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1. 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。

2. 发明申请

US20110276173A1 NUMERICAL CONTROLLER FOR MULTI-AXIS MACHINE TOOL 有权
标题翻译：多轴机床数控机
公开(公告)号：US20110276173A1
公开(公告)日：2011-11-10
申请号：US13038600
申请日：2011-03-02
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
IPC分类号： G05B19/19
CPC分类号： G05B19/4103 , G05B2219/49286
摘要： A numerical controller for controlling a multi-axis machine tool having three linear axes and three rotating axes obtains an interpolated tool direction vector by interpolating a tool direction command and computes multiple solutions for three rotating axes from the vector. The three rotating axis positions are computed by synthesizing these multiple solutions. The three linear axis positions on a machine coordinate system are computed by adding to the interpolated tool center point position the product of the interpolated tool direction vector, or a verified tool direction vector based on the three rotating axis positions determined by the rotating axis position computing means, and a tool length compensation amount. The three rotating axes are moved to the positions computed above and the three linear axes are moved to the positions computed above.
摘要翻译：用于控制具有三个直线轴和三个旋转轴的多轴机床的数值控制器通过内插刀具方向指令获得内插的刀具方向矢量，并且从向量计算三个旋转轴的多个解。通过合成这些多个解来计算三个旋转轴位置。通过将内插刀具方向矢量的乘积或基于由旋转轴位置计算确定的三个旋转轴位置的经验证的刀具方向矢量相加，插入到刀具中心点位置来计算机床坐标系上的三个直线轴位置装置和刀具长度补偿量。三个旋转轴被移动到上面计算的位置，并且三个线性轴被移动到上面计算的位置。

3. 发明授权

US09063536B2 Numerical controller having workpiece mounting error compensation unit for three-axis machine tool 有权
标题翻译：数控机床具有三轴机床工件安装误差补偿单元
公开(公告)号：US09063536B2
公开(公告)日：2015-06-23
申请号：US13243466
申请日：2011-09-23
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
IPC分类号： G05B19/25 , G05B19/408
CPC分类号： G05B19/4086
摘要： A numerical controller controls a three-axis machine tool that machines a workpiece, mounted on a table, with at least three linear axes. The numerical controller includes a workpiece mounting error compensation unit that compensates a mounting error caused when the workpiece is mounted. The workpiece mounting error compensation unit performs an error compensation with respect to an instructed linear-axis position with amounting error which is set beforehand, in order to keep a position with respect to the workpiece at a tool center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis position. The three linear axes are driven based on the obtained compensated linear-axis position.
摘要翻译：一个数字控制器控制一个三轴机床，用于安装在工作台上的工件至少具有三个直线轴。数值控制器包括工件安装误差补偿单元，用于补偿安装工件时引起的安装误差。工件安装误差补偿单元相对于预先设定的量误差的指示的线性轴位置执行误差补偿，以便基于所指示的线性来保持相对于工件在刀具中心点位置的位置三轴线的轴位置，以获得补偿的直线轴位置。基于获得的补偿线性轴位置驱动三个直线轴。

4. 发明授权

US08350514B2 Numerical controller for multi-axis machine 有权
标题翻译：数控多轴机床
公开(公告)号：US08350514B2
公开(公告)日：2013-01-08
申请号：US13097795
申请日：2011-04-29
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
IPC分类号： G05B19/25
CPC分类号： G05B19/404 , G05B2219/49198 , G05B2219/50297
摘要： A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.
摘要翻译：用于控制多轴机器的数值控制器基于指令轴位置计算与轴相关的平移误差量和与轴相关的旋转误差量。平移和旋转补偿量分别根据轴相关平移和旋转误差量计算。平移和旋转补偿量分别被添加到命令线性和旋转轴位置。三个直线轴和三个旋转轴分别被驱动到加入位置。因此，提供了一种能够在多轴机器中使用工具或镗孔的侧面进行均匀加工的数值控制器处于命令的工具位置和姿势（取向）中。

