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1. 发明授权

US09841749B2 Runtime controller for robotic manufacturing system 有权
公开(公告)号：US09841749B2
公开(公告)日：2017-12-12
申请号：US14242840
申请日：2014-04-01
申请人： Bot & Dolly, LLC
发明人： Jeffrey Linnell , Kendra Byrne , Matthew Bitterman
IPC分类号： G05B19/409 , G05B19/42
CPC分类号： G05B19/409 , G05B19/42 , G05B2219/36056 , G05B2219/39432 , G05B2219/39443
摘要： Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

2. 发明授权

US09798312B2 Numerical control device 有权
公开(公告)号：US09798312B2
公开(公告)日：2017-10-24
申请号：US14401392
申请日：2012-05-15
申请人： Yukihiro Iuchi , Tomonori Sato
发明人： Yukihiro Iuchi , Tomonori Sato
IPC分类号： G05B19/18 , G05B19/4155
CPC分类号： G05B19/182 , G05B19/4155 , G05B2219/36056 , G05B2219/43041 , G05B2219/49108
摘要： A numerical control device (1) of a machine tool capable of controlling its spindle rotating speed includes: a program analyzing unit (2) that reads ahead a machining program (6) by one block or more and analyzes a command for the machine tool; and a command determining unit (3) that determines, based on a result analyzed by the program analyzing unit (2), whether a command posterior to a spindle control command causes any machining problem when the command is executed during a spindle rotating speed change, outputs a first command, in which some problem occurs in the machining, after the spindle rotating speed reaches the commanded rotating speed, and output a second command, which is other than the first command, before the spindle rotating speed reaches the commanded rotating speed.

3. 发明申请

US20150293524A1 PROCESSING PROGRAM GENERATION METHOD AND DEVICE 有权
标题翻译：处理程序生成方法和设备
公开(公告)号：US20150293524A1
公开(公告)日：2015-10-15
申请号：US14438762
申请日：2012-10-30
申请人： MAKINO MILLING MACHINE CO., LTD.
发明人： Hitoshi Sato , Yasunori Masumiya , Naohito Toida , Yuki Tanigawa
IPC分类号： G05B19/4093
CPC分类号： G05B19/4093 , G05B19/404 , G05B19/40938 , G05B2219/36056 , G05B2219/36103 , G05B2219/36254 , G05B2219/37252 , Y02P90/265
摘要： A processing program generation method for generating a processing program (PR) for a work machine on the basis of use-results information for a tool (4) attached to a work machine (2), wherein the use-results information for each part of the tool (4) is obtained, a target use part of the tool (4) is set on the basis of the obtained use-results information, and the processing program (PR) is generated in a manner such that a workpiece (W) is processed using the set target use part of the tool (4).
摘要翻译：一种处理程序生成方法，用于根据附加到作业机器（2）的工具（4）的使用结果信息生成用于作业机器的处理程序（PR），其中，每个部分的使用结果信息获得工具（4），基于所获得的使用结果信息设置工具（4）的目标使用部分，并且以如下方式产生处理程序（PR），使得工件（W）使用工具（4）的设定目标使用部分进行处理。

4. 发明授权

US06453213B1 Robot control system and method 有权
标题翻译：机器人控制系统及方法
公开(公告)号：US06453213B1
公开(公告)日：2002-09-17
申请号：US09851136
申请日：2001-05-09
申请人： Sung-jin Hong
发明人： Sung-jin Hong
IPC分类号： G06F1900
CPC分类号： G05B19/4155 , G05B2219/36056
摘要： A robot control system and method for controlling a robot that performs working on a working path between a specified working start point and a working end point. The robot control system includes an interrupt request signal generating section for generating a signal for requesting change of the working path of the robot, an upper controller for generating an interrupt signal including a specified changed value for changing in real time the working path of the robot in accordance with the interrupt request signal generating section, and a robot controller for controlling in real time the operation of the robot in accordance with the interrupt signal from the upper controller. Thus, the motion of the robot that is working can be changed in real time.
摘要翻译：一种机器人控制系统和方法，用于控制在指定的工作起点和工作终点之间的工作路径上进行作业的机器人。机器人控制系统包括：中断请求信号生成部，生成用于请求变更机器人的工作路径的信号;上位控制器，用于产生中断信号，该中断信号包括用于实时改变机器人的工作路径的指定变化值根据中断请求信号产生部分，以及机器人控制器，用于根据来自上控制器的中断信号实时地控制机器人的操作。因此，正在工作的机器人的运动可以实时改变。

