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1. 发明申请

US20150227131A1 NUMERICAL CONTROLLER HAVING COMMAND PATH COMPRESSION FUNCTION 有权
标题翻译：具有指令路径压缩功能的数控机
公开(公告)号：US20150227131A1
公开(公告)日：2015-08-13
申请号：US14620279
申请日：2015-02-12
申请人： FANUC Corporation
发明人： Hiroki MURAKAMI
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/41 , G05B2219/34095 , G05B2219/34101 , G05B2219/42338
摘要： A numerical controller extracts a subsequence from a sequence of command points obtained from a machining program in a manner such that the same path may be created regardless of whether the sequence of command points is extracted from the commanded direction or from the reverse direction. A compressed path approximated by a straight line or a curve is created in a manner such that the compressed path may be approximated by the same straight line or curve regardless of whether the compressed path is created from the extracted subsequence in a commanded direction or in the reverse direction.
摘要翻译：数值控制器以从加工程序获得的一系列命令点提取子序列，使得可以创建相同的路径，而不管命令点的顺序是从命令方向还是从相反的方向提取。以直线或曲线近似的压缩路径被创建为使得压缩路径可以由相同的直线或曲线近似，而不管压缩路径是从指定方向的提取的子序列创建的，还是在相反方向。

2. 发明授权

US06215270B1 Synchronous control device 有权
标题翻译：同步控制装置
公开(公告)号：US06215270B1
公开(公告)日：2001-04-10
申请号：US09319309
申请日：1999-07-29
申请人： Hiroshi Nakamura , Shigeru Futami
发明人： Hiroshi Nakamura , Shigeru Futami
IPC分类号： H02P146
CPC分类号： G05B19/4141 , G05B2219/34095 , G05B2219/50218
摘要： There is provided a synchronous control apparatus of high synchronous control accuracy, and the synchronous control accuracy is seldom deteriorated even if input of the position command and detection of the main shaft position are delayed. The synchronous control apparatus comprises a command generating device, a main shaft device, and a subsidiary shaft device. The command generating device includes a memory for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means for outputting the main shaft position command increment &Dgr;rs(i) inputted before (M−1) times of samplings in the values stored in the memory, a memory for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.
摘要翻译：提供了具有高同步控制精度的同步控制装置，即使位置指令的输入和主轴位置的检测被延迟，同步控制精度也很少劣化。同步控制装置包括指令发生装置，主轴装置和副轴装置。指令生成装置包括：存储器，用于存储从过去到现在的多个时间点输入的主轴位置指令增量;输出装置，用于输出在（M-1）之前输入的主轴位置指令增量DELTArs（i））存储在存储器中的值中的采样次数，存储器，用于存储输入到从过去到现在的多个时间点的主轴位置增量;计算器，用于找到多个主轴位置增量的预测值，通过主轴装置的动态特性模型进行几次采样，包括采样的d次延迟，以及存储的主轴位置指令增量和主轴位置增量，以及用于找到多个副轴的转换器未来位置指令通过由计算器获得的主轴位置增量的多个预测值增加。

3. 发明授权

US07529599B1 Systems and methods for coordination motion instructions 有权
标题翻译：协调运动指令的系统和方法
公开(公告)号：US07529599B1
公开(公告)日：2009-05-05
申请号：US10853674
申请日：2004-05-25
申请人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C Schwarz
发明人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C Schwarz
IPC分类号： B25J9/04 , G05B19/39 , G05B19/23 , G05B19/18
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion. In this manner, such instructions can provide smooth transitions from one coordinated move to the next.
摘要翻译：本发明提供在运动控制环境中整合和/或控制多个轴的运动的系统和方法。分组轴可以链接（例如，通过标签）以提供所需的多轴协调运动，以及为运动的相应方面（例如加速度，速度等）提供控制。这样的轴可以与其他控制功能集成，例如过程和/或机器控制，以向用户提供综合控制。上述可以提供用于以协调的方式在坐标系的多个轴中移动装置的简单机构。这种协调的移动功能可以为多维空间中的线性和圆形移动提供用户友好的界面。用于路径规划的算法可以沿着期望的运动路径提供快速执行和动态参数改变（例如，最大速度，加速和减速）。以这种方式，这样的指令可以提供从一个协调移动到下一个协调移动的平滑过渡。