5. 发明授权

US08260453B2 Numerical controller for controlling five-axis machining apparatus 有权
标题翻译：用于控制五轴加工设备的数控机床
公开(公告)号：US08260453B2
公开(公告)日：2012-09-04
申请号：US12325419
申请日：2008-12-01
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Daijirou Koga
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Daijirou Koga
IPC分类号： G05B19/00 , G05B19/18 , G05B19/25 , G05B19/41 , G05B19/416 , B25J9/06 , B25J9/10
CPC分类号： G05B19/4103 , G05B19/404 , G05B2219/35158 , G05B2219/49344 , G05B2219/50297 , G05B2219/50336
摘要： A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.
摘要翻译：一种用于控制五轴加工装置的数值控制器，其中对刀具取向指令进行校正，从而获得平滑的加工表面和缩短的加工时间。数值控制器包括：命令读取装置，其连续地读取刀具定向指令;刀具取向指令校正装置，其校正刀具取向指令，使得每个旋转轴运动量与直线轴运动量之间的比率在每个块中是恒定的;插值装置基于由刀具定向指令校正装置校正的刀具取向指令，运动路径指令和相对运动速度指令，在每个插补周期确定各个轴位置，使得刀具终点沿着命令的命令运动路径移动相对运动速度和驱动相应轴电动机的装置，使得到达由内插装置确定的各个轴位置。

6. 发明授权

US08255078B2 Numerical controller for multi-axis machine tool 有权
标题翻译：多轴机床数控系统
公开(公告)号：US08255078B2
公开(公告)日：2012-08-28
申请号：US13038600
申请日：2011-03-02
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Takafumi Sasaki
IPC分类号： G05B19/19
CPC分类号： G05B19/4103 , G05B2219/49286
摘要： A numerical controller for controlling a multi-axis machine tool having three linear axes and three rotating axes obtains an interpolated tool direction vector by interpolating a tool direction command and computes multiple solutions for three rotating axes from the vector. The three rotating axis positions are computed by synthesizing these multiple solutions. The three linear axis positions on a machine coordinate system are computed by adding to the interpolated tool center point position the product of the interpolated tool direction vector, or a verified tool direction vector based on the three rotating axis positions determined by the rotating axis position computing means, and a tool length compensation amount. The three rotating axes are moved to the positions computed above and the three linear axes are moved to the positions computed above.
摘要翻译：用于控制具有三个直线轴和三个旋转轴的多轴机床的数值控制器通过内插刀具方向指令获得内插的刀具方向矢量，并且从向量计算三个旋转轴的多个解。通过合成这些多个解来计算三个旋转轴位置。通过将内插刀具方向矢量的乘积或基于由旋转轴位置计算确定的三个旋转轴位置的经验证的刀具方向矢量相加，插入到刀具中心点位置来计算机床坐标系上的三个直线轴位置装置和刀具长度补偿量。三个旋转轴被移动到上面计算的位置，并且三个线性轴被移动到上面计算的位置。

7. 发明申请

US20090228138A1 NUMERICAL CONTROLLER CONTROLLING FIVE-AXIS PROCESSING MACHINE 审中-公开
标题翻译：数控机器控制五轴加工机
公开(公告)号：US20090228138A1
公开(公告)日：2009-09-10
申请号：US12342770
申请日：2008-12-23
申请人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Daijirou Koga
发明人： Toshiaki Otsuki , Soichiro Ide , Osamu Hanaoka , Daijirou Koga
IPC分类号： G05B19/4099 , G05B19/41
CPC分类号： G05B19/4103 , G05B19/404 , G05B2219/35158 , G05B2219/49344 , G05B2219/50297 , G05B2219/50336
摘要： A numerical controller for controlling a five-axis processing machine including three linear axes and two rotational axes for machining a workpiece attached onto a table thins out a command of a moving path of any one of the linear axes and a command of a tool direction if both of the change amount of a tool direction and the change amount of a linear axis in the command of the moving path are smaller than preset values, respectively.
摘要翻译：用于控制包括三个直线轴和两个旋转轴的五轴加工机的数字控制器，用于加工附着在工作台上的工件，从而消除任何一个直线轴的运动路径的命令和一个工具方向的指令，如果移动路径的指令中的刀具方向的变化量和线性轴的变化量都分别小于预设值。