5. 发明申请

US20180314227A1 METHOD AND CONTROL APPARATUS FOR OPTIMIZED CONTROL OF A MACHINE TOOL 审中-公开
公开(公告)号：US20180314227A1
公开(公告)日：2018-11-01
申请号：US15763976
申请日：2016-09-01
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： Jochen BRETSCHNEIDER
IPC分类号： G05B19/31 , G05B19/4097 , G05B19/408
CPC分类号： G05B19/4083 , G05B2219/34093 , G05B2219/35097 , G05B2219/36056 , G05B2219/49069
摘要： A method and control apparatus for generating control data for controlling a tool on a machine tool for machining a clamped-in workpiece, the machine tool having a control apparatus and a tool for controlling the tool, comprising: generating a path program using a setpoint geometry of generated setpoint parameters, the path program describing a path having supporting points and line elements; controlling the machine tool according to the generated path program; detecting actual parameters by a feedback loop; iteratively optimizing the path program using the detected actual parameters for generating a new path program with a new path, the new path program being dynamically supplied in real time and the new path program dynamically changing and/or dynamically replacing the previous path program; providing CAM functionality for changing an order of the supporting points; and embodying both the path program and the new path program as a CNC program.

6. 发明申请

US20150277430A1 Runtime Controller for Robotic Manufacturing System 有权
标题翻译：机器人制造系统运行控制器
公开(公告)号：US20150277430A1
公开(公告)日：2015-10-01
申请号：US14242840
申请日：2014-04-01
申请人： Bot & Dolly, LLC
发明人： Jeffrey Linnell , Kendra Byrne , Matthew Bitterman
IPC分类号： G05B19/409
CPC分类号： G05B19/409 , G05B19/42 , G05B2219/36056 , G05B2219/39432 , G05B2219/39443
摘要： Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.
摘要翻译：示例系统和方法允许在施工过程中对机器人设备进行运行时控制。一个示例性方法包括确定与至少一个机器人演员对应的至少一个机器人操作序列，使得所述至少一个机器人演员在第一时间段内执行所述至少一个机器人操作序列的一部分，接收中断信号从移动计算设备指示对所述至少一个机器人操作序列的修改，其中所述移动计算设备被配置为显示包括描述所述至少一个机器人actor的一个或多个机器人参数的数字接口以及描述的一个或多个工具参数至少一个物理工具的操作特性，并使所述至少一个机器人执行器在第二时间段期间执行所述至少一个经修改的机器人操作序列的一部分。

7. 发明申请

US20040153892A1 Execution device and debug device for motion program 失效
标题翻译：运动程序的执行装置和调试装置
公开(公告)号：US20040153892A1
公开(公告)日：2004-08-05
申请号：US10452912
申请日：2003-06-03
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kazuo Fujino
IPC分类号： G06K005/04
CPC分类号： G05B19/4155 , G05B2219/34329 , G05B2219/34338 , G05B2219/34347 , G05B2219/36056
摘要： While an execution efficiency of a motion program is improved, a motion program executing apparatus capable of changing an execution sequence of the motion program and also capable of executing instructions at the same time is provided. A motion program executing apparatus for executing a motion program 1 is comprise of: a motion executing unit 6 containing an object memory 7 for registering thereinto a motion instruction, an event memory 8 for registering thereinto an execution condition of a motion instruction, and an action memory 9 for registering thereinto an execution command of the motion instruction; an IO executing unit 2 containing an object memory 3 for registering thereinto an output instruction used to control an output signal supplied to an external appliance, an event memory 4 for registering thereinto a condition of an input signal state supplied from the external appliance, and an action memory 5 for executing the output instruction; and an event managing unit 10 for registering thereinto an event management table 11 for establishing a relationship between the motion executing unit 6 and the IO executing unit 2 before executing the motion instruction.
摘要翻译：虽然提高了运动程序的执行效率，但是提供了能够改变运动程序的执行顺序并且能够同时执行指令的运动程序执行装置。用于执行运动程序1的运动程序执行装置包括：运动执行单元6，其包含用于登记运动指令的对象存储器7，用于在其中注册运动指令的执行状态的事件存储器8以及动作指令的动作存储器9，用于在其中注册运动指令的执行命令; IO执行单元2，其包含用于登记用于控制提供给外部设备的输出信号的输出指令的对象存储器3，用于登记从外部设备提供的输入信号状态的事件存储器4，以及用于执行输出指令的动作存储器5; 以及事件管理单元10，用于在执行运动指令之前注册用于建立运动执行单元6和IO执行单元2之间的关系的事件管理表11。

