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1. 发明授权

US5028180A Six-axis machine tool 失效
标题翻译：六轴机床
公开(公告)号：US5028180A
公开(公告)日：1991-07-02
申请号：US401909
申请日：1989-09-01
申请人： Paul C. Sheldon , Edward E. Kirkham
发明人： Paul C. Sheldon , Edward E. Kirkham
IPC分类号： B23C1/06 , B23Q1/00 , B23Q1/44 , B23Q1/54 , B23Q5/40 , B23Q11/00 , B23Q17/24 , B25J9/16 , B25J11/00 , B25J17/02 , G05B19/23 , G05B19/401 , G05B19/408
CPC分类号： B23Q11/0032 , B23Q1/5462 , B23Q17/24 , B23Q5/40 , B25J17/0216 , B25J9/1623 , G05B19/231 , G05B19/4015 , G05B19/4086 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T403/32008 , Y10T403/32606 , Y10T403/32861 , Y10T403/32918 , Y10T408/91 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： This invention relates to a six-axis machine for locating an operator with respect to an object, and more particularly to a versatile machine tool in which the tool can be moved in three lineal directions and three rotational directions in relation to the surface of a workpiece.
摘要翻译：本发明涉及一种用于相对于物体定位操作者的六轴机器，更具体地涉及一种通用机床，其中工具可相对于工件的表面沿三个方向和三个旋转方向移动。

2. 发明申请

US20170255180A1 NUMERICAL CONTROLLER ENABLING INCREASE IN NUMBER OF ANALYSIS DIGITS OF PROGRAM INSTRUCTION 有权
公开(公告)号：US20170255180A1
公开(公告)日：2017-09-07
申请号：US15446468
申请日：2017-03-01
申请人： FANUC CORPORATION
发明人： Masahiko Miyake
IPC分类号： G05B19/19 , G06F7/535
CPC分类号： G05B19/19 , G05B19/4086 , G05B2219/34083 , G05B2219/41481 , G06F7/535
摘要： A numerical controller includes a division setting unit which sets division information for dividing a machining region into a plurality of areas, an area division unit which divides a machining region into a plurality of areas based on division information, a program division unit which generates divided programs respectively used for machining control in the areas, an area coordinate system setting unit which sets a virtual coordinate system in the plurality of areas, and an operation precision setting unit which sets operation precision, and performs internal operation for controlling an operation of a machine in accordance with the virtual coordinate system and the operation precision to control each axis of the machine.

3. 发明授权

US5466085A Gimbal assembly for six axis machine tool 失效
标题翻译：六轴机床万向节总成
公开(公告)号：US5466085A
公开(公告)日：1995-11-14
申请号：US298575
申请日：1994-08-31
申请人： Paul C. Sheldon , Edward E. Kirkham
发明人： Paul C. Sheldon , Edward E. Kirkham
IPC分类号： B23C1/06 , B23Q1/00 , B23Q1/44 , B23Q1/54 , B23Q5/40 , B23Q11/00 , B23Q17/24 , B25J9/16 , B25J11/00 , B25J17/02 , G05B19/23 , G05B19/401 , G05B19/408 , F16C11/04
CPC分类号： B23Q11/0032 , B23Q1/5462 , B23Q17/24 , B23Q5/40 , B25J17/0216 , B25J9/1623 , G05B19/231 , G05B19/4015 , G05B19/4086 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T403/32008 , Y10T403/32606 , Y10T403/32861 , Y10T403/32918 , Y10T408/91 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： A pivotable joint usable, for instance, with a multi-legged machine tool, is disclosed. The basic design of the joint includes a central block to which is connected a first yoke pivotably mounted for motion about one axis. A second yoke is also pivotably mounted to the central block for motion about a second axis. The central block includes an opening extending therethrough between two surfaces, and the cross-sectional area of the opening decreases towards the central region of the block. This type of opening permits the use of an extensible mounting leg having a rod that moves through the opening during pivoting of the joint.
摘要翻译：公开了一种可用于例如具有多腿机床的可枢转接头。接头的基本设计包括一个中心块，连接有一个可枢转地安装为围绕一个轴线运动的第一轭。第二轭也可枢转地安装到中央块，用于绕第二轴运动。中心块包括在两个表面之间延伸穿过的开口，并且开口的横截面面积朝向块的中心区域减小。这种类型的开口允许使用具有杆的可延伸的安装腿，所述杆在关节枢转期间移动通过开口。