4. 发明授权

US09645568B2 Numerical controller having command path compression function 有权
公开(公告)号：US09645568B2
公开(公告)日：2017-05-09
申请号：US14620279
申请日：2015-02-12
申请人： FANUC Corporation
发明人： Hiroki Murakami
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/41 , G05B2219/34095 , G05B2219/34101 , G05B2219/42338
摘要： A numerical controller extracts a subsequence from a sequence of command points obtained from a machining program in a manner such that the same path may be created regardless of whether the sequence of command points is extracted from the commanded direction or from the reverse direction. A compressed path approximated by a straight line or a curve is created in a manner such that the compressed path may be approximated by the same straight line or curve regardless of whether the compressed path is created from the extracted subsequence in a commanded direction or in the reverse direction.

5. 发明申请

US20060255759A1 Numerical controller 有权
标题翻译：数控机
公开(公告)号：US20060255759A1
公开(公告)日：2006-11-16
申请号：US11410289
申请日：2006-04-25
申请人： Yasushi Takeuchi , Takahiko Endo
发明人： Yasushi Takeuchi , Takahiko Endo
IPC分类号： G05B19/23
CPC分类号： G05B19/404 , G05B19/4103 , G05B2219/34095 , G05B2219/34175 , G05B2219/41206 , G05B2219/42246 , G05B2219/42248
摘要： A numerical controller capable of mitigating mechanical shock caused by tool compensation while a machine tool is operated according to table data. X- and Z-axis path tables Tx, Tz store X- and Z-axis positions corresponding to reference positions (time or spindle position). A tool compensation table Tt stores X- and Z-axis compensation amounts (tool compensation numbers) associated with the respective reference positions. At every predetermined period, X- and Z-axis path table interpolators read command positions from the path tables Tx, Tz based on the reference position, and obtain command motion amounts by interpolation. X- and Z-axis tool interpolators read compensation amounts from the tool compensation table Tt based on the reference position, and obtain compensation motion amounts by interpolation. Adders add up the command motion amounts and the respective compensation motion amounts to drive respective motors. The tool compensation amounts are gradually varied, whereby mechanical shock does not occur.
摘要翻译：一种数控机床，能够根据表格数据，在机床运行时减轻刀具补偿引起的机械冲击。 X轴和Z轴路径表Tx，Tz存储对应于参考位置（时间或主轴位置）的X轴和Z轴位置。刀具补偿表Tt存储与相应参考位置相关联的X轴和Z轴补偿量（刀具补偿号）。在每个预定时段，X轴和Z轴路径表插值器基于参考位置从路径表Tx，Tz读取命令位置，并通过插值获得指令运动量。 X轴和Z轴刀具内插器根据参考位置读取刀具补偿表Tt的补偿量，并通过插补获得补偿运动量。加法器将命令运动量和相应的补偿运动量相加以驱动相应的电机。刀具补偿量逐渐变化，从而不会发生机械冲击。

