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11. 发明授权

US5027045A High-precision pulse interpolation method 失效
标题翻译：高精度脉冲插补法
公开(公告)号：US5027045A
公开(公告)日：1991-06-25
申请号：US415349
申请日：1989-09-07
申请人： Takashi Iwagaya
发明人： Takashi Iwagaya
IPC分类号： G05B19/18 , G05B19/4103
CPC分类号： G05B19/184 , G05B19/4103 , G05B2219/34076 , G05B2219/34167 , G05B2219/41326
摘要： A high-precision pulse interpolation method for interpolating the amount of movement of individual axes of a numerical control apparatus (1) with high precision. An interpolation pulse is output twice or more in one task and is written into a shared RAM (2). A servo control circuit (3) outputs the interpolation pulses in the shared RAM at regular intervals, to control a servometer (5) with a high-precision pulse interpolation.

12. 发明授权

US4879644A Object positioning apparatus and method 失效
标题翻译：物体定位装置及方法
公开(公告)号：US4879644A
公开(公告)日：1989-11-07
申请号：US139840
申请日：1987-12-30
申请人： R. Marc Gottshall
发明人： R. Marc Gottshall
IPC分类号： G05B19/414
CPC分类号： G05B19/4141 , G05B2219/33187 , G05B2219/33337 , G05B2219/34167 , G05B2219/34208 , G05B2219/45016 , G05B2219/50234
摘要： Apparatus and method are provided for automatically controlling the position of one or more objects. The apparatus comprises a position control network which receives macro-type movement commands from a mainframe computer. The network includes a plurality of interface processors each adapted to provide a plurality of micro-commands in response to each macro-command. The micro-commands are supplied to motion controllers which in turn control the movement of servomotors. The servomotors position the object. Position encoders are provided to monitor the position of the objects and provide position data to the interface processor for transmission to the mainframe computer. A novel method is disclosed which employs the foregoing apparatus to provide synchronous motion of two or more objects.
摘要翻译：提供了用于自动控制一个或多个物体的位置的装置和方法。该装置包括从大型计算机接收宏型移动命令的位置控制网络。网络包括多个接口处理器，每个接口处理器适于响应于每个宏命令提供多个微命令。微指令被提供给运动控制器，运动控制器又控制伺服电动机的运动。伺服电机定位物体。提供位置编码器以监视对象的位置，并向接口处理器提供位置数据以传输到主机计算机。公开了一种采用上述装置来提供两个或多个物体的同步运动的新颖方法。

13. 发明授权

US4858140A Numerical control system for highly dynamic processes 失效
标题翻译：高动态过程的数控系统
公开(公告)号：US4858140A
公开(公告)日：1989-08-15
申请号：US126568
申请日：1987-11-30
申请人： Ernst Buhler , Marco Boccadoro
发明人： Ernst Buhler , Marco Boccadoro
IPC分类号： G05B19/4103
CPC分类号： G05B19/4103 , G05B2219/34047 , G05B2219/34101 , G05B2219/34167 , G05B2219/45221
摘要： A coarse interpolator is adapted for use in a numerical control system for performing path interpolation calculations for the control of highly dynamic processes. These processess have different path contour geometries wherein a vector having a length L connects in linear form a first point P1 to a second point P2. These points are located in three dimensional Cartesian space having axes X, Y, and Z, Length L has Cartesian components X, Y and Z and is subject to an angular rotation C about the z axis. The interpolator responds to a group of predetermined vector lengths, starting with the maximum length, in order to calculate the path elements L, X, Y, Z and C for the maximum length vector. A path error E is then determined for the path elements so calculated. The error E is then compared with a praedetemined maximum error value. If the error E does not exceed the maximum value, the calculated path elements are outputted. If the error E exceeds the maximum value, the path elements for the vector which has the length next shorter to the vector of maximum length are then calculated. These operations are repeated until the path elements calculated for a vector result in a path error which does not exceed the maximum value and these path elements can be outputted. The distance between the outputted path elements and the end point of the path contour is then determined and the coarse interpolator stops interpolating when the distance has a zero value.
摘要翻译：粗调内插器适用于数字控制系统，用于执行用于控制高动态过程的路径插值计算。这些过程具有不同的路径轮廓几何形状，其中具有长度L的矢量线性地形成第一点P1到第二点P2。这些点位于具有轴X，Y和Z的三维笛卡尔空间中，长度L具有笛卡尔分量X，Y和Z，并且围绕z轴进行角度旋转C. 为了计算最大长度向量的路径元素L，X，Y，Z和C，内插器响应一组由最大长度开始的预定向量长度。然后确定如此计算的路径元素的路径误差E. 然后将误差E与最大误差值进行比较。如果误差E不超过最大值，则输出计算出的路径要素。如果误差E超过最大值，则计算出具有下一个短于最大长度向量长度的向量的路径元素。重复这些操作，直到为向量计算的路径元素导致不超过最大值的路径错误，并且可以输出这些路径元素。然后确定输出路径元素与路径轮廓的终点之间的距离，并且当距离为零值时，粗略内插器停止内插。

