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21. 发明授权

US5270627A Machine tool control system 失效
标题翻译：机床控制系统
公开(公告)号：US5270627A
公开(公告)日：1993-12-14
申请号：US719472
申请日：1991-06-24
申请人： Denis Rehse
发明人： Denis Rehse
IPC分类号： G05B19/18 , G05B19/414 , G05B19/4155 , G05B19/33
CPC分类号： G05B19/4148 , G05B2219/33169 , G05B2219/33338 , G05B2219/34041 , G05B2219/34167 , G05B2219/34359
摘要： A machine tool control system in which a programmable controller operates a machine to carry out a plurality of programmable functions. The controller includes a plurality of processor means, a first one of the processor means capable of pre-processing and forwarding control information to a second of said processor means, wherein said second processor means provides control information to control machine movement. Advantageously, the second processor means operates on a periodic time based interrupt method which greatly increases the accuracy of the machine.
摘要翻译：一种机床控制系统，其中可编程控制器操作机器以执行多个可编程功能。控制器包括多个处理器装置，处理器装置中的第一个能够预处理并将控制信息转发到所述处理器装置的第二个，其中所述第二处理器装置提供控制信息以控制机器运动。有利地，第二处理器装置基于周期性的基于时间的中断方法进行操作，这大大增加了机器的精度。

22. 发明授权

US5204599A Contour compensation method for numerically controlled machines 失效
标题翻译：用于数控机器的轮廓补偿方法
公开(公告)号：US5204599A
公开(公告)日：1993-04-20
申请号：US822708
申请日：1992-01-21
申请人： Georg Hohn
发明人： Georg Hohn
IPC分类号： G05B19/4103
CPC分类号： G05B19/4103 , G05B2219/34167 , G05B2219/34179 , G05B2219/36573 , G05B2219/50336
摘要： When the movement of a machine element is guided by a multi-axial, numerically controlled machine through the selection of interpolation points which are calculated and stored off-line, a tool-radius correction is rendered possible. This occurs because correction interpolation points are calculated on the basis of interpolation points and thus, with the least possible expenditure of time, a new trajectory curve can be generated, with which the radius changes are considered. In addition, a change in feedrate can be achieved through the selection of override values by placing fine interpolation points between two interpolation points at a time.
摘要翻译：当通过选择离线计算和存储的插值点，机器元件的移动由多轴数控机器引导时，可以进行刀具半径校正。这是因为根据插补点计算校正插补点，因此，以最小可能的时间消耗，可以生成新的轨迹曲线，考虑半径变化。另外，通过在两个插补点之间放置精细插补点，可以通过选择倍率值来实现进给速度的变化。

23. 发明申请

US20100086374A1 DYNAMICALLY OPTIMIZED MACHINE TOOL HAVING SUPERIMPOSED DRIVE SYSTEMS 审中-公开
标题翻译：具有超级驱动系统的动态优化机床
公开(公告)号：US20100086374A1
公开(公告)日：2010-04-08
申请号：US12614151
申请日：2009-11-06
申请人： Jurgen Roders
发明人： Jurgen Roders
IPC分类号： B23Q15/013
CPC分类号： B23Q1/70 , B23Q15/22 , F16C32/044 , F16C2322/39 , G05B2219/34167 , Y10T409/303808
摘要： The invention relates to a method for controlling movement of at least one subassembly of a machine tool, wherein the subassembly includes a rotatable spindle supported at the subassembly by at least one magnetic bearing having at least one bearing gap, wherein the subassembly is moved along a path smoothed by a controller with respect to an exact path, wherein the spindle in its housing is moved along a differential path by means of the magnetic bearing, and wherein the addition (superimposition) of the smoothed path and the differential path generated therewith results in the exact path.
摘要翻译：本发明涉及一种用于控制机床的至少一个子组件的移动的方法，其中所述子组件包括通过至少一个具有至少一个轴承间隙的磁性轴承支撑在所述子组件处的可旋转心轴，其中所述子组件沿着通过控制器相对于精确路径平滑的路径，其中其壳体中的主轴通过磁轴承沿着差速路径移动，并且其中平滑路径的加法（叠加）和由此产生的差分路径导致确切的路径。

24. 发明授权

US06772020B2 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：US06772020B2
公开(公告)日：2004-08-03
申请号：US10038051
申请日：2002-01-04
申请人： Frieder Kohler , Matthias Fauser
发明人： Frieder Kohler , Matthias Fauser
IPC分类号： G05F1900
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。

25. 发明申请

US20030098663A1 Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock 有权
标题翻译：速度控制器时钟中的物体的运动控制，预控制和精细插补的控制和控制结构的方法比位置控制器时钟快
公开(公告)号：US20030098663A1
公开(公告)日：2003-05-29
申请号：US10080769
申请日：2002-02-22
发明人： Thomas Grohmann , Stefan Kuenzel , Wolfgang Papiernik , Bernd Quaschner , Guido Seeger , Johannes Welker
IPC分类号： G05B019/18
CPC分类号： G05B19/416 , G05B19/19 , G05B2219/34084 , G05B2219/34142 , G05B2219/34167 , G05B2219/34175 , G05B2219/41434 , G05B2219/41437
摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.
摘要翻译：本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（nNCMW）的设定点速度值（nNC *）和P增益（kP）在最后一个NC位置控制器时钟从NC传送到驱动器。根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。它们被构造成使得多项式转变时的速度是恒定的。位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