8. 发明授权

US07433754B2 Numerical controller 有权
标题翻译：数控机
公开(公告)号：US07433754B2
公开(公告)日：2008-10-07
申请号：US11790069
申请日：2007-04-23
申请人： Toshiaki Otsuki , Soichiro Ide
发明人： Toshiaki Otsuki , Soichiro Ide
IPC分类号： G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34089 , G05B2219/34149 , G05B2219/49344
摘要： A numerical controller configured to enable machining of a conical surface such that vectors at a start point, an end point, and an interpolation point of a circular arc and their extensions never cross one another. Normal direction vectors Vnors and Vnore, tangential direction vectors Vtans and Vtane, and tool posture vectors Vts and Vte at the starting and end points are obtained based on programmed positions PA′ and PB′ of the starting and end points, a circle center position, and rotational positions of two rotary axes. Based on these vectors, tangential direction angles as and ae and the normal direction angles bs and be with respect to tool postures at the starting and end points are obtained. Normal and tangential direction vectors Vnori and Vtani and angles ai and bi at the interpolation point are obtained by interpolating the normal and tangential direction vectors and angles at the starting and end points, whereby a tool posture vector Vti at the interpolation point is obtained. The rotational positions of the rotary axes and positions of linear axes are obtained based on the tool posture vector Vti at the interpolation point. Circular machining can be also performed for a three-dimensional programmed circular arc.
摘要翻译：一种数字控制器，其被配置为能够加工圆锥形表面，使得在起始点，终点和圆弧的内插点处的矢量及其延伸部不会相互交叉。根据起始点和终点的编程位置PA'和PB'，圆心中心位置，圆弧中心位置，和两个旋转轴的旋转位置。基于这些向量，获得切向方向角度和ae以及法线方向角度bs，并且相对于起点和终点处的工具姿势。通过内插正交和切向方向矢量以及起点和终点处的角度来获得正交和切向方向矢量Vnori和Vtani以及插值点处的角度ai和bi，由此获得插值点处的刀具姿态矢量Vti。基于插补点处的刀具姿势向量Vti，获得旋转轴的旋转位置和直线轴的位置。也可以对三维编程圆弧进行圆形加工。

9. 发明授权

US07269473B2 Work installation error measuring apparatus 有权
标题翻译：工作安装误差测量仪
公开(公告)号：US07269473B2
公开(公告)日：2007-09-11
申请号：US11397692
申请日：2006-04-05
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G06F19/00 , G05B19/18
CPC分类号： G01B21/042
摘要： A work is installed on a table of a machine tool, and the coordinate system on the work is (X′, Y′, Z′). Each three points on respective three faces of the work, which are orthogonal to one another, A, B, C, D, E, F, G, H and I, are detected with a touch probe. From three points on the same plane, each of three formulas of planes which lies on the three points, respectively, are obtained. A position O′ (XO, YO, ZO) of a point where the three plane intersect with one another is obtained. This position is a parallel translation error. From these three plane formulas, points on the X′, Y′ and Z′ axes each being distant from the position O′ by the length L are obtained. Rotation matrices are obtained from the respective points, position O′ (XO, YO, ZO), and L. Rotary direction errors are obtained using the rotation matrices. In this manner, a work location error which is composed of the three-dimensional parallel translation error and three-dimensional rotary direction errors is obtained.
摘要翻译：工件安装在机床的工作台上，工件上的坐标系为（X'，Y'，Z'）。 A，B，C，D，E，F，G，H和I彼此正交的工件的相应三个面上的每个三个点都用探针检测。从同一平面上的三个点，分别得到位于三个点上的三个平面的三个公式。获得三个平面彼此相交的点的位置O'（X O，O，Y O，Z O O）。这个位置是平行翻译错误。通过这三个平面公式，可以得到X'，Y'，Z'各自远离位置O'长度L的点。旋转矩阵从相应的位置获得，位置O'（X O，O，O，Z O O）和L.旋转方向误差使用旋转矩阵获得。以这种方式，获得由三维平行平移平移误差和三维旋转方向误差构成的作业位置误差。

10. 发明申请

US20050090930A1 Numerical control device 失效
标题翻译：数控装置
公开(公告)号：US20050090930A1
公开(公告)日：2005-04-28
申请号：US10968127
申请日：2004-10-20
申请人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
发明人： Toshiaki Otsuki , Soichiro Ide , Takafumi Sasaki
IPC分类号： G05B19/19 , G05B19/4061 , G05B19/4068 , G06F19/00
CPC分类号： G05B19/4061 , G05B2219/49137 , G05B2219/49141
摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.
摘要翻译：存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

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