8. 发明授权

US4390954A Override control apparatus and method for parameter adjustment of digitally based welding process programmers 失效
标题翻译：用于数字化焊接处理程序员参数调整的控制装置和方法
公开(公告)号：US4390954A
公开(公告)日：1983-06-28
申请号：US253861
申请日：1981-04-13
申请人： Richard P. Manning
发明人： Richard P. Manning
IPC分类号： B23K9/095 , B23K9/10 , G05B19/425 , G06F19/00 , G06F15/46
CPC分类号： G05B19/425 , B23K9/095 , B23K9/10 , G05B2219/33125 , G05B2219/36056 , G05B2219/36088 , G05B2219/36495 , G05B2219/36542 , G05B2219/45135 , Y02P90/185
摘要： An override control apparatus and method for parameter adjustment of digitally based welding process programmers is provided for making modifications to a pre-programmed weld parameter schedule during real time welding. Initial values for welding head current are initially provided to a programmer, and during the real time welding interval, means are provided for overriding and updating the data. The programmer repetitively and frequently makes calculations so that the output value of current supplied to the welding head is provided frequently. In addition to the current output signal, a speed output signal is provided to control the speed of the welding head relative to the workpiece. The current output and speed output signals are generated with the same time base in synchronism.
摘要翻译：提供了一种用于数字化焊接处理程序员的参数调整的超控控制装置和方法，用于在实时焊接期间对预编程的焊接参数调度进行修改。焊接头电流的初始值最初提供给编程器，并且在实时焊接间隔期间，提供用于覆盖和更新数据的装置。编程器重复频繁地进行计算，使得经常提供提供给焊接头的电流的输出值。除了当前的输出信号之外，提供速度输出信号以控制焊接头相对于工件的速度。当前的输出和速度输出信号以相同的时基同步生成。

9. 发明授权

US10001770B2 Processing program generation method and device 有权
公开(公告)号：US10001770B2
公开(公告)日：2018-06-19
申请号：US14438762
申请日：2012-10-30
申请人： MAKINO MILLING MACHINE CO., LTD.
发明人： Hitoshi Sato , Yasunori Masumiya , Naohito Toida , Yuki Tanigawa
IPC分类号： G06F19/00 , G05B19/4093 , G05B19/404
CPC分类号： G05B19/4093 , G05B19/404 , G05B19/40938 , G05B2219/36056 , G05B2219/36103 , G05B2219/36254 , G05B2219/37252 , Y02P90/265
摘要： A processing program generation method for generating a processing program (PR) for a work machine on the basis of use-results information for a tool (4) attached to a work machine (2), wherein the use-results information for each part of the tool (4) is obtained, a target use part of the tool (4) is set on the basis of the obtained use-results information, and the processing program (PR) is generated in a manner such that a workpiece (W) is processed using the set target use part of the tool (4).

10. 发明授权

US09360856B2 Machine tool control device 有权
标题翻译：机床控制装置
公开(公告)号：US09360856B2
公开(公告)日：2016-06-07
申请号：US14131766
申请日：2012-07-12
申请人： Kyota Kotake
发明人： Kyota Kotake
IPC分类号： G05B19/18 , G05B19/404
CPC分类号： G05B19/18 , B23Q15/18 , G05B19/404 , G05B19/4155 , G05B2219/36056 , G05B2219/49219
摘要： Provided is a machine tool control device which reduces a processing burden of calculating a thermal displacement amount, avoids decrease in processing speed, and increases accuracy of machining a workpiece.A machine tool control device (100) includes a sequential analysis control unit (110), an advance analysis control unit (120), a correction value calculation unit (130), a change amount calculation unit (140), and a mode switching unit (150), and operates a machine tool (M) by executing a machining program that is corrected on the basis of a thermal displacement amount occurring on components constituting the machine tool (M) to enable highly accurate machining of a workpiece (W).
摘要翻译：提供一种机床控制装置，其减少了计算热位移量的处理负担，避免了处理速度的降低，并提高了加工工件的精度。一种机床控制装置（100），包括顺序分析控制单元（110），提前分析控制单元（120），校正值计算单元（130），变化量计算单元（140）和模式切换单元（150），并且通过执行基于在构成机床（M）的部件上发生的热位移量进行校正的加工程序来操作机床（M），以实现对工件（W）的高精度加工。

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