP0381185B1 Method and apparatus for controlling tracking path of working point of industrial robot 失效
标题翻译：一种用于控制工业机器人的编辑轨道的方法和装置
公开(公告)号：EP0381185B1
公开(公告)日：1998-04-01
申请号：EP90101897.8
申请日：1990-01-31
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
发明人： Miyake, Norihisa , Sumita, Masaki , Sarugaku, Shinichi, Narashinodai San Haitsu 217
IPC分类号： B25J13/08 , B25J9/06 , G05D1/10
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20

10. 发明授权

EP0144442B1 METHOD OF CONTROLLING INDUSTRIAL ROBOT ALONG ARC 失效
标题翻译：控制工业机器人电弧的方法
公开(公告)号：EP0144442B1
公开(公告)日：1991-01-02
申请号：EP84902069.8
申请日：1984-05-25
申请人： FANUC LTD.
发明人： TOYODA, Kenichi , SAKAKIBARA, Shinsuke Mezon-Izumi 101 , MIZUNO, Tooru , HARA, Ryuichi Hirayamashataku 202 10-1, 2-chome
IPC分类号： G05B19/415
CPC分类号： G05B19/41 , G05B2219/45083 , G05B2219/50353
摘要： A method of controlling an industrial robot along an arc wherein the position of a working member attached to the wrist of the industrial robot is controlled along an arc by interpolation, while the angle of the working member with respect to a surface being worked is controlled. The method comprises the steps of obtaining corresponding points (P1, P2 ...: Q1, Q2 ...) of the far end and near end of the working member (TC) attached to the wrist (HD) of the robot at a plurality of instruction points, for controlling the far end of the working member (TC) along an arc; obtaining interpolation points of the far end and near end of the working member from interpolation using the pairs of corresponding points; and obtaining command quantities for the operational axes of the robot from both interpolation points.

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