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11. 发明授权

US07239938B2 Interference checking for a numerical control device 失效
标题翻译：数字控制装置的干扰检查
公开(公告)号：US07239938B2
公开(公告)日：2007-07-03
申请号：US10968127
申请日：2004-10-20
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G06F19/00
CPC分类号： G05B19/4061 , G05B2219/49137 , G05B2219/49141
摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.
摘要翻译：存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

12. 发明授权

US08041447B2 Numerical controller having workpiece setting error compensation means 有权
标题翻译：具有工件设定误差补偿装置的数控机构
公开(公告)号：US08041447B2
公开(公告)日：2011-10-18
申请号：US12192590
申请日：2008-08-15
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G05B13/02 , G05B19/25 , G05B19/41 , G06F19/00
CPC分类号： G05B19/4086 , G05B2219/35557 , G05B2219/50049
摘要： A numerical controller controlling a 5-axis machine tool compensates setting error that arises when a workpiece is set on the table. Error in the three linear axes and the two rotation axes are compensated using preset error amounts to keep the calculated tool position and tool direction in a command coordinate system. If a trigonometric function used for error compensation has a plurality of solution sets, the solution set closest to the tool direction in the command coordinate system is selected from the plurality of solution sets and used as the positions of the two rotation axes compensated in the above error compensation.
摘要翻译：控制5轴机床的数字控制器可以补偿工件设置在工作台上时产生的设定误差。三个直线轴的误差和两个旋转轴的补偿使用预设的误差量，以将计算出的刀具位置和刀具方向保持在命令坐标系中。如果用于误差补偿的三角函数具有多个解集，则从多个解集合中选择最靠近命令坐标系中的刀具方向的解，并将其用作在上述中补偿的两个旋转轴的位置误差补偿。

13. 发明申请

US20090093905A1 NUMERICAL CONTROLLER HAVING WORKPIECE SETTING ERROR COMPENSATION MEANS 有权
标题翻译：具有工件设定错误补偿方式的数控机
公开(公告)号：US20090093905A1
公开(公告)日：2009-04-09
申请号：US12192590
申请日：2008-08-15
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G05B19/404
CPC分类号： G05B19/4086 , G05B2219/35557 , G05B2219/50049
摘要： A numerical controller controlling a 5-axis machine tool compensates setting error that arises when a workpiece is set on the table. Error in the three linear axes and the two rotation axes are compensated using preset error amounts to keep the calculated tool position and tool direction in a command coordinate system. If a trigonometric function used for error compensation has a plurality of solution sets, the solution set closest to the tool direction in the command coordinate system is selected from the plurality of solution sets and used as the positions of the two rotation axes compensated in the above error compensation.
摘要翻译：控制5轴机床的数字控制器可以补偿工件设置在工作台上时产生的设定误差。三个直线轴的误差和两个旋转轴的补偿使用预设的误差量，以将计算出的刀具位置和刀具方向保持在命令坐标系中。如果用于误差补偿的三角函数具有多个解集，则从多个解集合中选择最靠近命令坐标系中的刀具方向的解，并将其用作在上述中补偿的两个旋转轴的位置误差补偿。

