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71. 发明授权

US07928682B2 Numerical controller having axis reconfiguration function 有权
标题翻译：具有轴重构功能的数控机
公开(公告)号：US07928682B2
公开(公告)日：2011-04-19
申请号：US12646235
申请日：2009-12-23
申请人： Makoto Haga , Masahiko Hosokawa
发明人： Makoto Haga , Masahiko Hosokawa
IPC分类号： G05B19/25
CPC分类号： G05B19/4093 , G05B19/4155 , G05B2219/33128 , G05B2219/34317 , G05B2219/35252 , Y02P90/265
摘要： A numerical controller capable of performing axis reconfiguration of control axes in at least two paths without need for the paths to wait. A program block is read and it is determined whether or not the read block includes an axis detachment command. If the block includes the axis detachment command block, an action axis attribute of an control axis designated by the axis detachment command is altered to a non-action axis attribute. Further, if the read block includes an axis allocation command, it is determined whether or not an control axis designated by the axis allocation command becomes a non-action axis, and when the control axis has the non-action axis attribute, the non-action axis attribute of the control axis is altered to a designated path's action axis attribute. Thus, the axis reconfiguration processing in one path can be performed separately from axis reconfiguration processing in another path.
摘要翻译：一种能够在至少两个路径中执行控制轴的轴重新配置而不需要等待路径的数字控制器。读取程序块，并且确定读取块是否包括轴分离命令。如果块包括轴分离命令块，则由轴脱离命令指定的控制轴的动作轴属性被改变为非动作轴属性。此外，如果读取块包括轴分配命令，则确定由轴分配命令指定的控制轴是否成为非动作轴，并且当控制轴具有非动作轴属性时，控制轴的动作轴属性更改为指定路径的动作轴属性。因此，可以在另一路径中与轴重新配置处理分开地执行一个路径中的轴重新配置处理。

72. 发明申请

US20100026229A1 SERVOMOTOR SPEED CONTROL 有权
标题翻译：伺服电机速度控制
公开(公告)号：US20100026229A1
公开(公告)日：2010-02-04
申请号：US12510680
申请日：2009-07-28
申请人： Christopher Hugh Williams
发明人： Christopher Hugh Williams
IPC分类号： G05B19/25
CPC分类号： G05B19/416 , G05B19/23 , G05B19/29 , G05B2219/34175 , G05B2219/42173 , G05B2219/43009 , G05B2219/43094 , G05B2219/43168
摘要： A method for controlling a servomotor for driving a movable part of a machine, the method comprising: determining the coordinates of an acceleration and of a deceleration curve for each stage of a cycle of operation to move said part; determining the maximum number of stages required to complete said cycle; initiating the acceleration curve for the first stage of the cycle of operation; and dynamically correcting the cycle of operation, at at least one intermediate point in the cycle, to initiate the deceleration curve appropriate to the stage, at a predetermined decision point, if production line parameters require a change to the operation cycle.
摘要翻译：一种用于控制用于驱动机器的可移动部件的伺服电机的方法，所述方法包括：确定用于移动所述部件的操作循环的每个阶段的加速度和减速曲线的坐标; 确定完成所述循环所需的最大阶段数; 启动运行循环第一阶段的加速曲线; 并且在所述循环中的至少一个中间点处，在预定的判定点，如果生产线参数需要对所述操作循环的改变，则动态地校正所述循环中的至少一个中间点，以启动适于所述载物台的减速曲线。