26. 发明授权

US5416394A Motor control method and apparatus thereof in numerical control systems 失效
标题翻译：数控系统中的电机控制方法及其装置
公开(公告)号：US5416394A
公开(公告)日：1995-05-16
申请号：US124551
申请日：1993-09-22
申请人： Yun-Seak Lee
发明人： Yun-Seak Lee
IPC分类号： G05B19/18 , G05B19/4103
CPC分类号： G05B19/4103 , G05B2219/31179 , G05B2219/33156 , G05B2219/33337 , G05B2219/34167 , G05B2219/34359 , G05B2219/35245 , G05B2219/35274 , G05B2219/36171 , G05B2219/43009
摘要： The present invention relates to a motor control method and apparatus therefor in a numerical control system of using an exclusive computer equipped with a built-in program, where an administration computer calculates an initial value corresponding to a displacement amount to be driven by each axis of a motor, and where a motor control computer controls a driving of the motor in accordance with the displacement amount of the motor corresponding to the initial value calculated from the administration computer, thereby enabling to perform the numerical control function by sharing the same between computers, so that an execution velocity needed for the numerical control can be reduced and an adaptive control can be swiftly performed to meet instantly-changing situations as well.
摘要翻译：本发明涉及一种使用装有内置程序的专用计算机的数控系统中的电机控制方法及其装置，其中管理计算机计算与由每个轴驱动的位移量对应的初始值电动机，并且其中电动机控制计算机根据从由管理计算机计算的初始值对应的电动机的位移量来控制电动机的驱动，从而能够通过在计算机之间共享数字控制功能来执行数字控制功能，从而可以减少数字控制所需的执行速度，并且可以快速执行自适应控制以满足即时变化的情况。

27. 发明授权

US5060133A Transputer CNC processor 失效
标题翻译：电脑CNC处理器
公开(公告)号：US5060133A
公开(公告)日：1991-10-22
申请号：US475743
申请日：1990-02-06
申请人： Woodward C. Carter, II
发明人： Woodward C. Carter, II
IPC分类号： G05B19/414
CPC分类号： G05B19/4148 , G05B2219/33338 , G05B2219/34167 , G05B2219/34206 , G05B2219/34218 , G05B2219/34357 , G05B2219/34403 , G05B2219/35546
摘要： A processor for a computerized numerical controller for providing motion planning and interpolation has a first transputer element programmed to convert program data to fixed format binary data and to store converted data in a generated convert data buffer. The convert data buffer is transmitted to a second transputer element programmed to precalculate motion control data therefrom and stores such precalculated data in a generated precalculated data buffer. The precalculated data buffer is transmitted to a third transputer element programmed to interpolate the precalculated data to provide a real time interpolated point stream defining a motion trajectory.
摘要翻译：用于提供运动规划和插值的计算机化数字控制器的处理器具有被编程为将程序数据转换为固定格式的二进制数据并将转换的数据存储在生成的转换数据缓冲器中的第一计算机元件。转换数据缓冲器被发送到被编程为从其计算运动控制数据的第二计算机元件，并将这种预先计算的数据存储在生成的预先计算的数据缓冲器中。预先计算的数据缓冲器被发送到被编程为内插预先计算的数据以提供定义运动轨迹的实时内插点流的第三计算机元件。

28. 发明授权

US4897586A Electric control apparatus for industrial robot 失效
标题翻译：工业机器人电气控制装置
公开(公告)号：US4897586A
公开(公告)日：1990-01-30
申请号：US330488
申请日：1989-03-30
申请人： Shuichi Nakata , Katsumi Yamamoto , Toshio Aono , Shinichi Sugita
发明人： Shuichi Nakata , Katsumi Yamamoto , Toshio Aono , Shinichi Sugita
IPC分类号： B23Q15/013 , B24B9/00 , B24B17/10 , B24B49/16 , B25J9/16 , B25J9/18 , G05B19/42
CPC分类号： G05B19/42 , G05B2219/34167 , G05B2219/45151 , G05B2219/49362 , G05B2219/49398
摘要： An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.
摘要翻译：一种用于工业机器人的电气控制装置，其臂被致动以通过附接到其上的加工工具进行工件的加工。控制装置包括：力传感器，被布置成检测作用在工具上的反作用力;存储器，用于在教学线的多个分割部分中的工件的每个加工过程期间存储由传感器检测到的最大反作用力;存储器，用于将存储的最大反作用力与表示作用在工具上的反作用力的极限的设定值进行比较，并且当存储的最大力超过设定值时从其产生信号。所述控制装置被配置为以使得所述加工工具沿着所述教导线移动的方式操作所述机器人，以在所述分割部分中依次进行所述工件的加工，并且进一步布置以确定所述比较器是否产生当刀具到达分割部分的每个终点处时产生一个控制信号，当施加来自比较器的信号时，每当这些刀具到达时，就响应控制信号操作机器人，使得机床返回到每个起始部分的起始点，以在同一部分重复去毛刺。