14. 发明授权

US3794900A Pulse interpolation systems 失效
标题翻译：脉冲插值系统
公开(公告)号：US3794900A
公开(公告)日：1974-02-26
申请号：US3794900D
申请日：1972-09-07
申请人： FUJITSU LTD , FUJITSU FANUC LTD
发明人： KOBAYASHI K , KATO Y
IPC分类号： H02P8/14 , G05B19/4103 , G05B19/416 , G05B19/28
CPC分类号： G05B19/4103 , G05B2219/34061 , G05B2219/34167 , G05B2219/41326
摘要： Pulse interpolation system for fast and accurate numerical control of machine tools, having a small scale computer with software which processes and sends out the numerical command; counting means which memorizes said numerical command, the content of said counting means being added or subtracted from each interpolation pulse, and; a pulse generator circuit which provides interpolation pulses from the time when said counting means memorizes said numerical command until the content of said counting means reaches the predetermined value, e.g., zero.
摘要翻译：脉冲插补系统，用于机床快速准确的数控，具有小型计算机，软件处理和发出数字命令; 计数装置，其存储所述数字命令，所述计数装置的内容从每个插值脉冲相加或减去; 脉冲发生器电路，当所述计数装置存储所述数字命令直到所述计数装置的内容达到所述预定值（例如零）时为止提供插补脉冲。

15. 发明授权

US07039494B2 Controller for machine 失效
标题翻译：机器控制器
公开(公告)号：US07039494B2
公开(公告)日：2006-05-02
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： G06F19/00
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。

16. 发明申请

US20030033029A1 Arrangement for generating command variables for control loops of a numerically controlled machine 有权
标题翻译：用于生成数控机床控制回路的指令变量的布置
公开(公告)号：US20030033029A1
公开(公告)日：2003-02-13
申请号：US10038051
申请日：2002-01-04
发明人： Frieder Kohler , Matthias Fauser
IPC分类号： G05B011/01 , G06F019/00
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/34104 , G05B2219/34119 , G05B2219/34167 , G05B2219/41151
摘要： An arrangement for generating command variables for control loops of a numerically controlled machine that includes an interpolator unit for providing position set points with a defined interpolator scanning rate and a precision interpolator unit. The precision interpolator unit includes a scanning rate converter and a downstream-connected low-pass filter, wherein the precision interpolator unit is arranged downstream of the interpolator unit, which generates command variables at an output side from position set points at an input side for one or several downstream-connected control loops, wherein the precision interpolator unit generates command variables in a time pattern of the control loops with a control loop scanning rate.
摘要翻译：一种用于产生数控机器的控制回路的指令变量的装置，其包括用于提供具有定义的内插器扫描速率的位置设定点的内插器单元和精密内插器单元。精密内插器单元包括扫描速率转换器和下游连接的低通滤波器，其中精密内插器单元布置在内插器单元的下游，其在输入侧的输入侧从在输入侧的位置设定点生成命令变量或多个下游连接的控制回路，其中精密内插器单元以控制回路扫描速率在控制回路的时间模式中生成命令变量。