73. 发明申请

US20090160388A1 MACHINE TOOL OR PRODUCTION MACHINE WITH SIGNAL GENERATION BY MEANS OF DIRECT DRIVE AND METHOD FOR GENERATING SIGNALS IN SUCH A MACHINE 有权
标题翻译：具有直接驱动信号生成的机器或生产机器，以及在这种机器上产生信号的方法
公开(公告)号：US20090160388A1
公开(公告)日：2009-06-25
申请号：US12338144
申请日：2008-12-18
申请人： Martin Zagromski
发明人： Martin Zagromski
IPC分类号： G05B19/25 , G08B3/10
CPC分类号： B23Q5/58 , B23Q11/0089 , G05B19/409 , G05B2219/36537 , Y10T409/10159
摘要： Machine (10) with an NC control unit (11) and at least one motor (12) which can be triggered by said control unit (11) and which forms an oscillatory system with its bearing and/or parts of the machine (10). The control unit (10) injects control variables (S1) into the motor (12) which trigger a desired motion of the motor (12). When necessary, the control unit (11) additionally injects predetermined signal variables (S2) into the motor (12) which trigger desired mechanical oscillations of the oscillatory system. The signal variables (S2) are predetermined in such a way that the mechanical oscillations are audible and/or tangible.
摘要翻译：具有NC控制单元（11）的机器（10）和可由所述控制单元（11）触发的至少一个电动机（12），并且其与所述机器（10）的轴承和/或部件形成振荡系统，。控制单元（10）将控制变量（S1）注入电动机（12），该电动机触发电动机（12）的所需运动。如果需要，控制单元（11）另外将预定的信号变量（S2）注入到电动机（12）中，该电动机触发振荡系统的期望的机械振荡。信号变量（S2）以使得机械振动是可听见的和/或有形的方式被预先确定。

74. 发明授权

US07501779B2 Turret servo control device with overriding and control method thereof 有权
标题翻译：转塔伺服控制装置，具有超控及其控制方法
公开(公告)号：US07501779B2
公开(公告)日：2009-03-10
申请号：US11616186
申请日：2006-12-26
申请人： Dae Jung Seong , Nak Won Choi , Hong Cheol Sin , Myoung Soo Oh
发明人： Dae Jung Seong , Nak Won Choi , Hong Cheol Sin , Myoung Soo Oh
IPC分类号： G05B19/25
CPC分类号： B23Q16/025 , G05B2219/36094 , G05B2219/43136 , G05B2219/43156 , G05B2219/43158 , G05B2219/43161 , Y10T408/175
摘要： Disclosed herein is a turret servo control device with an overriding function and control method thereof. The turret servo control device comprises: a feed information-generating means for generating at least one of feed information of a turret as a control command to output the generated control command, the feed information including sequence, position and speed of the turret; a PLC means 130 connected to the feed information generating means for receiving the control command from the feed information generating means by means of a predetermined contact point or protocol; a turret servo driver means 140 connected to the PLC means 130 for receiving the control command from the turret servo driver means by means of the predetermined contact point or protocol and converting the received control command into position and speed data of the turret; and a turret servo motor 150 connected to the turret servo driver means 140 and adapted to be controlled by the turret servo driver means 140, wherein the feed information generating means enables outputting of a new overriding change control command even during the outputting of the control command based on a preset change command.
摘要翻译：本发明公开了具有超控功能及其控制方法的转塔伺服控制装置。转塔伺服控制装置包括：进给信息生成装置，用于产生转塔的进给信息中的至少一个作为输出所生成的控制命令的控制命令，所述进给信息包括转台的顺序，位置和速度; 连接到馈送信息产生装置的PLC装置130，用于通过预定的接触点或协议从馈送信息产生装置接收控制命令; 连接到PLC装置130的转台伺服驱动器装置140，用于通过预定的接触点或协议从转塔伺服驱动装置接收控制命令，并将接收到的控制命令转换成转塔的位置和速度数据; 以及转塔伺服电动机150，其连接到转塔伺服驱动器装置140，并且适于由转塔伺服驱动装置140控制，其中，即使在输出控制指令期间，进给信息产生装置也能够输出新的重写变更控制命令基于预设的更改命令。

75. 发明申请

US20070278980A1 Motorized system and method of control 有权
标题翻译：电动系统和控制方法
公开(公告)号：US20070278980A1
公开(公告)日：2007-12-06
申请号：US11446249
申请日：2006-06-02
申请人： Curtis Wilson
发明人： Curtis Wilson
IPC分类号： G05B19/25
CPC分类号： G05B19/25
摘要： A system and method for generating a controlled motion path with a machine-tool system having a controller operating in a servo rate. The method includes a first interpolation step, in which a path segment corresponding to a number of servo update periods is calculated. After the first interpolation step, a speed override factor is established. After establishing the speed override factor a second interpolation step occurs, which includes calculating a number of path setpoints for each path segment. The number of servo update periods per path segment may vary over the path.
摘要翻译：一种利用具有以伺服速率操作的控制器的机床系统产生受控运动路径的系统和方法。该方法包括第一内插步骤，其中计算与伺服更新周期数相对应的路径段。在第一次插补步骤之后，建立速度倍率因子。在建立速度倍率因子之后，发生第二插值步骤，其包括计算每个路径段的路径设定点的数量。每个路径段的伺服更新周期的数量可以在路径上变化。

