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1. 发明授权

US5563484A Three-dimensional cutter compensation system 失效
标题翻译：三维刀具补偿系统
公开(公告)号：US5563484A
公开(公告)日：1996-10-08
申请号：US397202
申请日：1995-03-07
申请人： Toshiaki Otsuki , Haruhiko Kozai , Hideo Ogino
发明人： Toshiaki Otsuki , Haruhiko Kozai , Hideo Ogino
IPC分类号： G05B19/18 , G05B19/404 , G05B19/41 , G05B19/4103 , B23B39/26
CPC分类号： G05B19/41 , G05B2219/49227 , G05B2219/50336 , G05B2219/50353
摘要： A three-dimensional cutter compensation system provides cutter compensation for machining a workpiece with a cutter having a round edge and an axis which is tiltable in any optional direction in three-dimensional space. The three-dimensional cutter compensation system includes a cutter direction vector calculating unit for calculating a cutter direction vector from present position control axes. The control axes control the tilt of the cutter. A cutter offset memory stores a radius of the cutter and a radius of an arc of the edge of the cutter while a programmed path calculating unit calculates a programmed path commanded by a machining program. A cutter compensation vector calculating unit calculates a cutter compensation vector from the cutter direction vector, the radius of the cutter and the radius of the arc of the edge of the cutter, and the programmed path. The cutter is then shifted in response to the cutter compensation vector.
摘要翻译： PCT No.PCT / JP94 / 01117 Sec。 371日期：1995年3月7日 102（e）1995年3月7日PCT PCT 1994年7月7日PCT公布。第WO95 / 03565号公报日期1995年2月2日三维刀具补偿系统提供刀具补偿，用于在具有圆形边缘的切割器和在三维空间中任何可选方向上可倾斜的轴线的刀具上加工工件。三维刀具补偿系统包括：刀具方向矢量计算单元，用于根据当前位置控制轴计算刀具方向矢量。控制轴控制刀具的倾斜。刀具偏移存储器存储切割器的半径和刀具边缘的弧的半径，而编程路径计算单元计算由加工程序命令的编程路径。刀具补偿矢量计算单元从切割器方向矢量，切割器的半径和切割器的边缘的弧的半径以及编程的路径计算刀具补偿矢量。然后刀具响应于刀具补偿矢量而移动。

2. 发明授权

US5545959A Speed control method for a numerical control apparatus 失效
标题翻译：一种数控装置的速度控制方法
公开(公告)号：US5545959A
公开(公告)日：1996-08-13
申请号：US373208
申请日：1995-01-19
申请人： Toshiaki Otsuki , Haruhiko Kozai , Seiji Ishii
发明人： Toshiaki Otsuki , Haruhiko Kozai , Seiji Ishii
IPC分类号： B23Q15/013 , G05B19/41 , G05B19/4103 , G05B19/416 , G06G7/64
CPC分类号： G05B19/41 , G05B2219/39177 , G05B2219/50297 , G05B2219/50353
摘要： A speed control method for a numerical control apparatus of a machine tool which includes a rotational axis or axes changing a tool angle relative to a workpiece. The method obtains a distributive shift amount of each rotational axis, at every predetermined period, on the basis of positional data of each rotational axis with respect to start and end points of a shift command and a commanded shift speed; obtains, at every predetermined period, a positional deviation of a tip of the machine tool in a direction of each linear shift axis with reference to the rotational axis, based on a difference between a rotational position of the rotational axis in a next cycle and a rotational position of the rotational axis in a present cycle; for each linear shift axis, adds the positional deviation to the corresponding distributive shift amount, and outputs a resultant value as a corrected distributive shift amount for each linear shift axis; and for each rotational axis, outputs the obtained distributive shift amount.
摘要翻译： PCT No.PCT / JP94 / 00789 Sec。 371日期1995年1月19日 102（e）1995年1月19日日期PCT 1994年5月16日PCT PCT。公开号WO94 / 28472 日期1994年12月8日一种用于机床的数值控制装置的速度控制方法，其包括相对于工件改变刀具角度的旋转轴线或轴线。该方法基于每个旋转轴相对于换档指令的起点和终点的位置数据和指令的换档速度，在每个预定周期获得每个旋转轴的分配移动量; 基于所述旋转轴在下一周期中的旋转位置与所述旋转轴之间的差异，以每个预定周期获得所述机床的尖端相对于所述旋转轴线在每个线性换档轴的方向上的位置偏差旋转轴在当前循环中的旋转位置; 对于每个线性移位轴，将位置偏差加到相应的分配移动量，并且将每个线性移动轴的结果值作为校正分配移位量输出; 并且对于每个旋转轴线，输出所获得的分配移动量。