29. 发明授权

US4554497A Acceleration/deceleration circuit 失效
标题翻译：加速/减速电路
公开(公告)号：US4554497A
公开(公告)日：1985-11-19
申请号：US610983
申请日：1984-05-14
申请人： Ryoichiro Nozawa , Hideaki Kawamura , Takao Sasaki
发明人： Ryoichiro Nozawa , Hideaki Kawamura , Takao Sasaki
IPC分类号： B23Q15/013 , B23Q5/22 , B23Q5/36 , B25J9/16 , G05B19/4103 , G05B19/416 , G05B21/02
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/34167
摘要： An acceleration/deceleration circuit for raising or lowering a feed velocity, in order to achieve a commanded velocity, over a prescribed time constant irrespective of the magnitude of a change in velocity. The acceleration/deceleration circuit includes means (301) for computing a traveling distance along each axis every sampling period (T), a first storage section (#1 through #n) for storing n samplings of traveling distance components along each axis, a second storage section SUM for storing results of computation, and an arithmetic section (ADD, ACC, DIV) for performing an operation:.sub..DELTA. Xn-.sub..DELTA. Xo+St.fwdarw.Stwhere .sub..DELTA. Xn represents the latest sampled traveling distance component, .sub..DELTA. Xo represents the oldest sampled traveling distance component among the traveling distance components stored in the first storage section, and St represents the contents of the second storage section, and for dividing the result St by n, wherein the result St is stored in the second storage section, and St/n is output as a traveling distance component at a present sampling instant.
摘要翻译： PCT No.PCT / JP83 / 00326 Sec。 371日期1984年5月14日 102（e）日期1984年5月14日PCT提交1983年9月30日PCT公布。出版物WO84 / 01444 PCT 日期1984年4月12日。一种用于提高或降低进给速度的加速/减速电路，以便实现指令速度超过规定的时间常数，而与速度变化的大小无关。加速/减速电路包括用于计算每个采样周期（T）沿着每个轴的行进距离的装置（301），用于存储沿着每个轴的行进距离分量的n个采样的第一存储部分（＃1至#n），第二用于存储计算结果的存储部分SUM和用于执行操作的运算部分（ADD，ACC，DIV）：DELTA Xn-DELTA Xo + St-> St其中DELTA Xn表示最新的采样行进距离分量，DELTA Xo表示存储在第一存储部分中的行进距离分量中最早的采样行进距离分量，St表示第二存储部分的内容，并且将结果St除以n，其中结果St存储在第二存储部分中，以及 St / n作为当前采样时刻的行进距离分量输出。

30. 发明授权

US3727191A Acceleration-deceleration for numerical control 失效
公开(公告)号：US3727191A
公开(公告)日：1973-04-10
申请号：US3727191D
申请日：1971-03-15
申请人： GIDDINGS & LEWIS
发明人： MC GEE J
IPC分类号： G05B19/4103 , G06F15/46
CPC分类号： G05B19/4103 , G05B2219/33088 , G05B2219/34095 , G05B2219/34132 , G05B2219/34167 , G05B2219/34239 , G05B2219/35373 , G05B2219/42207 , G05B2219/42256 , G05B2219/43009
摘要： Methods and apparatus for accomplishing fully automatic acceleration/deceleration in a numerical control system of the iterative computation type such that disclosed and claimed in applicant''s copending U.S. application which issued on Apr. 11, 1972 as U.S. Pat. No. 3,656,124. Any step-change in the velocity called for by a multi-axis program of movement for a movable member is accomplished wholly automatically and at a predetermined rate dV/dt (acceleration or deceleration) which is readily changed to be within the capability of driving servos and such that overshoot and undue time stretch are avoided. In particular, velocity is controlled by iteratively changing position servo command numbers XSC and YSC (for two axes) by amounts Delta X and Delta Y during each of very short, successive time periods Delta T, where Delta X and Delta Y are computed during each period to be proportional to a desired velocity number PVA. Whenever a new velocity is to be put into effect, a second velocity number PVC may be abruptly changed by a large amount, and thereafter the desired velocity number PVA is incremented by a predetermined amount Delta V during each period Delta T until PVA becomes equal to PVC, so that the acceleration or deceleration value is Delta V/ Delta T. The quantity Delta V is preferably changed as a monotonic function of the velocity difference PVC-PVA, and to reduce time stretch may be made proportional to that difference. By ''''looking ahead'''' with computations which determine the distance which will be traveled by the movable member during deceleration from a given velocity to a lower one, the deceleration is started at an instant which results in the lower velocity being reached almost exactly at the time a given path segment is completed. The apparatus and methods are carried out with a data processing system which includes a time-shared arithmetic computer, and are equally effective whether the system is operating to perform linear or circular interpolation.

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