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81. 发明授权

US4789931A System for automatically generating tool path data for automatic machining center 失效
标题翻译：自动生成自动加工中心刀具路径数据的系统
公开(公告)号：US4789931A
公开(公告)日：1988-12-06
申请号：US91983
申请日：1987-09-01
申请人： Tetsuzo Kuragano , Nobuo Sasaki
发明人： Tetsuzo Kuragano , Nobuo Sasaki
IPC分类号： G05B19/4093 , G05B19/4099 , G05B19/41 , G06F15/46 , G05B19/18
CPC分类号： G05B19/4099 , G05B19/41 , G05B2219/33257 , G05B2219/34101 , G05B2219/35002 , G05B2219/35097 , G05B2219/35115 , G05B2219/35117 , G05B2219/35151 , G05B2219/35313 , G05B2219/35316 , G05B2219/35525 , G05B2219/37617 , G05B2219/45145 , G05B2219/49149 , G05B2219/49151 , G05B2219/50332 , G05B2219/50336 , G05B2219/50356 , Y02P90/265
摘要： A system for establishing data defining a path for machining tool such as a three-axes milling machine tool. The machining tool path is established within a three-dimensional rectangular coordinate system which corresponds to a machine coordinate system for numerical control. The tool path is established along a first coordinate axis. The tool path is shifted to an adjacent path along the first coordinate axis in a second axis direction. The shifting pitch of the path corresponds to the interval of said path along the first the coordinate axis. The tool is shifted in third axis direction during travel along the path defined in the first and second axis direction.
摘要翻译：一种用于建立数据的系统，用于定义加工工具的路径，如三轴铣床。在与数控机床坐标系对应的三维直角坐标系中建立加工刀具路径。沿第一坐标轴建立刀具路径。刀具路径在第二轴方向上沿着第一坐标轴移动到相邻路径。路径的移动间距对应于沿着第一坐标轴的所述路径的间隔。在沿着在第一和第二轴线方向上限定的路径的行进期间，该工具沿第三轴线方向移动。

82. 发明授权

US4757457A Numerical control method and apparatus with feedrate difference 失效
标题翻译：具有进给率差异的数值控制方法和装置
公开(公告)号：US4757457A
公开(公告)日：1988-07-12
申请号：US813658
申请日：1985-12-26
申请人： Michio Matsumoto
发明人： Michio Matsumoto
IPC分类号： G05B19/416 , G05B19/18 , G05B19/41 , G06F15/46
CPC分类号： G05B19/41 , G05B2219/43009 , G05B2219/49164
摘要： A numerical control apparatus having a feedrate difference reduction capability suitable for use with a multi-axis machine tool. Feedrate differences for respective control axes are calculated from a machining program, and decelerations for the respective control axes are calculated from preestablished allowable feedrate difference settings and the calculated feedrate differences. The control axes are controlled to be displaced within the allowable feedrate difference settings based on the calculated decelerations.
摘要翻译：一种具有适合与多轴机床一起使用的进给速度降低能力的数值控制装置。根据加工程序计算各个控制轴的进给率差异，根据预先设定的允许进给速度差设定和计算出的进给速度差计算各控制轴的减速度。根据计算的减速度，控制轴被控制在允许的进给速度差设定范围内。

83. 发明授权

US4750965A Adaptive control for tape laying head having natural path generation 失效
标题翻译：具有自然路径生成的胶带铺放头的自适应控制
公开(公告)号：US4750965A
公开(公告)日：1988-06-14
申请号：US845858
申请日：1986-03-28
申请人： James J. Pippel , Bernd A. K. Messner
发明人： James J. Pippel , Bernd A. K. Messner
IPC分类号： B29C70/38 , B65H35/00 , B65H37/00 , G05B19/41 , B32B31/00
CPC分类号： B29C70/388 , B65H35/0073 , B65H37/002 , G05B19/41 , G05B2219/45238 , G05B2219/49362 , Y10T156/1348 , Y10T156/1788 , Y10T156/1795
摘要： A tape laying machine for depositing composite tape on the surface of a mandrel having a tape laying head positionable in multiple axes by a linear interpolative feedback control in combination with an adaptive control. The feedback control receives a commanded position from a natural path part program and regulates motion of the tape laying head of the machine along a track which will not unequally tension the edges of the tape and which is highly reproducible. The adaptive control separately varies the motion produced along individual axes by the feedback control without changing the tracking path to ensure correct tape laying conditions.
摘要翻译：一种用于在复合带的表面上沉积复合带的铺带机，其具有通过与自适应控制结合的线性内插反馈控制可定位在多个轴上的带布置头。反馈控制从自然路径部件程序接收命令位置，并且沿着不会不均等地张紧带的边缘并且高度可重现的轨道来调节机器的带放置头的运动。自适应控制单独地通过反馈控制单独地改变沿着各个轴产生的运动，而不改变跟踪路径以确保正确的卷带条件。