3. 发明授权

US5475602A Acceleration constant switching apparatus 失效
标题翻译：加速恒定开关装置
公开(公告)号：US5475602A
公开(公告)日：1995-12-12
申请号：US244454
申请日：1994-06-02
申请人： Toshiaki Otsuki , Haruhiko Kozai , Masahiko Miyake
发明人： Toshiaki Otsuki , Haruhiko Kozai , Masahiko Miyake
IPC分类号： G05B19/18 , G05B19/4103 , G05B19/4155 , G05B19/416
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/43085 , G05B2219/43103
摘要： A computerized numerical control apparatus for switching an acceleration constant for acceleration/deceleration prior to interpolation in accordance with the kind of an axis, in which an acceleration/deceleration prior to interpolation unit subjects a feed speed to an acceleration/deceleration process based on an acceleration constant designated by an acceleration constant switching unit. The feed speed subjected to the acceleration/deceleration process is transferred to an interpolation unit. The interpolation unit determines distribution pulses X.sub.p, Y.sub.p, Z.sub.p based on the speed data and movement data thereof. The distribution pulses are applied to an X-axis control unit and the like, respectively, and output to the respective axis motors M.sub.x and the like to execute the drive control thereof. On the other hand, a commanded axis recognition unit recognizes the kind of an axis commanded in a next block and the acceleration constant switching unit switches an acceleration constant in accordance with the kind of the axis. For example, when only an X-axis or Y-axis or both X- and Y- axes are used as the kind of an axis, an acceleration constant TA is selected, whereas when a Z-axis is included in the kind of the axis, an acceleration constant TB is selected. In this case, the acceleration constant TA is set to a value larger than the acceleration constant TB.
摘要翻译： PCT No.PCT / JP93 / 01450 Sec。 371日期：1994年6月2日 102（e）日期1994年6月2日PCT提交1993年10月7日PCT公布。第WO94 / 09421号公报日期：1994年04月28日。一种计算机化数值控制装置，用于根据轴的种类来切换加速/减速之前的加速度/加速度，其中在插补单元之前的加速/减速将进给速度加速到加速度基于由加速度常数切换单元指定的加速度常数进行减速处理。进行加速/减速处理的进给速度被传送到内插单元。内插单元基于速度数据及其移动数据来确定分配脉冲Xp，Yp，Zp。分配脉冲分别施加到X轴控制单元等，并输出到各个轴电机Mx等，以执行其驱动控制。另一方面，指令轴识别单元识别在下一个块中指定的轴的种类，并且加速度常数切换单元根据轴的种类切换加速度常数。例如，当仅使用X轴或Y轴或X轴和Y轴两者作为轴的种类时，选择加速度常数TA，而当Z轴包含在轴，选择加速度常数TB。在这种情况下，将加速度常数TA设定为大于加速常数TB的值。

4. 发明授权

US5936864A Free curve interpolation apparatus and interpolation method 失效
标题翻译：自由曲线插补装置和插值方法
公开(公告)号：US5936864A
公开(公告)日：1999-08-10
申请号：US793948
申请日：1997-03-04
申请人： Toshiaki Otsuki , Haruhiko Kozai , Yoshiyuki Wakinotani
发明人： Toshiaki Otsuki , Haruhiko Kozai , Yoshiyuki Wakinotani
IPC分类号： G05B19/416 , G05B19/41 , G05B19/18
CPC分类号： G05B19/41 , G05B2219/43058 , G05B2219/43062 , G05B2219/43063
摘要： A moving path for which an interpolation instruction is given is a free curve expressed by a vector P(k). This curve is divided at predetermined cycles, and tangential vectors P' (k.sub.1) and P' (k.sub.2) at the start point and end point of each divided block are calculated. From these data and an instructed velocity F, an acceleration vector in the corresponding block is calculated. If each axial component of the calculated acceleration vector exceeds an acceleration limiting value set for each axis in advance, the instructed velocity F for the block is lowered to a value at which the axial component does not exceed the acceleration limiting value.
摘要翻译： PCT No.PCT / JP96 / 01915 Sec。 371日期1997年3月4日 102（e）1997年3月4日PCT PCT 1996年7月10日PCT公布。出版物WO97 / 03393 日期1997年1月30日给出内插指令的移动路径是由向量P（k）表示的自由曲线。该曲线以预定周期分割，并且计算每个分割块的起点和终点处的切向矢量P'（k1）和P'（k2）。根据这些数据和指示速度F，计算相应块中的加速度矢量。如果计算出的加速度矢量的每个轴向分量预先超过为每个轴设定的加速度限制值，则将该指令的速度F降低到轴向分量不超过加速度限制值的值。

