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1. 发明申请

US20020002420A1 Numerically controlled curved surface machining unit 有权
标题翻译：数控曲面加工单元
公开(公告)号：US20020002420A1
公开(公告)日：2002-01-03
申请号：US09791561
申请日：2001-02-26
发明人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
IPC分类号： G06F019/00
CPC分类号： G05B19/4099 , G05B2219/34141
摘要： To provide a numerically controlled curved surface machining unit, and a method or program thereof, which, by moving a tool smoothly along a NURBS (non-uniform rational B-spline) curve, enables not only to improve the machining surface roughness and machining surface accuracy but to achieve high-speed machining so as to be able to eliminate hand finishing and reduce machining steps drastically. Performing NURBS (non-uniform rational B-spline) interpolation machining by a machine equipped with a means for reading cutter location (CL) data consisting of a tool control point vector and a tool axis vector on a workpiece coordinate system, a means for converting the CL data into a position vector of three linear axes and a rotation angle on a machine coordinate system in accordance with the machine configuration of a simultaneous multiple-axis NC machine, a means for calculating knot vectors of a NURBS curve with the most suitable chord length on the basis of a position vector of the three linear axes and a rotation angle, a means for calculating NURBS curve of the three linear axes and one rotary axis using the knot vectors, a means for converting the NURBS curve into NURBS interpolation NC data, a means for converting the feed rate on a workpiece coordinate system into the feed rate per minute on a machine coordinate system, and a means for transmitting NC data to a NC machine.
摘要翻译：为了提供一种数控曲面加工单元及其方法或程序，通过沿NURBS（非均匀有理B样条）曲线平滑移动刀具，不仅可以提高加工表面粗糙度和加工面精度，但实现高速加工，以便能够消除手工精加工，并大幅度减少加工步骤。通过装备有用于读取在工件坐标系上的刀具控制点矢量和刀具轴矢量的刀具位置（CL）数据的装置的机器进行NURBS（非均匀有理B样条）插值加工，转换装置根据同时多轴NC机器的机器结构将CL数据转换成三轴线的位置矢量和机床坐标系上的旋转角度，用于计算具有最合适弦的NURBS曲线的结向量的装置基于三个线性轴的位置矢量和旋转角的长度;用于使用结向量来计算三个直线轴和一个旋转轴的NURBS曲线的装置，用于将NURBS曲线转换成NURBS插值NC数据的装置，用于将工件坐标系上的进给速度转换成机床坐标系上每分钟进给速率的装置，以及将NC数据传送到NC机器的装置。

2. 发明申请

US20180088551A1 CURVE VELOCITY PLANNING METHOD, DEVICE, AND NUMERICAL CONTROL MACHINING ROUTE DATA PROCESSING METHOD THEREOF 审中-公开
公开(公告)号：US20180088551A1
公开(公告)日：2018-03-29
申请号：US15550754
申请日：2016-01-29
申请人： SHENZHEN A&E INTELLIGENT TECHNOLOGY INSTITUTE CO., LTD.
发明人： HUACHONG PANG
IPC分类号： G05B19/19 , G05B19/416
CPC分类号： G05B19/19 , G05B19/4103 , G05B19/416 , G05B2219/34141 , G05B2219/37347
摘要： The present disclosure discloses a method and device for planning curve velocity based on NURBS curve interpolation as well as a numerical control machining route data processing method using NURBS curve interpolation velocity planning. The method includes: obtaining numerical control machining route data with a NURBS curve; obtaining an acceleration ai within a parameter step length Δui on the NURBS curve; comparing each the acceleration with a maximum allowable acceleration to determine an acceleration sensitive point and an acceleration sensitive interval; determining an intermediate point of the acceleration sensitive interval as a demarcation point of the acceleration and the deceleration; calculating a velocity value of the intermediate point as a target velocity; and planning the acceleration and deceleration of the acceleration sensitive interval basing on the target velocity to obtain the numerical control machining route data with the planned NURBS curve.