84. 发明授权

US4739489A Area cutting method 失效
标题翻译：区域切割方法
公开(公告)号：US4739489A
公开(公告)日：1988-04-19
申请号：US767797
申请日：1985-08-13
申请人： Hajimu Kishi , Masaki Seki , Takashi Takegahara
发明人： Hajimu Kishi , Masaki Seki , Takashi Takegahara
IPC分类号： B23Q15/00 , G05B19/41 , G06F15/46 , G05B19/18
CPC分类号： G05B19/41 , G05B2219/49381 , G05B2219/49392
摘要： The present invention provides an area cutting method for machining an area (AR) bounded by the curve (OLC) of a predetermined external shape previously using a unidirectional cutting motion. The invention has a step of performing cutting along an i-th cutting path (PT.sub.i), a step, executed after completion of cutting along the cutting path (PT.sub.i), of moving a tool (TL) in a cutting-feed mode along the curve (OLC) of the external shape from a machining end point (Q.sub.i) on the cutting path to a machining end point (Q.sub.i-1) on an (i-1)th cutting path (PT.sub.i-1) previously cut, a step of positioning the tool (TL) from the point (Q.sub.i-1) to a machining starting point (P.sub.i) on the cutting path (PT.sub.i), a step of moving the tool in the cutting-feed mode along the curve of the external shape from the machining starting point (P.sub.i) on the cutting path (PT.sub.i) to a machining starting point (P.sub.i+1) on the next cutting path (PT.sub.i+1), a step of moving the tool in the cutting-feed mode along the cutting path (PT.sub.i+1) to execute cutting along the cutting path (PT.sub.i+1), and a step of repeating these steps to perform area machining.
摘要翻译： PCT No.PCT / JP84 / 00591 Sec。 371日期1985年8月13日 102（e）日期1985年8月13日PCT提交1984年12月14日PCT公布。第WO85 / 02571号公报日期：1985年6月20日。本发明提供一种区域切割方法，用于加工由先前使用单向切割运动的预定外部形状的由曲线（OLC）限定的区域（AR）。本发明具有沿着第i条切割路径（PTi）执行切割的步骤，在沿着切割路径（PTi）完成切割之后执行的沿切割进给模式沿着切割进给模式移动工具（TL）的步骤从切削路径上的加工终点（Qi）到先前切断的第（i-1）切削路径（PTi-1）上的加工终点（Qi-1）的外部形状的曲线（OLC）将所述工具（TL）从所述切割路径（Pi）上的点（Qi-1）定位到加工起点（Pi）的步骤，沿着所述外部形状的曲线沿所述切削进给模式移动所述工具的步骤从切割路径（PTi）上的加工起点（Pi）到下一切割路径（PTi + 1）的加工起点（Pi + 1），沿着切割进给模式沿着切割路径（PTi + 1）沿着切割路径（PTi + 1）进行切割，以及重复这些步骤进行区域加工的步骤。

85. 发明授权

US4694401A Apparatus for forming diverse shapes using a look-up table and an inverse transfer function 失效
标题翻译：使用查找表和反向传递函数形成不同形状的装置
公开(公告)号：US4694401A
公开(公告)日：1987-09-15
申请号：US579825
申请日：1984-02-13
申请人： Toshiro Higuchi
发明人： Toshiro Higuchi
IPC分类号： B23B1/00 , B23Q27/00 , G05B19/19 , G05B19/41 , G06F15/46
CPC分类号： G05B19/19 , G05B19/41 , G05B2219/41133 , G05B2219/42155 , G05B2219/42182 , G05B2219/45214 , G05B2219/45218 , G05B2219/45248 , Y02P90/265
摘要： Where a rotating device, for example, such as a lathe, a pen-recorder, etc., is used to depict a non-circular shape, a position of a cutting tool, a pen, etc. is controlled by a method such as NC (numerical control). Generally, delay in control occurs due to the transmission characteristic of the control system, thus producing a distortion in the formed shape. This distortion can be removed by inserting an element having a reverse transmission characteristic into the control system.
摘要翻译：在诸如车床，笔记本机等的旋转装置用于描绘非圆形形状的情况下，切割工具，笔等的位置由诸如 NC（数控）。通常，由于控制系统的传输特性而发生控制延迟，从而导致形成形状的变形。可以通过将具有反向传输特性的元件插入到控制系统中来去除该失真。