5. 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。

6. 发明授权

US07283889B2 Numerical control device, and numerical control method 有权
标题翻译：数控装置及数控方法
公开(公告)号：US07283889B2
公开(公告)日：2007-10-16
申请号：US10776248
申请日：2004-02-12
申请人： Toshiaki Otsuki , Hideo Ogino , Takafumi Sasaki
发明人： Toshiaki Otsuki , Hideo Ogino , Takafumi Sasaki
IPC分类号： G05B19/42
CPC分类号： G05B19/404 , G05B2219/50297
摘要： A machine has a tool head which rotates on a C-axis (about the Z-axis) and an A-axis (about the X-axis). A tool length vector is multiplied by a matrix whereby a misalignment component δs-H and the incline error (αs-H, βs-H, γs-H) of a spindle are corrected so that the tool length vector due to the misalignment of the spindle is obtained. The vector thus obtained is further multiplied by a transformation matrix that includes a rotation instruction α for the A-axis and misalignments of the A-axis δa-H (αa-H, βa-H, γa-H) to correct the misalignment of the A-axis so that the tool length vector as found when the A-axis has rotated by an equivalent of instruction α is determined. The vector thus determined is further multiplied by a transformation matrix that includes a rotation instruction c for the C-axis and misalignments of the C-axis δac-H (αc-H, βc-H, γc-H) to correct the misalignment of the C-axis, so that a tool length vector as found when the C-axis has rotated by an equivalent of instruction c is determined. The tool length vector thus determined is added to the vector of positional instruction values (x, y, z) and a workpiece origin offset vector Mwo-H, so that the machine position Vm-H′ is obtained.
摘要翻译：机器具有在C轴（绕Z轴）和A轴（绕X轴）旋转的工具头。刀具长度向量乘以一个矩阵，由此不对齐分量增加Δ-H和斜率误差（αα-H，对主轴进行校正，从而获得由于主轴的未对准导致的刀具长度矢量。如此获得的矢量进一步乘以一个变换矩阵，该变换矩阵包括A轴的旋转指令α和A轴的Δa-α（α-H），βa-H'，γa-H +）以校正A轴的未对准，使得当A轴已经旋转了当量时发现的刀具长度向量的指令确定。如此确定的向量进一步乘以一个变换矩阵，该变换矩阵包括C轴的旋转指令c和C轴deltaac-H的未对准（alphac-H），betac--H ，gammac ）以校正C轴的不对准，使得当C轴旋转一个时，发现的刀具长度向量确定等效于指令c。将如此确定的刀具长度矢量加到位置指令值（x，y，z）和工件原点偏移矢量Mwo-H 的向量中，使得机器位置Vm 。