76. 发明授权

US07129665B2 Control apparatus for feed driving system 有权
标题翻译：饲料驱动系统控制装置
公开(公告)号：US07129665B2
公开(公告)日：2006-10-31
申请号：US11028362
申请日：2005-01-03
申请人： Tomoharu Ando
发明人： Tomoharu Ando
IPC分类号： G05B19/25
CPC分类号： G05B19/253 , G05B2219/41006 , G05B2219/41024 , G05B2219/42073 , G05B2219/50162
摘要： A control apparatus for a machine that can be operated at high precision in a stable control state is provided by driving a movable body with control parameters suited to the mechanical state. A control parameter calculation circuit is provided to obtain control parameters for a drive apparatus control circuit for driving actuators in accordance with the conditions of actuator rotational velocity, the orientation of the movable body, and the position of the movable body, and a control parameter K for the drive apparatus control circuit is varied.
摘要翻译：通过用适于机械状态的控制参数驱动可移动体来提供可在稳定的控制状态下以高精度操作的机器的控制装置。提供控制参数计算电路，以根据致动器旋转速度的条件，可移动体的取向和可移动体的位置来获得用于驱动致动器的驱动装置控制电路的控制参数，以及控制参数K 驱动装置控制电路变化。

77. 发明申请

US20060176001A1 Method for detecting a possible collision of at least two objects moving with respect to each other 有权
标题翻译：用于检测相对于彼此移动的至少两个物体的可能碰撞的方法
公开(公告)号：US20060176001A1
公开(公告)日：2006-08-10
申请号：US11313494
申请日：2005-12-19
申请人： Josef Haunerdinger
发明人： Josef Haunerdinger
IPC分类号： G05B19/25
CPC分类号： G05B19/4061 , G05B2219/49145
摘要： A method is for detecting a possible collision of at least two objects moving with respect to each other by simulating the intended relative motion of the two objects. At least one of the objects is assigned an envelope surrounding the object, the path line represents the relative motion of the objects is covered in steps of a defined step size, and the occurrence of an overlap of the objects is detected for ascertaining a possible collision of the objects. For at least one object, the outer contour of the corresponding envelope is used as a datum for detecting an overlap. At least one object is assigned an inner and an outer envelope, of which the inner envelope surrounds the object and the outer envelope surrounds the inner envelope. The outer envelope is used as a datum for detecting an overlap of the two objects, and when an overlap is detected in a segment of the path line, the segment of the path line is re-traversed using a smaller, second step size. When the segment of the path line is re-traversed, the inner envelope of at least one of the objects is used as a datum for detecting an overlap.
摘要翻译：一种方法是通过模拟两个物体的预期相对运动来检测相对于彼此移动的至少两个物体的可能的碰撞。至少一个对象被分配围绕对象的信封，路线表示对象的相对运动以限定的步长的步骤覆盖，并且检测到对象的重叠的发生以确定可能的碰撞的对象。对于至少一个物体，将相应的包络的外轮廓用作检测重叠的基准。至少一个物体被分配有内包封和外封套，其内包络围绕物体，外封套围绕着内封套。外包络用作检测两个对象的重叠的基准，并且当在路径行的段中检测到重叠时，使用较小的第二步长重新遍历路径行的段。当重新行进路径行的段时，将至少一个对象的内包络用作检测重叠的基准。