17. 发明授权

US5815401A Free-form curve interpolation method and apparatus 失效
标题翻译：自由曲线插补方法和装置
公开(公告)号：US5815401A
公开(公告)日：1998-09-29
申请号：US765754
申请日：1996-12-23
申请人： Toshiaki Otsuki , Haruhiko Kozai , Yoshiyuki Wakinotani
发明人： Toshiaki Otsuki , Haruhiko Kozai , Yoshiyuki Wakinotani
IPC分类号： G05B19/4103 , G05B19/4099
CPC分类号： G05B19/4103 , G05B2219/34141 , G05B2219/34167 , G05B2219/35116
摘要： A free-form curve interpolation method and device is provided for smoothly interconnecting curves using a non-uniform rational B-spline (NURBS) curve representation. This ability to interconnect free-form curves is important when machine parts of small dimensions or complex configuration. This is accomplished by a preprocessing calculation unit reads NC programs including an interpolation command of a NURBS curve expressed by a function using a parameter t as a variable, and calculates a distance .DELTA.L to move during an interpolation period T. A parameter change calculation unit calculates a change .DELTA.t in the parameter t brought on when moving by the distance .DELTA.L, on the basis of a current position specified by a current value t.sub.i of the parameter t. A movement amount calculation unit calculates a position when the value of parameter t is t.sub.i +.DELTA.t, by a defining formula of the NURBS curve. Subsequently, the movement calculation unit calculates a movement amount of each axis for amoving to the calculated position, and outputs an interpolation pulse to each axis.
摘要翻译： PCT No.PCT / JP96 / 01228 Sec。 371日期：1996年12月23日 102（e）日期1996年12月23日PCT提交1996年5月9日PCT公布。公开号WO96 / 35980 日期1996年11月14日提供了一种自由曲线插值方法和装置，用于使用非均匀有理B样条（NURBS）曲线表示平滑地互连曲线。这种互连自由曲线的能力在小尺寸或复杂配置的机器部件时非常重要。这是通过预处理计算单元读取包括使用参数t表示的NURBS曲线的内插指令作为变量的NC程序，并计算在插补周期T期间移动的距离DELTA L.参数改变计算单元基于由参数t的当前值ti指定的当前位置，计算当距离DELTA L移动时所引入的参数t中的变化DELTA t。移动量计算单元通过NURBS曲线的定义公式计算参数t的值为ti + DELTA t的位置。随后，运动计算单元计算用于舍入的每个轴的运动量到计算出的位置，并且向每个轴输出插值脉冲。

18. 发明授权

US5438522A Method and apparatus for sub-span interpolation 失效
标题翻译：子跨度插值的方法和装置
公开(公告)号：US5438522A
公开(公告)日：1995-08-01
申请号：US233479
申请日：1994-04-26
申请人： Robert M. Crovella
发明人： Robert M. Crovella
IPC分类号： G05B19/4103 , G06F19/00 , G05B19/42
CPC分类号： G05B19/4103 , G05B2219/34047 , G05B2219/34089 , G05B2219/34167 , G05B2219/35369 , G05B2219/35394
摘要： A method for efficiently interpolating sub-span position commands for control of a machine member. The method includes storing a set of coefficients defined by a parametric function relating member position and time, calculating the distance between a target coordinate axis position command and a current coordinate axis position command, generating first and second command modifiers from the stored coefficients, the calculated distance, and a current coordinate axis position command, and summing the current coordinate axis position command and the first and second command modifiers to generate a subspan position command.
摘要翻译：一种用于有效地插入子跨度位置命令以控制机器构件的方法。该方法包括存储由参数函数定义的一组系数，该参数函数关联成员位置和时间，计算目标坐标轴位置命令与当前坐标轴位置命令之间的距离，从存储的系数产生第一和第二命令修改器，距离和当前坐标轴位置命令，并且对当前坐标轴位置命令和第一和第二命令修改器求和以产生子跨位置命令。