7. 发明申请

US20050107000A1 Numerical control device, and numerical control method 有权
标题翻译：数控装置及数控方法
公开(公告)号：US20050107000A1
公开(公告)日：2005-05-19
申请号：US10776248
申请日：2004-02-12
申请人： Toshiaki Otsuki , Hideo Ogino , Takafumi Sasaki
发明人： Toshiaki Otsuki , Hideo Ogino , Takafumi Sasaki
IPC分类号： G05B19/404 , B24B49/00
CPC分类号： G05B19/404 , G05B2219/50297
摘要： A machine has a tool head which rotates on a C-axis (about the Z-axis) and an A-axis (about the X-axis). A tool length vector is multiplied by a matrix whereby a misalignment component δs-H and the incline error (αs-H, βs-H, γs-H) of a spindle are corrected so that the tool length vector due to the misalignment of the spindle is obtained. The vector thus obtained is further multiplied by a transformation matrix that includes a rotation instruction α for the A-axis and misalignments of the A-axis εa-H (αa-H, βa-H, γa-H) to correct the misalignment of the A-axis so that the tool length vector as found when the A-axis has rotated by an equivalent of instruction α is determined. The vector thus determined is further multiplied by a transformation matrix that includes a rotation instruction c for the C-axis and misalignments of the C-axis δac-H (αc-H, βc-H, γc-H) to correct the misalignment of the C-axis, so that a tool length vector as found when the C-axis has rotated by an equivalent of instruction c is determined. The tool length vector thus determined is added to the vector of positional instruction values (x, y, z) and a workpiece origin offset vector Mwo-H, so that the machine position Vm-H′ is obtained.
摘要翻译：机器具有在C轴（绕Z轴）和A轴（绕X轴）旋转的工具头。刀具长度向量乘以一个矩阵，由此不对齐分量增加Δ-H和斜率误差（αα-H，对主轴进行校正，从而获得由于主轴的未对准导致的刀具长度矢量。如此获得的矢量进一步乘以一个变换矩阵，该变换矩阵包括A轴的旋转指令α和A轴epsilona-α（α-H），βa-H'，γa-H +）以校正A轴的未对准，使得当A轴已经旋转了当量时发现的刀具长度向量的指令确定。如此确定的向量进一步乘以一个变换矩阵，该变换矩阵包括C轴的旋转指令c和C轴deltaac-H的未对准（alphac-H），betac--H ，gammac ）以校正C轴的不对准，使得当C轴旋转一个时，发现的刀具长度向量确定等效于指令c。将如此确定的刀具长度矢量加到位置指令值（x，y，z）和工件原点偏移矢量Mwo-H 的向量中，使得机器位置Vm 。

8. 发明授权

US06823234B2 Curve interpolation method 有权
标题翻译：曲线插值法
公开(公告)号：US06823234B2
公开(公告)日：2004-11-23
申请号：US10624600
申请日：2003-07-23
申请人： Toshiaki Otsuki , Hideo Ogino , Soichiro Ide , Takuji Chiba
发明人： Toshiaki Otsuki , Hideo Ogino , Soichiro Ide , Takuji Chiba
IPC分类号： G06F1900
CPC分类号： G05B19/4103 , G05B2219/33077 , G05B2219/34124 , G05B2219/34127 , G05B2219/34135 , G05B2219/34145 , G05B2219/34171 , G05B2219/42207
摘要： A curve interpolation method capable of obtaining a curve approximating an original curve based on a sequence of command points within a tolerance set for the original curve, and performing interpolation on the obtained curve. Points Q1, . . . , Q2n are interpolated between respective two adjacent command points (P0, P1), (P1, P2), . . . , (Pn−1, Pn) as shape-defining points. The shape-defining points are positioned within a tolerance width 2w set to the original curve. One shape-defining point and shape-defining points surrounding the one shape-defining point are successively selected and an approximate curve for the selected shape-defining points is successively created. The one shape-defining point is moved towards the approximate curve to determine a modified shape-defining point for the one shape-defining point. A smooth curve passing a sequence of the modified shape-defining points is created and interpolation for machining is performed on the created curve. Since the shape-defining points are positioned closer to an original target curve within a tolerance width set to the original curve than the command points, the created smooth curve passing the sequence of modified shape-defining points is well approximating the original target curve within the tolerance width.
摘要翻译：一种曲线插值方法，其能够基于在原始曲线的公差集内的指令点的序列获得接近原始曲线的曲线，并对所获得的曲线进行插值。积分Q1，。。。在相应的两个相邻的指令点（P0，P1），（P1，P2）之间插入Q2n。。。，（Pn-1，Pn）作为形状定义点。形状定义点位于设置为原始曲线的公差宽度2w内。连续地选择围绕一个形状定义点的一个形状定义点和形状限定点，并且连续地创建所选择的形状定义点的近似曲线。将一个形状定义点移动到近似曲线以确定用于一个形状定义点的修改的形状定义点。创建通过修改的形状定义点的顺序的平滑曲线，并且对所创建的曲线执行用于加工的插值。由于形状定义点位于比命令点设置在原始曲线的公差宽度内更接近原始目标曲线，所以通过经修改的形状定义点的序列的所创建的平滑曲线很好地近似于在公差宽度