78. 发明授权

US06999845B2 Numerically controlled curved surface machining unit 有权
标题翻译：数控曲面加工单元
公开(公告)号：US06999845B2
公开(公告)日：2006-02-14
申请号：US10967350
申请日：2004-10-19
申请人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
发明人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
IPC分类号： G06F19/00 , G05B13/02 , G05B19/25
CPC分类号： G05B19/4103 , G05B19/4099 , G05B2219/34141
摘要： A numerically controlled curved-surface machining unit equipped with three linearly moving axes and, at least, one rotary axis, including a simultaneous multiple-axis control NC machine numerically controlled by a numerical control unit with a numerical control NURBS interpolation function. The unit enables reading, as CL (cutter location) data, tool control point vector data and tool axis vector data, along a machining direction on a workpiece coordinate system for a curved surface, obtaining feed rates therefor, and calculation by conversion of the CL data into position vectors of three linear axes on a machine coordinate system, rotation angles and feed rates on the machine coordinate system so as to operate the simultaneous multiple-axis control NC machine on the basis of a machine configuration of the simultaneous multiple-axis control NC machine. The unit forms at least one NURBS curve having continuous curvature, calculates data therefor and converts the NURBS curve into NC data for NURBS interpolation.
摘要翻译：一种数控曲面加工单元，其具有三个直线运动轴和至少一个旋转轴，包括由具有数字NURBS插值功能的数字控制单元数字控制的同时多轴控制NC机床。该单元使得能够沿着加工方向在工件坐标系上为曲面读取CL（刀具位置）数据，刀具控制点矢量数据和刀具轴向量数据，获得进给速率，并通过CL的转换进行计算将数据转换为机床坐标系上的三个线性轴的位置矢量，机床坐标系上的旋转角度和进给速度，以便在同时多轴控制的机床配置的基础上同时操作多轴控制NC机床数控机床。该单元形成至少一个具有连续曲率的NURBS曲线，计算其数据，并将NURBS曲线转换为NC数据用于NURBS插值。

79. 发明授权

US5872894A Robot control apparatus and method eliminating any influence of motion in a preceding path and a recording medium storing the same 失效
标题翻译：机器人控制装置和方法，消除前一路径中的运动的影响和存储该路径的记录介质
公开(公告)号：US5872894A
公开(公告)日：1999-02-16
申请号：US809789
申请日：1997-03-28
申请人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
IPC分类号： G05B19/05 , B25J9/18 , B25J9/22 , G05B19/18 , G05B19/4103 , G05B19/416 , G05B19/04 , G05B19/25 , G05B19/41
CPC分类号： G05B19/416 , G05B2219/34175 , G05B2219/43129 , G05B2219/45083 , Y02P90/265
摘要： A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path �2!.fwdarw.�3!. A path motion plan EFGH for the moving path �2!.fwdarw.�3! is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path �1!.fwdarw.�2!. Consequently, an influence of motion of the moving path �1!.fwdarw.�2! is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path �2!.fwdarw.�3! in the path-assurance section.
摘要翻译： PCT No.PCT / JP96 / 02114 Sec。 371日期1997年3月28日 102（e）1997年3月28日PCT PCT 1996年7月26日PCT公布。公开号WO97 / 05533 日期1997年2月13日一种机器人控制方法，其能够消除前一路径部分中的运动的任何影响，以确保相对于路径部分的朝向终点的一部分的准确路径运动。在运动声明中，先前根据移动路径的长度，时间或路径保证率来指定路径保护部分[2] - > [3]。创建用于移动路径[2] - > [3]的路径运动计划EFGH，使得由DHGK表示的路径部分是在运动语句中指定的路径保证部分，假设D表示运动的终点移动路径[1] - > [2]。因此，由D或K表示的时间点后的运动不会对移动路径[1]→2的运动产生影响，以保证路径[2]→运动[3] 在路径保证部分。

80. 发明授权

US5739656A Numerical controlling method with mirror image function 失效
标题翻译：具有镜像功能的数值控制方法
公开(公告)号：US5739656A
公开(公告)日：1998-04-14
申请号：US600605
申请日：1996-02-13
申请人： Moon Kang
发明人： Moon Kang
IPC分类号： G05B19/4093 , G05B19/18 , G05B19/408 , G05B19/25
CPC分类号： G05B19/408 , G05B2219/35554 , G05B2219/36263 , G05B2219/49226
摘要： A numerical control method includes the steps of (a) reading an instruction block from a numerical control program; (b) if a predetermined mirror image code is in the instruction block, determining the coordinates of a target location according to the code; (c) adding predetermined interpolation data to the target location coordinates; and (d) moving a tool to the target location to produce the same cutting direction as an original cutting. Thus, uniform machining precision can always be obtained.
摘要翻译：数字控制方法包括以下步骤：（a）从数字控制程序读取指令块; （b）如果预定的镜像代码在指令块中，则根据代码确定目标位置的坐标; （c）向目标位置坐标添加预定的内插数据; 和（d）将工具移动到目标位置以产生与原始切割相同的切割方向。因此，可以始终获得均匀的加工精度。

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