14. 发明申请

US20060247817A1 Work installation error measuring apparatus 有权
标题翻译：工作安装误差测量仪
公开(公告)号：US20060247817A1
公开(公告)日：2006-11-02
申请号：US11397692
申请日：2006-04-05
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G06F19/00
CPC分类号： G01B21/042
摘要： A work is installed on a table of a machine tool, and the coordinate system on the work is (X′, Y′, Z′). Each three points on respective three faces of the work, which are orthogonal to one another, A, B, C, D, E, F, G, H and I, are detected with a touch probe. From three points on the same plane, each of three formulas of planes which lies on the three points, respectively, are obtained. A position O′ (XO, YO, ZO) of a point where the three plane intersect with one another is obtained. This position is a parallel translation error. From these three plane formulas, points on the X′, Y′ and Z′ axes each being distant from the position O′ by the length L are obtained. Rotation matrices are obtained from the respective points, position O′ (XO, YO, ZO), and L. Rotary direction errors are obtained using the rotation matrices. In this manner, a work location error which is composed of the three-dimensional parallel translation error and three-dimensional rotary direction errors is obtained.
摘要翻译：工件安装在机床的工作台上，工件上的坐标系为（X'，Y'，Z'）。 A，B，C，D，E，F，G，H和I彼此正交的工件的相应三个面上的每个三个点都用探针检测。从同一平面上的三个点，分别得到位于三个点上的三个平面的三个公式。获得三个平面彼此相交的点的位置O'（X O，O，Y O，Z O O）。这个位置是平行翻译错误。通过这三个平面公式，可以得到X'，Y'，Z'各自远离位置O'长度L的点。旋转矩阵从相应的位置获得，位置O'（X O，O，O，Z O O）和L.旋转方向误差使用旋转矩阵获得。以这种方式，获得由三维平行平移平移误差和三维旋转方向误差构成的作业位置误差。

15. 发明授权

US07269473B2 Work installation error measuring apparatus 有权
标题翻译：工作安装误差测量仪
公开(公告)号：US07269473B2
公开(公告)日：2007-09-11
申请号：US11397692
申请日：2006-04-05
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G06F19/00 , G05B19/18
CPC分类号： G01B21/042
摘要： A work is installed on a table of a machine tool, and the coordinate system on the work is (X′, Y′, Z′). Each three points on respective three faces of the work, which are orthogonal to one another, A, B, C, D, E, F, G, H and I, are detected with a touch probe. From three points on the same plane, each of three formulas of planes which lies on the three points, respectively, are obtained. A position O′ (XO, YO, ZO) of a point where the three plane intersect with one another is obtained. This position is a parallel translation error. From these three plane formulas, points on the X′, Y′ and Z′ axes each being distant from the position O′ by the length L are obtained. Rotation matrices are obtained from the respective points, position O′ (XO, YO, ZO), and L. Rotary direction errors are obtained using the rotation matrices. In this manner, a work location error which is composed of the three-dimensional parallel translation error and three-dimensional rotary direction errors is obtained.
摘要翻译：工件安装在机床的工作台上，工件上的坐标系为（X'，Y'，Z'）。 A，B，C，D，E，F，G，H和I彼此正交的工件的相应三个面上的每个三个点都用探针检测。从同一平面上的三个点，分别得到位于三个点上的三个平面的三个公式。获得三个平面彼此相交的点的位置O'（X O，O，Y O，Z O O）。这个位置是平行翻译错误。通过这三个平面公式，可以得到X'，Y'，Z'各自远离位置O'长度L的点。旋转矩阵从相应的位置获得，位置O'（X O，O，O，Z O O）和L.旋转方向误差使用旋转矩阵获得。以这种方式，获得由三维平行平移平移误差和三维旋转方向误差构成的作业位置误差。

16. 发明申请

US20050090930A1 Numerical control device 失效
标题翻译：数控装置
公开(公告)号：US20050090930A1
公开(公告)日：2005-04-28
申请号：US10968127
申请日：2004-10-20
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G05B19/19 , G05B19/4061 , G05B19/4068 , G06F19/00
CPC分类号： G05B19/4061 , G05B2219/49137 , G05B2219/49141
摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.
摘要翻译：存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