3. 发明授权

US09193070B2 Robot, control system for controlling motion of a controlled object, and recording medium for control program for controlling motion of a controlled object 有权
标题翻译：用于控制受控对象的运动的机器人控制系统，以及用于控制受控对象运动的控制程序的记录介质
公开(公告)号：US09193070B2
公开(公告)日：2015-11-24
申请号：US13086850
申请日：2011-04-14
申请人： Yoshiki Kanemoto
发明人： Yoshiki Kanemoto
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/34141 , G05B2219/34175 , G05B2219/40428 , G05B2219/40449 , G05B2219/40476 , G05B2219/40512 , G05B2219/40519
摘要： A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.
摘要翻译：能够维持受控对象的运动的连续性或平滑性的系统等。根据本发明的控制系统1和作为其控制对象的机器人R，通过进行内插处理来生成期望的位置轨迹，该内插处理生成由以下的点序列的线性组合表示的线段模型空间具有空间插值作为耦合系数的基函数。因此，通过多个点（控制点）的线性组合来表示连续平滑地连接起始点和终点的线段，而不是通过设置在模型空间中的多个点的虚线。

4. 发明申请

US20080269933A1 METHOD FOR SURFACE-BASED MACHINING OF DECORATIVE ARTICLES 审中-公开
标题翻译：基于表面加工装饰品的方法
公开(公告)号：US20080269933A1
公开(公告)日：2008-10-30
申请号：US12058246
申请日：2008-03-28
申请人： Wesley V. Barbir
发明人： Wesley V. Barbir
IPC分类号： G05B19/19 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34141 , G05B2219/45212
摘要： A method for surface-based machining of a decorative article is provided. The method includes retrieving a first graphical representation of the decorative article, and deriving a surface representation therefrom. The surface representation may have one or more segments. The method also includes deriving a tool path for each of the segments of the surface representation. By machining a workpiece in accordance with the tool paths, the decorative article is produced.
摘要翻译：提供了一种用于装饰物品的表面加工的方法。该方法包括检索装饰品的第一图形表示，以及从其导出表面表示。表面表示可以具有一个或多个段。该方法还包括为表面表示的每个段导出工具路径。通过根据工具路径加工工件，制造装饰品。

5. 发明授权

US06504333B2 Numerical control apparatus 有权
标题翻译：数控装置
公开(公告)号：US06504333B2
公开(公告)日：2003-01-07
申请号：US09793486
申请日：2001-02-27
申请人： Nobuyuki Takahashi , Kiyotaka Kato , Kenji Iriguchi
发明人： Nobuyuki Takahashi , Kiyotaka Kato , Kenji Iriguchi
IPC分类号： G05B1925
CPC分类号： G05B19/41 , G05B2219/34093 , G05B2219/34141 , G05B2219/43129 , G05B2219/49111
摘要： A numerical control system includes a curved-surface state evaluating unit for forming curved-surface evaluation data of evaluation points by arranging, virtually, the tool on a given scheduled path locus, that serves as the criterion of movement of a tool, to come into contact with a processed surface of a processing object, and by setting a plurality of evaluation points to evaluate the shape of the curved surface, a command speed deciding unit for deciding a command speed appropriately by using a passing speed and other data in the evaluation data, and a tool position data forming unit for calculating quickly a succeeding tool position by utilizing the evaluation data. The operations are performed in real time.
摘要翻译：数值控制系统包括：弯曲表面状态评估单元，用于通过将作为工具移动标准的给定计划路径轨迹上的工具实际上安排来形成评估点的曲面评估数据，以进入与加工对象的经处理面接触，通过设定多个评价点来评价曲面的形状，指令速度决定部，通过使用评价数据中的通过速度和其他数据适当地判定指令速度以及刀具位置数据形成单元，用于通过利用评估数据快速计算后续刀具位置。这些操作是实时执行的。

6. 发明授权

US06999845B2 Numerically controlled curved surface machining unit 有权
标题翻译：数控曲面加工单元
公开(公告)号：US06999845B2
公开(公告)日：2006-02-14
申请号：US10967350
申请日：2004-10-19
申请人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
发明人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
IPC分类号： G06F19/00 , G05B13/02 , G05B19/25
CPC分类号： G05B19/4103 , G05B19/4099 , G05B2219/34141
摘要： A numerically controlled curved-surface machining unit equipped with three linearly moving axes and, at least, one rotary axis, including a simultaneous multiple-axis control NC machine numerically controlled by a numerical control unit with a numerical control NURBS interpolation function. The unit enables reading, as CL (cutter location) data, tool control point vector data and tool axis vector data, along a machining direction on a workpiece coordinate system for a curved surface, obtaining feed rates therefor, and calculation by conversion of the CL data into position vectors of three linear axes on a machine coordinate system, rotation angles and feed rates on the machine coordinate system so as to operate the simultaneous multiple-axis control NC machine on the basis of a machine configuration of the simultaneous multiple-axis control NC machine. The unit forms at least one NURBS curve having continuous curvature, calculates data therefor and converts the NURBS curve into NC data for NURBS interpolation.
摘要翻译：一种数控曲面加工单元，其具有三个直线运动轴和至少一个旋转轴，包括由具有数字NURBS插值功能的数字控制单元数字控制的同时多轴控制NC机床。该单元使得能够沿着加工方向在工件坐标系上为曲面读取CL（刀具位置）数据，刀具控制点矢量数据和刀具轴向量数据，获得进给速率，并通过CL的转换进行计算将数据转换为机床坐标系上的三个线性轴的位置矢量，机床坐标系上的旋转角度和进给速度，以便在同时多轴控制的机床配置的基础上同时操作多轴控制NC机床数控机床。该单元形成至少一个具有连续曲率的NURBS曲线，计算其数据，并将NURBS曲线转换为NC数据用于NURBS插值。