86. 发明授权

US4692873A Machine tool pick feed method 失效
标题翻译：机床拾取方式
公开(公告)号：US4692873A
公开(公告)日：1987-09-08
申请号：US752075
申请日：1985-06-25
申请人： Hajimu Kishi , Kunio Tanaka
发明人： Hajimu Kishi , Kunio Tanaka
IPC分类号： B23Q15/00 , G05B19/4093 , G05B19/41 , B23Q15/013
CPC分类号： G05B19/41 , G05B2219/49381 , G05B2219/49385
摘要： A curved surface machining method for machining a curved surface through unidirectional cutting by automatically creating a pick-feed path that will not cause a tool (TL) to strike a workpiece when a pick-feed is performed, pick-feeding the tool along the path, and thereafter performing cutting. The pick-feed path is obtained by using a given tool retraction quantity l for retracting the tool from a cutting path end point Pe, a clearance plane (CPL), coordinate values of the cutting end point Pe, and coordinate values of a cutting starting point Ps on the next cutting path. Specifically, there are obtained: coordinate values of a point Pa distanced from the cutting path end point Pe by the tool retraction quantity l in the direction of the central axis of the tool; coordinate values of the foot Pb of a perpendicular dropped from the point Pa to the clearance plane (CPL); coordinate values of a point Pd distanced from the cutting starting point Ps of the next cutting path (PT2) by the tool retraction quantity l in the direction of the central axis of the tool; and coordinate values of the foot Pc of a perpendicular dropped from the point Pd to the clearance plane. The path Pe.fwdarw.Pa.fwdarw.Pb.fwdarw.Pc.fwdarw.Pd.fwdarw.Ps serves as the pick-feed path.
摘要翻译： PCT No.PCT / JP84 / 00523 Sec。 371日期1985年6月25日第 102（e）日期1985年6月25日PCT提交1984年10月30日PCT公布。公开号WO85 / 01909 日期：1985年5月9日。一种用于通过单向切削加工弯曲表面的曲面加工方法，通过在执行拾取进给时自动产生不会使工具（TL）撞击工件的拾取进给路径，沿着路径进给工具，然后进行切割。通过使用给定的刀具回缩量l从切削路径端点Pe，间隙平面（CPL），切削终点Pe的坐标值和切削起始点的坐标值点Ps在下一个切割路径上。具体而言，通过刀具退刀量l在刀具的中心轴方向上的距离切割路径端点Pe的点Pa的坐标值得到：从点Pa到间隙平面（CPL）下降的垂线的脚Pb的坐标值; 通过刀具退刀量l在刀具的中心轴线方向上距离下一切割路径（PT2）的切割起点Ps远离的点Pd的坐标值; 以及从点Pd下降到垂直平面的垂线的脚Pc的坐标值。路径Pe-> Pa-> Pb-> Pc-> Pd-> Ps用作拾取进给路径。

87. 发明授权

US4667443A End face grinding apparatus 失效
标题翻译：端面研磨装置
公开(公告)号：US4667443A
公开(公告)日：1987-05-26
申请号：US771222
申请日：1985-08-30
申请人： Kaoru Sakurai , Kazushi Shinozaki
发明人： Kaoru Sakurai , Kazushi Shinozaki
IPC分类号： B24B9/08 , B24B9/10 , B24B17/02 , B24B17/10 , G05B19/41
CPC分类号： B24B9/107 , B24B17/026 , B24B17/10 , G05B19/41 , G05B2219/45083 , G05B2219/45161 , G05B2219/49362 , G05B2219/50353
摘要： A one-joint type horizontal pivot arm is adopted as contour tracing mechanism for controlling the position of a grinding unit along a contour of a plate material. The grinding unit is attached to a distal end of the pivot arm and is position-controlled by angular controls about a first axis at a base of the arm and about a second axis at a joint of the arm. A third axis is provided to the end of the pivot arm for facing the grinding unit in the direction normal to the end face. A pressure device is provided for urging the grinding unit against the end face. The position, facing direction and pressure of the grinding unit are controlled with preset teaching data sampled by tracing a model type to be end-face ground.
摘要翻译：采用单关节型水平摆臂作为轮廓跟踪机构，用于沿着板材轮廓控制研磨单元的位置。研磨单元附接到枢转臂的远端，并且通过围绕臂的基部处的第一轴线的角度控制并且在臂的关节处围绕第二轴线进行位置控制。第三轴线设置在枢转臂的端部，用于在与端面垂直的方向上面对研磨单元。提供压力装置用于将研磨单元推靠在端面上。研磨单元的位置，面向的方向和压力由预设的示教数据进行控制，通过跟踪模型类型进行端面接地采样。