17. 发明申请

US20050033459A1 Controller for machine 失效
标题翻译：机器控制器
公开(公告)号：US20050033459A1
公开(公告)日：2005-02-10
申请号：US10909304
申请日：2004-08-03
申请人： Toshiaki Otsuki , Soichiro Ide
发明人： Toshiaki Otsuki , Soichiro Ide
IPC分类号： B23Q15/00 , G05B11/01 , G05B11/32 , G05B19/18 , G05B19/4093 , G05B19/41 , G05B19/4103 , G05B19/416
CPC分类号： G05B19/416 , B25J9/1623 , G05B19/4103 , G05B2219/33272 , G05B2219/34167 , G05B2219/43062 , G05B2219/43065 , G05B2219/43203
摘要： A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive axes are not exceeded. A program is analyzed in a command analysis section, and an interpolated position on a motion path in the rectangular coordinate system is determined in a first interpolation section, and then converted by means of a transformation section into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section, a tangential acceleration is determined. In a velocity limit calculating section, a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes. A deceleration target velocity at the time of each position being reached is determined in a deceleration target velocity calculating section. An intermediate memory stores the calculated results. A motion amount for a processing period of a second interpolation section is determined in an acceleration/deceleration processing section, and is interpolated in the second interpolation section, to be output to a servo control section for the drive axes. By performing the acceleration/deceleration processing before the second interpolation, a trajectory error is eliminated.
摘要翻译：一个消除由加速/减速控制引起的误差的控制器，并且控制不由直角坐标系表示的驱动轴的速度，使得不超过驱动轴的速度，加速度和加加速度的最大允许值。在命令分析部分中分析程序，并且在第一内插部分中确定直角坐标系中的运动路径上的内插位置，然后通过变换部分转换成不在矩形坐标中的驱动轴的位置系统。在切向加速度计算部中，确定切向加速度。在速度限制计算部中，确定到达每个位置时的速度极限，其不超过驱动轴的速度，加速度和加加速度的最大允许值。在减速目标速度计算部中确定到达各位置时的减速目标速度。中间存储器存储计算结果。在加速/减速处理部分中确定第二内插部分的处理周期的运动量，并且在第二内插部分中被内插，以输出到用于驱动轴的伺服控制部分。通过在第二次插补之前进行加减速处理，消除了轨迹误差。

18. 发明申请

US20080288103A1 Numerical control method for five-axis processing machine 有权
标题翻译：五轴加工机的数控方法
公开(公告)号：US20080288103A1
公开(公告)日：2008-11-20
申请号：US12081757
申请日：2008-04-21
申请人： Toshiaki Otsuki , Soichiro Ide , Takeshi Miyazaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takeshi Miyazaki
IPC分类号： G05B19/19
CPC分类号： G05B19/4103 , G05B19/404 , G05B2219/35158 , G05B2219/49344 , G05B2219/50297 , G05B2219/50336
摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.
摘要翻译：如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。

19. 发明申请

US20060247820A1 Curve interpolating method 有权
标题翻译：曲线内插法
公开(公告)号：US20060247820A1
公开(公告)日：2006-11-02
申请号：US11414170
申请日：2006-05-01
申请人： Toshiaki Otsuki , Soichiro Ide , Hisashi Shiobara
发明人： Toshiaki Otsuki , Soichiro Ide , Hisashi Shiobara
IPC分类号： G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34171
摘要： The invention provides a method of generating a smooth curve from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes to perform interpolation along the curve. Corrected command points are obtained for linear axes and for rotary axes, respectively. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. And a curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, curve interpolation which is more appropriate than that in a multi-axis machine tool having two or more rotary axes can be performed.
摘要翻译：本发明提供了一种通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数值控制器从指令的点序列生成平滑曲线的方法，以沿曲线执行内插。对于直线轴和旋转轴分别获得纠正的指令点。用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。并且生成通过合成的校正命令点的曲线来执行插值。结果，可以进行比具有两个以上旋转轴的多轴机床更合适的曲线插补。

20. 发明授权

US07869897B2 Numerical control method for five-axis processing machine 有权
标题翻译：五轴加工机的数控方法
公开(公告)号：US07869897B2
公开(公告)日：2011-01-11
申请号：US12081757
申请日：2008-04-21
申请人： Toshiaki Otsuki , Soichiro Ide , Takeshi Miyazaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takeshi Miyazaki
IPC分类号： G06F19/00
CPC分类号： G05B19/4103 , G05B19/404 , G05B2219/35158 , G05B2219/49344 , G05B2219/50297 , G05B2219/50336
摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.
摘要翻译：如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。

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