6. 发明授权

US5723962A Numerical control method and numerical control device 失效
标题翻译：数控方法及数控装置
公开(公告)号：US5723962A
公开(公告)日：1998-03-03
申请号：US614013
申请日：1996-03-12
申请人： Yuji Mizukami , Yoshihiko Tsurumi
发明人： Yuji Mizukami , Yoshihiko Tsurumi
IPC分类号： G05B21/02 , G05B19/4103 , G05B19/4155 , G05B19/24
CPC分类号： G05B19/4103 , G05B2219/34095 , G05B2219/34179 , G05B2219/34366 , G05B2219/42266
摘要： A numerical control device according to the present invention progressively analyzes a machining program stored in a storage device by one program block or by a plurality of program blocks, computes a migration rate and a feed speed in each axial direction from an instructed moving position of a tool and a feed speed of the tool in an interpolating section, outputs a positional instruction to an object for control for each given cycle, and has a sampling time interval computing section for computing a sampling time so that a number of instruction pulses for each sampling time under a given feed speed is kept at a constant value when a migration rate for 1 block computed in the interpolating section is divided to a number of pulses for each sampling time, and an interruption controlling section for setting a variable sampling time.
摘要翻译：根据本发明的数控装置通过一个程序块或多个程序块逐个分析存储在存储装置中的加工程序，从指令的运动位置计算每个轴向的迁移速率和进给速度工具和工具在进给部分中的进给速度，向每个给定周期的对象输出位置指令，并具有采样时间间隔计算部分，用于计算采样时间，使得每个采样的指令脉冲数当在内插部分中计算的1个块的迁移率被划分为每个采样时间的脉冲数时，给定进给速度下的时间保持在恒定值;以及中断控制部分，用于设置可变采样时间。

7. 发明授权

US3727191A Acceleration-deceleration for numerical control 失效
公开(公告)号：US3727191A
公开(公告)日：1973-04-10
申请号：US3727191D
申请日：1971-03-15
申请人： GIDDINGS & LEWIS
发明人： MC GEE J
IPC分类号： G05B19/4103 , G06F15/46
CPC分类号： G05B19/4103 , G05B2219/33088 , G05B2219/34095 , G05B2219/34132 , G05B2219/34167 , G05B2219/34239 , G05B2219/35373 , G05B2219/42207 , G05B2219/42256 , G05B2219/43009
摘要： Methods and apparatus for accomplishing fully automatic acceleration/deceleration in a numerical control system of the iterative computation type such that disclosed and claimed in applicant''s copending U.S. application which issued on Apr. 11, 1972 as U.S. Pat. No. 3,656,124. Any step-change in the velocity called for by a multi-axis program of movement for a movable member is accomplished wholly automatically and at a predetermined rate dV/dt (acceleration or deceleration) which is readily changed to be within the capability of driving servos and such that overshoot and undue time stretch are avoided. In particular, velocity is controlled by iteratively changing position servo command numbers XSC and YSC (for two axes) by amounts Delta X and Delta Y during each of very short, successive time periods Delta T, where Delta X and Delta Y are computed during each period to be proportional to a desired velocity number PVA. Whenever a new velocity is to be put into effect, a second velocity number PVC may be abruptly changed by a large amount, and thereafter the desired velocity number PVA is incremented by a predetermined amount Delta V during each period Delta T until PVA becomes equal to PVC, so that the acceleration or deceleration value is Delta V/ Delta T. The quantity Delta V is preferably changed as a monotonic function of the velocity difference PVC-PVA, and to reduce time stretch may be made proportional to that difference. By ''''looking ahead'''' with computations which determine the distance which will be traveled by the movable member during deceleration from a given velocity to a lower one, the deceleration is started at an instant which results in the lower velocity being reached almost exactly at the time a given path segment is completed. The apparatus and methods are carried out with a data processing system which includes a time-shared arithmetic computer, and are equally effective whether the system is operating to perform linear or circular interpolation.

8. 发明授权

US08000818B1 Systems and methods for coordination motion instructions 有权
标题翻译：协调运动指令的系统和方法
公开(公告)号：US08000818B1
公开(公告)日：2011-08-16
申请号：US12434884
申请日：2009-05-04
申请人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C. Schwarz
发明人： Jatin P. Bhatt , Jacob S. Baker , David R. Mowry , Stephen L. Steh , William C. Schwarz
IPC分类号： G05B11/01 , G05B19/18 , G05B19/42 , G06F19/00
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion. In this manner, such instructions can provide smooth transitions from one coordinated move to the next.
摘要翻译：本发明提供在运动控制环境中整合和/或控制多个轴的运动的系统和方法。分组轴可以链接（例如，通过标签）以提供所需的多轴协调运动，以及为运动的相应方面（例如加速度，速度等）提供控制。这样的轴可以与其他控制功能集成，例如过程和/或机器控制，以向用户提供综合控制。上述可以提供用于以协调的方式在坐标系的多个轴中移动装置的简单机构。这种协调的移动功能可以为多维空间中的线性和圆形移动提供用户友好的界面。用于路径规划的算法可以沿着期望的运动路径提供快速执行和动态参数改变（例如，最大速度，加速和减速）。以这种方式，这样的指令可以提供从一个协调移动到下一个协调移动的平滑过渡。