7. 发明授权

US06934601B2 Numerically controlled curved surface machining unit 有权
标题翻译：数控曲面加工单元
公开(公告)号：US06934601B2
公开(公告)日：2005-08-23
申请号：US10733318
申请日：2003-12-12
申请人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
发明人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
IPC分类号： G05B19/4099 , G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B19/4099 , G05B2219/34141
摘要： A numerically controlled curved-surface machining unit comprises a component converting matrix·angle-addition value forming function of converting CL (cutter location) data into components on a normal coordinate system on the basis of the machine configuration of the simultaneous multiple-axis control NC machine, a component converting function of converting from the workpiece coordinate system to the normal coordinate system, a function of forming second angles of a second rotary axis on the normal coordinate system, a compensating function of forming a continuous angle distribution from a distribution of the second angles, a function of forming first angles of a first rotary axis on a coordinate system rotated by the second angles at the second rotary axis, a compensating function of forming a continuous angle distribution from a distribution of the first angles, a machine coordinate transformation matrix forming function of obtaining a matrix for converting the tool control point vectors on the workpiece coordinate system into a machine coordinate system by using the first angles and the second angles, and a machine coordinate converting function of converting the tool control point vectors into the machine coordinate system by using the machine coordinate transforming matrix.
摘要翻译：数控曲面加工单元包括基于同时多轴控制NC的机器配置的零件转换矩阵矩形加法值形成功能，其将CL（刀具位置）数据转换成正常坐标系上的部件机器，从工件坐标系转换为正常坐标系的分量转换功能，在正常坐标系上形成第二旋转轴的第二角度的功能，从分布的形状分布形成连续角分布的补偿功能第二角度，在第二旋转轴上旋转了第二角度的坐标系上形成第一旋转轴的第一角度的函数，从第一角度的分布形成连续角度分布的补偿功能，机械坐标变换获得用于转换刀具控制点ve的矩阵的矩阵形成函数通过使用第一角度和第二角度将工件坐标系上的工件转换为机床坐标系，以及通过使用机床坐标变换矩阵将刀具控制点矢量转换为机床坐标系的机床坐标转换功能。

8. 发明申请

US20040181307A1 Numerically controlled curved surface machining unit 有权
标题翻译：数控曲面加工单元
公开(公告)号：US20040181307A1
公开(公告)日：2004-09-16
申请号：US10733318
申请日：2003-12-12
发明人： Junichi Hirai , Hiroshi Arai , Tamotsu Harihara , Osamu Chiba , Masaaki Takahashi , Nobuhisa Kanamaru
IPC分类号： G06F019/00
CPC分类号： G05B19/4103 , G05B19/4099 , G05B2219/34141
摘要： A numerically controlled curved-surface machining unit comprises a component converting matrixnullangle-addition value forming function of converting CL (cutter location) data into components on a normal coordinate system on the basis of the machine configuration of the simultaneous multiple-axis control NC machine, a component converting function of converting from the workpiece coordinate system to the normal coordinate system, a function of forming second angles of a second rotary axis on the normal coordinate system, a compensating function of forming a continuous angle distribution from a distribution of the second angles, a function of forming first angles of a first rotary axis on a coordinate system rotated by the second angles at the second rotary axis, a compensating function of forming a continuous angle distribution from a distribution of the first angles, a machine coordinate transformation matrix forming function of obtaining a matrix for converting the tool control point vectors on the workpiece coordinate system into a machine coordinate system by using the first angles and the second angles, and a machine coordinate converting function of converting the tool control point vectors into the machine coordinate system by using the machine coordinate transforming matrix.
摘要翻译：数控曲面加工单元包括基于同时多轴控制NC的机器配置的零件转换矩阵矩形加法值形成功能，其将CL（刀具位置）数据转换成正常坐标系上的部件机器，从工件坐标系转换为正常坐标系的分量转换功能，在正常坐标系上形成第二旋转轴的第二角度的功能，从分布的形状分布形成连续角分布的补偿功能第二角度，在第二旋转轴上旋转了第二角度的坐标系上形成第一旋转轴的第一角度的函数，从第一角度的分布形成连续角度分布的补偿功能，机械坐标变换获得用于转换刀具控制点ve的矩阵的矩阵形成函数通过使用第一角度和第二角度将工件坐标系上的工件转换为机床坐标系，以及通过使用机床坐标变换矩阵将刀具控制点矢量转换为机床坐标系的机床坐标转换功能。