19. 发明授权

US5394323A Path error control system 失效
标题翻译：路径误差控制系统
公开(公告)号：US5394323A
公开(公告)日：1995-02-28
申请号：US219566
申请日：1994-03-29
申请人： Ian Yellowley , Rudolf J. Seethaler
发明人： Ian Yellowley , Rudolf J. Seethaler
IPC分类号： G05B19/4093 , G05B19/414 , G05B19/25 , G05B19/18 , G06F15/46
CPC分类号： G05B19/4093 , G05B19/4141 , G05B2219/34156 , G05B2219/34167 , G05B2219/37175 , G05B2219/43174 , Y02P90/265
摘要： The desired path for each axis is predefined and converted to a first series of coarse position increments at time intervals. The coarse position increments are converted to a second series of spaced, (in time), fine position increments and expected values of velocity v. The latter parameters requiring splining and interpolation of values. The actual position of each axis is measured and compared with that required (by the fine series of position increments) to determine the resulting error E which is then compared with a calculated allowable error, e.sub.allowable calculated as a function of the then current planned velocity value v i.e. the planned value of velocity v corresponding to the current fine position increment and a signal is triggered when the actual error E exceeds the allowable error e.sub.allowable to prevent processing of the next increment in the second series of increments.
摘要翻译：每个轴的所需路径是预定义的，并以时间间隔转换为第一系列的粗略位置增量。粗略位置增量被转换为第二系列的间隔时间（精确位置增量）和预期的速度值v。后一个参数需要数值的插值和插值。每个轴的实际位置被测量并与所需要的位置（通过精细的位置增量系列）进行比较，以确定所得到的误差E，然后将其与计算的允许误差进行比较，该允许误差作为随后的当前计划速度值的函数计算 v即对应于当前精细位置增量的速度v的计划值，并且当实际误差E超过允许的值以允许阻止第二增量系列中的下一个增量的处理时触发信号。

20. 发明授权

US5285579A Tridimensional multifunction plotter 失效
标题翻译：立体多功能绘图仪
公开(公告)号：US5285579A
公开(公告)日：1994-02-15
申请号：US656239
申请日：1991-02-14
申请人： Corsi Armando
发明人： Corsi Armando
IPC分类号： B23Q15/00 , B23Q35/12 , B43L13/14 , G05B19/18 , G05B19/4097 , G05B19/414 , G05B19/403 , G01B7/03 , G06F15/46
CPC分类号： G05B19/4097 , G05B2219/33168 , G05B2219/33172 , G05B2219/34167 , G05B2219/35002 , G05B2219/50336 , G05B2219/50353 , Y02P90/265
摘要： The invention relates to a tridimensional multifunction plotter, comprising a support of a tool which can move with a high precision following a predetermined tridimensional surface.The mobile part of the machine comprises a multifunction head to which several devices like laser distance measuring devices, digital and analogic probes for the surveying and digitizing of a bidimensional and/or tridimensional surface, or tools of various kinds for making a tridimensional model starting from a surface defined through a CAD system.A hardware-software subsystem is provided, parallel connected with the CPU of the machine, to obtain an integrated system which allows a direct connection of the machine with a CAD system so allowing the operator to input the various working parameters directly to the plotter, without the need of an external processing the data file generated by the CAM system, to convert it into a file compatible with the numeric controls of the machine.
摘要翻译：本发明涉及三维多功能绘图仪，其包括可在预定三维表面之后以高精度移动的工具的支撑件。机器的可移动部件包括多功能头，多个设备如激光距离测量装置，用于二维和/或立体表面的测量和数字化的数字和模拟探头，或用于从三维模型开始的三维模型通过CAD系统定义的曲面。提供与机器的CPU并联的硬件 - 软件子系统，以获得集成系统，允许机器与CAD系统直接连接，从而允许操作员将各种工作参数直接输入到绘图仪，而无需需要外部处理由CAM系统生成的数据文件，将其转换成与机器的数字控制兼容的文件。

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