9. 发明授权

US07274165B2 Numerical controller 有权
标题翻译：数控机
公开(公告)号：US07274165B2
公开(公告)日：2007-09-25
申请号：US11410289
申请日：2006-04-25
申请人： Yasushi Takeuchi , Takahiko Endo
发明人： Yasushi Takeuchi , Takahiko Endo
IPC分类号： G05B19/10
CPC分类号： G05B19/404 , G05B19/4103 , G05B2219/34095 , G05B2219/34175 , G05B2219/41206 , G05B2219/42246 , G05B2219/42248
摘要： A numerical controller capable of mitigating mechanical shock caused by tool compensation while a machine tool is operated according to table data. X- and Z-axis path tables Tx, Tz store X- and Z-axis positions corresponding to reference positions (time or spindle position). A tool compensation table Tt stores X- and Z-axis compensation amounts (tool compensation numbers) associated with the respective reference positions. At every predetermined period, X- and Z-axis path table interpolators read command positions from the path tables Tx, Tz based on the reference position, and obtain command motion amounts by interpolation. X- and Z-axis tool interpolators read compensation amounts from the tool compensation table Tt based on the reference position, and obtain compensation motion amounts by interpolation. Adders add up the command motion amounts and the respective compensation motion amounts to drive respective motors. The tool compensation amounts are gradually varied, whereby mechanical shock does not occur.
摘要翻译：一种数控机床，能够根据表格数据，在机床运行时减轻刀具补偿引起的机械冲击。 X轴和Z轴路径表Tx，Tz存储对应于参考位置（时间或主轴位置）的X轴和Z轴位置。刀具补偿表Tt存储与相应参考位置相关联的X轴和Z轴补偿量（刀具补偿号）。在每个预定时段，X轴和Z轴路径表插值器基于参考位置从路径表Tx，Tz读取命令位置，并通过插值获得指令运动量。 X轴和Z轴刀具内插器根据参考位置读取刀具补偿表Tt的补偿量，并通过插补获得补偿运动量。加法器将命令运动量和相应的补偿运动量相加以驱动相应的电机。刀具补偿量逐渐变化，从而不会发生机械冲击。

10. 发明授权

US07180253B2 Method and system for generating multi-dimensional motion profiles 有权
标题翻译：用于生成多维运动曲线的方法和系统
公开(公告)号：US07180253B2
公开(公告)日：2007-02-20
申请号：US10675100
申请日：2003-09-30
申请人： Juergen K. Weinhofer , Jatin P. Bhatt , William C. Schwarz
发明人： Juergen K. Weinhofer , Jatin P. Bhatt , William C. Schwarz
IPC分类号： G05B19/18 , G05B11/32 , H02P5/46 , G06F19/00
CPC分类号： B25J9/1664 , G05B19/19 , G05B2219/34095 , G05B2219/34177 , G05B2219/35585 , G05B2219/40395
摘要： A motion control system comprises control logic and a programming interface. The programming interface is configured to permit a user to specify a plurality of non-tangential path segments, and the control logic is configured to generate a plurality of additional connecting path segments substantially extending between and connecting the non-tangential path segments. The motion control system is configured to generate control signals to control operation of a plurality of motors to drive movement of a controlled element along a path defined by the non-tangential path segments and the additional connecting path segments.
摘要翻译：运动控制系统包括控制逻辑和编程接口。编程接口被配置为允许用户指定多个非切向路径段，并且控制逻辑被配置为生成基本上在非切向路径段之间延伸并连接非切向路径段的多个附加连接路径段。运动控制系统被配置为产生控制信号以控制多个电动机的操作，以驱动受控元件沿着由非切向路径段和附加连接路径段限定的路径的移动。

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