9. 发明申请

US20040128026A1 Active-constraint robots 有权
标题翻译：主动约束机器人
公开(公告)号：US20040128026A1
公开(公告)日：2004-07-01
申请号：US10470314
申请日：2003-12-19
发明人： Simon James Harris , Brian Lawrence Davies , Matjaz Jakopec
IPC分类号： G06F019/00
CPC分类号： B25J9/1689 , A61B34/10 , A61B34/30 , A61B34/70 , A61B34/76 , A61B2034/107 , A61B2090/08021 , A61B2090/365 , G05B2219/34141 , G05B2219/40146 , G05B2219/45117
摘要： An active-constraint robot (4), particularly for surgical use, is controlled by means of a series of motorised joints to provide a surgeon with real-time tactile feedback of an operation in progress. The robot system holds, in memory, a series of constraint surfaces beyond which it would be dangerous for the surgeon to go, and a resistive force is applied to the cutting tool (14) as the surgeon approaches any such surface. To improve the overall quality of feedback experienced by the surgeon, the resistive force applied to the cutting tool (14) depends upon the point of intersection (I) between the force factor applied by the surgeon and the surface. Further improvements are achieved by adjusting the tangential resistive force, when the tool is adjacent to the surface, in dependence upon the surrounding shape of the surface.
摘要翻译：特别是外科用途的主动约束机器人（4）通过一系列电动关节来控制，以向外科医生提供正在进行的手术的实时触觉反馈。机器人系统在存储器中保持一系列限制表面，超过该限制表面对于外科医生来说将是危险的，当外科医生接近任何这样的表面时，阻力被施加到切割工具（14）。为了提高外科医生所经历的反馈的总体质量，施加到切割工具（14）的阻力取决于由外科医生施加的力因子与表面之间的交叉点（I）。根据表面的周围形状，通过调整刀具相邻于表面的切向阻力来实现进一步的改进。

10. 发明授权

US06609045B1 File conversion apparatus for machining program of numerical control system and computer readable recording medium for storing program for computer to execute file conversion process 失效
标题翻译：用于加工数控系统程序的文件转换装置和用于存储用于执行文件转换处理的计算机的程序的计算机可读记录介质
公开(公告)号：US06609045B1
公开(公告)日：2003-08-19
申请号：US09424117
申请日：1999-11-19
申请人： Daisuke Fujino
发明人： Daisuke Fujino
IPC分类号： G06F1900
CPC分类号： G05B19/408 , G05B2219/34135 , G05B2219/34141
摘要： A machining program for a NC machine tool including a NURBS interpolation command is input as a source file, the input machining program is sequentially analyzed in such a way that the portions other than the NURBS interpolation command portion are left as they are, and the NURBS interpolation command portion is converted into a minuscule line segment interpolation command, a spline interpolation command or a NURBS interpolation command of a differently presented specification by the conversion unit. In accordance with the conversion mode selectively set by a conversion mode setting unit, the portions other than the NURBS interpolation command portion are left as they are, while the NURBS interpolation command portion is converted into a minuscule line segment interpolation command, a spline interpolation command or a NURBS interpolation command of a differently presented specification thereby to generate destination file.
摘要翻译：输入包括NURBS插补指令的NC机床的加工程序作为源文件，依次分析输入加工程序，使NURBS内插指令部分以外的部分原样保留，NURBS 插补指令部分被转换为转换单元的不同描述的规格的微小线段内插指令，样条插补指令或NURBS内插指令。根据由转换模式设置单元选择性地设置的转换模式，除了NURBS内插指令部分之外的部分保持原样，而NURBS内插指令部分被转换为微小的线段内插指令，样条插补指令或NURBS插补命令，从而产生目的地文件。

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