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1. 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。

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

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。

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

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。

6. 发明授权

US4902950A Numerical control method with response delay compensating function 失效
标题翻译：具有响应延迟补偿功能的数值控制方法
公开(公告)号：US4902950A
公开(公告)日：1990-02-20
申请号：US247442
申请日：1988-08-11
申请人： Hideaki Kawamura , Kentaro Fujibayashi , Haruhiko Kozai
发明人： Hideaki Kawamura , Kentaro Fujibayashi , Haruhiko Kozai
IPC分类号： G05B19/18 , G05B19/404 , G05D3/12
CPC分类号： G05B19/404 , G05B2219/43122 , G05B2219/49381 , G05B2219/49382
摘要： A numerical control method is provided, which is capable of compensating for a response delay of a servo system to command pulses to thereby make it possible to repetitively effect reciprocal movement of a controlling object at a high speed over the entirety between target positions inclusive of these positions, without the need of increasing a time period for execution of a desired operation.A time period (T0) required for delivering all of the command pulses for forward movement is calculated on the basis of a commanded moving amount and a commanded feed rate (V0) stated in a program, and a corrected feed rate (V1) is calculated in dependence on the amount of command pulses for backward movement delivered over a time period (t2) starting at an instant (t1) that delivery of command pulses for backward movement is started and ending at an instant a positional deviation becomes zero, and further, the command pulses for forward movement and for backward movement are delivered over the time period (T0) at the corrected feed rate (V1), respectively.

7. 发明授权

US07034491B2 Numerical controller 失效
公开(公告)号：US07034491B2
公开(公告)日：2006-04-25
申请号：US11187872
申请日：2005-07-25
申请人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
发明人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
IPC分类号： G05B11/01 , G06F15/46
CPC分类号： G05B19/404 , G05B2219/41041 , G05B2219/41045 , G05B2219/41085
摘要： For outputting an amount of backlash compensation according to the direction of reversal in the reversal motion of the moving axis, three output modes are prepared: (a) a mode in which a preset backlash compensation is outputted all at once, (b) a mode in which backlash compensation is outputted according to distance traveled, and (c) a mode in which backlash compensation is outputted according to time elapsed. It is determined whether the motion of the moving axis has been changed from positive to negative directions or from negative to positive directions, and with this determination result, any one of the above three output modes (a) to (c) is selected.

8. 发明授权

US07024269B2 Numerical control apparatus 失效
标题翻译：数控装置
公开(公告)号：US07024269B2
公开(公告)日：2006-04-04
申请号：US10936665
申请日：2004-09-09
申请人： Eiji Genma , Haruhiko Kozai
发明人： Eiji Genma , Haruhiko Kozai
IPC分类号： G06F19/00
CPC分类号： G05B19/4068 , G05B2219/33297 , G05B2219/34367 , G05B2219/35269 , G05B2219/35293
摘要： Foreground program execution means executes a program, and outputs movement commands to a control object. Meanwhile, background program execution means checks abnormalities by executing the program, without outputting the movement commands, obtained by executing the program, to the control object. If a program abnormality is detected by the background program execution means, the abnormality is stored in association with the block in which the abnormality is detected. When the program is executed by the foreground program execution means, the program is interrupted at the end of a preceding block for which a program abnormality was stored.
摘要翻译：前台程序执行装置执行程序，并向控制对象输出移动指令。同时，后台程序执行装置通过执行程序来检查异常，而不将通过执行程序获得的移动命令输出到控制对象。如果由背景程序执行装置检测到程序异常，则与检测到异常的块相关联地存储异常。当程序由前台程序执行装置执行时，程序在存储程序异常的前一程序段的结尾被中断。

9. 发明申请

US20060052900A1 Numerical control apparatus 失效
公开(公告)号：US20060052900A1
公开(公告)日：2006-03-09
申请号：US11218502
申请日：2005-09-06
申请人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
发明人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
IPC分类号： G06F19/00
CPC分类号： G05B19/40937 , Y02P90/265
摘要： When a read block includes a code for setting a machine coordinate system used for exchanging a tool or the like, it is determined whether a feed rate specifying modes, set by a parameter, is (a) specification by using parameters, (b) specification by a program, or (c) specification by using an external signal input. In mode (a), the rapid traverse speed set for movement according to machine coordinate system or different feed rate set by a parameter is selected and set as feed rate F. In mode (b), a feed rate specified by a program is set as feed rate F. In mode (c), an input signal is converted into a speed which is set as feed rate F. Then the movement command according to the machine coordinate system is executed with this set feed rate F.

10. 发明申请

US20060017415A1 Numerical controller 失效
标题翻译：数控机
公开(公告)号：US20060017415A1
公开(公告)日：2006-01-26
申请号：US11187872
申请日：2005-07-25
申请人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
发明人： Haruhiko Kozai , Takahiko Endo , Eiji Genma
IPC分类号： G05B11/01
CPC分类号： G05B19/404 , G05B2219/41041 , G05B2219/41045 , G05B2219/41085
摘要： For outputting an amount of backlash compensation according to the direction of reversal in the reversal motion of the moving axis, three output modes are prepared: (a) a mode in which a preset backlash compensation is outputted all at once, (b) a mode in which backlash compensation is outputted according to distance traveled, and (c) a mode in which backlash compensation is outputted according to time elapsed. It is determined whether the motion of the moving axis has been changed from positive to negative directions or from negative to positive directions, and with this determination result, any one of the above three output modes (a) to (c) is selected.
摘要翻译：为了根据移动轴的反转运动的反转方向输出一定量的间隙补偿，准备三种输出模式：（a）一次全部输出预设的间隙补偿的模式，（b）模式其中根据行驶距离输出齿隙补偿，（c）根据经过时间输出齿隙补偿的模式。确定移动轴的运动是从正向负方向还是从正方向改变为正方向，并且通过该确定结果，选择上述三种输出模式（a）至（c）中的任何一种。

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