88. 发明授权

US4629956A System for controlling motors for synchronous operation 失效
标题翻译：用于控制电机同步运行的系统
公开(公告)号：US4629956A
公开(公告)日：1986-12-16
申请号：US808811
申请日：1985-12-13
申请人： Ryoichiro Nozawa , Yoichi Amemiya , Hideaki Kawamura
发明人： Ryoichiro Nozawa , Yoichi Amemiya , Hideaki Kawamura
IPC分类号： G05D3/00 , G05B19/25 , G05B19/41 , G05B19/4103 , H02P5/50 , H02P5/52 , G05B11/32
CPC分类号： G05B19/253 , G05B19/41 , H02P5/51 , H02P5/56 , G05B2219/41434 , G05B2219/42162 , G05B2219/50216
摘要： There is disclosed a system for controlling a plurality of motors including a spindle motor of a machine tool to rotate synchronously at command speeds. The system comprises a numerical control unit for generating as positional commands trains of distributed pulses having frequencies corresponding to commanded speeds of rotation respectively for the motors, positional control feedback circuits respectively for the motors for producing speed command outputs from the trains of distributed pulses and detected signals indicative of positions of the motors, and speed control feedback circuits respectively for the motors for controlling the speed of the motors based on the speed command outputs and detected signals indicative of speeds of rotation of the motors.
摘要翻译：公开了一种用于控制多个电动机的系统，包括机床的主轴电动机，以指令速度同步旋转。该系统包括数字控制单元，用于分别产生具有与分别针对马达的指令转速相对应的频率的分配脉冲的位置指令列，分别用于产生来自分布脉冲列的速度指令输出的马达的位置控制反馈电路，指示电动机的位置的信号，以及分别用于控制电动机速度的电动机的速度控制反馈电路，其基于速度指令输出和表示电动机转速的检测信号。

89. 发明授权

US4621333A Method and apparatus for controlling a robot to perform weaving-like motion 失效
标题翻译：用于控制机器人执行编织状运动的方法和装置
公开(公告)号：US4621333A
公开(公告)日：1986-11-04
申请号：US645966
申请日：1984-08-31
申请人： Yuji Watanabe
发明人： Yuji Watanabe
IPC分类号： B25J9/18 , G05B19/41 , G05B19/42 , B23K9/02
CPC分类号： G05B19/41 , G05B2219/36498 , G05B2219/45083 , G05B2219/49384
摘要： A method for effecting a weaving-like movement of a hand of an industrial robot, which hand is moved along a principle line while undergoing the weaving-like movement with respect to the principle line. Reference weaving-like pattern information stored as coordinate values in a predetermined reference coordinate system is transformed into actual displacements of the hand with respect to an actual moving direction thereof according to a hand attitude vector and a hand moving direction vector.
摘要翻译：一种用于实现工业机器人的手的编织状运动的方法，所述工业机器人的手沿原理线移动，同时相对于原理线进行编织状运动。在预定的基准坐标系中存储为坐标值的参考编织样图形信息根据手姿态向量和手移动方向向量被转换成相对于其实际移动方向的手的实际位移。

90. 发明授权

US4617623A CNC process for displacing a movable member along a path on a 3D surface 失效
标题翻译： CNC工艺，用于沿着3D表面上的路径移动可动构件
公开(公告)号：US4617623A
公开(公告)日：1986-10-14
申请号：US742366
申请日：1985-06-07
申请人： Kiyoshi Inoue , Jinzo Yabe
发明人： Kiyoshi Inoue , Jinzo Yabe
IPC分类号： G05B19/4093 , G05B19/4097 , G05B19/41 , G06F17/50 , G06F15/00
CPC分类号： G05B19/41 , G05B2219/1125 , G05B2219/34128 , Y02T10/82
摘要： A CNC process for displacing a movable member along a path on an intricate surface in a three-dimensional coordinate system is disclosed in which the surface is divided into a plurality of elementary characteristic regions each individually definable as one of different geometrical categories such as toroidal, spherical, cylindrical and planar surfaces. The process comprises establishing a general equation for each of these categories and storing the established general equations into a memory unit for a computer. Data required to adapt each of the stored general equations to a corresponding one of the characteristic regions in the three-dimensional coordinate system are inputted into the computer to reduce the general equations to their respective specific equations in which no more than three coordinates are variable. A sequence of incremental two-dimensional positions defined in the system by first and second coordinates thereof are inputted into the computer to allow it to compute, for each position on the path, the value of the third coordinate from the first and second coordinates and the specific equations, thereby determining the path along which the member is moved.
摘要翻译：公开了一种用于沿着三维坐标系中的复杂表面上的路径移动可移动构件的CNC处理，其中表面被分成多个基本特征区域，每个基本特征区域可以被定义为不同几何类别之一，例如环形，球形，圆柱形和平面。该过程包括为这些类别中的每一个建立一般方程，并将所建立的一般方程式存储到用于计算机的存储器单元中。将存储的一般方程式中的每一个调整到三维坐标系中的相应特征区域所需的数据被输入到计算机中，以将通用方程式减少到其不超过三个坐标是可变的各自的特定方程。通过其第一和第二坐标在系统中定义的增量二维位置的序列被输入到计算机中，以允许它针对路径上的每个位置计算第一坐标和第二坐标的第三坐标的值，以及从而确定成员移动的路径。

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