9. 发明授权

US5260879A Numerical control apparatus 失效
标题翻译：数控装置
公开(公告)号：US5260879A
公开(公告)日：1993-11-09
申请号：US773592
申请日：1991-11-21
申请人： Takao Sasaki , Kentaro Fujibayashi , Toshiaki Otsuki , Hideo Ogino
发明人： Takao Sasaki , Kentaro Fujibayashi , Toshiaki Otsuki , Hideo Ogino
IPC分类号： B23F5/00 , B23F23/00 , G05B19/18 , G05B19/4103 , B23F1/00 , G05B19/21
CPC分类号： G05B19/184 , B23F23/006 , G05B19/186 , G05B2219/45214 , G05B2219/50216 , Y10T409/100159
摘要： Disclosed is a numerical control apparatus for controlling a numerically controlled machine tool such as a hobbing machine and the like. An axis control circuit (14) provided with a synchronization control means (8) controls the rpm of a spindle motor (5) and the rpm of a servo motor (11) based on feedback pulses supplied from a position coder (7) connected to a hob axis (3), so that a ratio of the rpm of the hob axis (3) to the rpm of a C-axis (13) has a given value. A first internal counter (15a) monitors the number of feedback pulses supplied from the position coder (7) and a second internal counter (15b) monitors the number of pulses distributed to the C-axis (13), and when a ratio of the rpm of the hob axis (3) to the rpm of the C-axis (13) is to be changed, a correction pulse calculation means (9) calculates correction pulses based on the number of rotation pulses of the hob axis (3) and the number of the rotation pulses of the C-axis (13) counted by the first and second internal counters (15a, 15b). The correction pulses are supplied to the C-axis (13) to accelerate or decelerate the rpm of the C-axis (13) and thereby achieve a new synchronous relationship between the hob axis (3) and the C-axis (13) during the rotation of the hob axis (3) and C-axis (13).
摘要翻译： PCT No.PCT / JP91 / 00356 Sec。 371日期1991年11月21日 102（e）日期1991年11月21日PCT 1991年3月13日PCT公布。出版物WO91 / 14979 1991年10月3日公开。公开是用于控制诸如滚齿机等的数控机床的数控装置。设有同步控制装置（8）的轴控制电路（14）基于从位置编码器（7）提供的反馈脉冲来控制主轴电动机（5）的转速和伺服电动机（11）的转速，滚刀轴（3），使得滚刀轴（3）的rpm与C轴（13）的rpm的比率具有给定值。第一内部计数器（15a）监视从位置编码器（7）提供的反馈脉冲的数量，第二内部计数器（15b）监视分配给C轴（13）的脉冲数，要改变滚轴（3）的转速（rpm）至C轴（13）的转数，则校正脉冲计算装置（9）根据滚刀轴（3）的旋转脉冲数和由第一和第二内部计数器（15a，15b）计数的C轴（13）的旋转脉冲数。校正脉冲被提供给C轴（13）以加速或减速C轴（13）的转速，从而在滚动轴（3）和C轴（13）之间达到新的同步关系滚刀轴（3）和C轴（13）的旋转。

10. 发明授权

US08283884B2 Numerical controller controlling five-axis machining tool 有权
标题翻译：数控五轴加工工具
公开(公告)号：US08283884B2
公开(公告)日：2012-10-09
申请号：US13035635
申请日：2011-02-25
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka
IPC分类号： G05B19/25
CPC分类号： G05B19/404 , G05B2219/49344 , G05B2219/50297
摘要： A five-axis machining tool that machines a workpiece mounted on a table using three linear axes and two rotary axes is controlled by a numerical controller. The numerical controller calculates a translational compensation amount and a rotational compensation amount by obtaining axis-dependent translational compensation amounts and axis-dependent rotational compensation amounts on the basis of commanded axis positions. Then, the numerical controller moves the three linear axes and the two rotary axes of the five-axis machining tool to positions obtained by adding the translational compensation amount and the rotational compensation amount thus calculated to a command linear axis position and a command rotary axis position, respectively.
摘要翻译：使用三轴直线轴和两个旋转轴对安装在工作台上的工件进行加工的五轴加工工具由数字控制器控制。数值控制器通过基于指令的轴位置获得与轴相关的平移补偿量和与轴相关的旋转补偿量来计算平移补偿量和旋转补偿量。然后，数值控制器将五轴加工工具的三个直线轴和两个旋转轴移动到通过将如此计算的平移补偿量和旋转补偿量相加到指令直线轴位置和指令旋转轴位置而获得的位置，分别。

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