4. 发明授权

US5354158A Six axis machine tool 失效
标题翻译：六轴机床
公开(公告)号：US5354158A
公开(公告)日：1994-10-11
申请号：US835949
申请日：1992-02-20
申请人： Paul C. Sheldon , Edward E. Kirkham , Lyle D. Ostby , Bruce P. Konkel
发明人： Paul C. Sheldon , Edward E. Kirkham , Lyle D. Ostby , Bruce P. Konkel
IPC分类号： B23C1/06 , B23Q1/00 , B23Q1/44 , B23Q1/54 , B23Q5/40 , B23Q11/00 , B23Q17/24 , B25J9/16 , B25J11/00 , B25J17/02 , G05B19/23 , G05B19/401 , G05B19/408
CPC分类号： B23Q11/0032 , B23Q1/5462 , B23Q17/24 , B23Q5/40 , B25J17/0216 , B25J9/1623 , G05B19/231 , G05B19/4015 , G05B19/4086 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T403/32008 , Y10T403/32606 , Y10T403/32861 , Y10T403/32918 , Y10T408/91 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： A machine such as a machine tool includes a pair of spaced platforms. One platform (11, 31, 185, 72, 159, 142) may mount an operator such as a tool in a spindle and the other platforms (10, 20, 180, 170, 144, 163) may mount an object such as a workpiece. The spaced platforms are joined by six powered and extensible legs (20-25, 40-45, 64-69, 145-150, 166, 182-84, 187-89) joined to the respective platforms by universal joints. The length of the legs is individually manipulated to vary the position of the platforms and, therefore, the object and operator relative to each other in six axes. The powered legs may be hydraulic cylinders (20-25) or recirculating ball screw driven (195, 197, 198). The distance between the spaced platforms may be measured by separate extensible instrument arms (130, 131, 171) which join the platforms. The instrument arms may use a digital position device (238, 240) to measure the extension and contraction of the instrument arms or may use a laser interferometer (267) for that purpose. The changes in the length of the instrument arms may be used to generate signals that control the extension and contraction of the powered legs. A method is also disclosed for converting part program coordinate block instructions into instructions for varying the length of the powered legs.
摘要翻译： PCT No.PCT / US90 / 04797 371日期1992年2月20日 102（e）日期1992年2月20日PCT提交1990年8月28日PCT公布。出版物WO91 / 03145 日期1991年3月21日。机器如机床包括一对隔开的平台。一个平台（11,31,185,72,159,142）可以将诸如工具的操作者安装在主轴中，并且其他平台（10,20,180,170,144,163）可以安装诸如工件。隔开的平台通过万向接头连接到各个平台上的六个动力和可伸展腿（20-25,40-45,64-69,145-150,166,182-84,187-89）连接。腿的长度被单独操作以改变平台的位置，并因此改变物体和操作者在六个轴线上相对于彼此的位置。动力腿可以是液压缸（20-25）或驱动的循环滚珠丝杠（195,197,198）。间隔平台之间的距离可以通过连接平台的单独的可伸展的工具臂（130,131,171）来测量。仪器臂可以使用数字位置装置（238,240）来测量仪器臂的延伸和收缩，或者可以为此目的使用激光干涉仪（267）。仪器臂的长度的变化可用于产生控制动力腿的伸展和收缩的信号。还公开了一种用于将部分程序坐标块指令转换成用于改变动力腿的长度的指令的方法。

5. 发明授权

US4086522A Computer assisted teaching arrangement for conveyor line operation 失效
标题翻译：输送线运行的计算机辅助教学安排
公开(公告)号：US4086522A
公开(公告)日：1978-04-25
申请号：US721805
申请日：1976-09-08
申请人： Joseph F. Engelberger , Maurice J. Dunne , William Perzley
发明人： Joseph F. Engelberger , Maurice J. Dunne , William Perzley
IPC分类号： B25J13/00 , B25J9/18 , B25J9/22 , G05B19/408 , G05B19/4103 , G05B19/418 , G05B19/42 , B25J9/00
CPC分类号： G05B19/4086 , G05B19/41815 , G05B19/4182 , G05B19/42 , G05B2219/35534 , G05B2219/36458 , G05B2219/41481 , G05B2219/45213 , Y02P90/083 , Y10T29/49829 , Y10T29/53004
摘要： A programmable manipulator having an arm which is movable in a plurality of axes and encoder apparatus for the axes operative to develop position signals corresponding to the actual position of the arm is provided adjacent a workpiece moving along a predetermined path, a conveyor for example, to perform a series of programmed operations on the workpiece.The programmable manipulator is provided with teach-programming apparatus for moving the arm during an initial teaching operation to different positions of the stationary workpiece corresponding to the desired series of operations of the manipulator relative to the stationary workpiece. Further, apparatus is provided for calculating digital representations during the teaching operation representing the positions of the arm accounting for the projected workpiece movement during playback and corresponding to the initial teaching positions relative to the workpiece. The calculated digital representations are than stored for use in controlling movement of the arm during playback with a moving workpiece.The manipulator control electronics is provided with an interpolation unit which is effective to maintain the manipulator in synchronism with the moving conveyor during playback. This interpolation unit achieves substantially constant velocity dividing the recorded conveyor position signals for successive steps into a predetermined number of increments and utilizing the interpolated increments as artificial command signals.A velocity mode constant may also be calculated and recorded during the teach mode and utilized in playback to generate velocity command signals to control the manipulator.
摘要翻译：具有可在多个轴线上移动的臂的可编程机械手和用于可操作以显现对应于臂的实际位置的位置信号的轴的编码器装置设置在沿着预定路径移动的工件附近，例如输送机对工件执行一系列编程操作。

6. 发明授权

US5489168A Metrology instrument arm system 失效
标题翻译：计量仪器臂系统
公开(公告)号：US5489168A
公开(公告)日：1996-02-06
申请号：US320337
申请日：1994-10-11
申请人： Paul C. Sheldon , Edward E. Kirkham , Lyle D. Ostby , Bruce P. Konkel
发明人： Paul C. Sheldon , Edward E. Kirkham , Lyle D. Ostby , Bruce P. Konkel
IPC分类号： B23C1/06 , B23Q1/00 , B23Q1/44 , B23Q1/54 , B23Q5/40 , B23Q11/00 , B23Q17/24 , B25J9/16 , B25J11/00 , B25J17/02 , G05B19/23 , G05B19/401 , G05B19/408
CPC分类号： B23Q11/0032 , B23Q1/5462 , B23Q17/24 , B23Q5/40 , B25J17/0216 , B25J9/1623 , G05B19/231 , G05B19/4015 , G05B19/4086 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T403/32008 , Y10T403/32606 , Y10T403/32861 , Y10T403/32918 , Y10T408/91 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： The present invention relates generally to a metrology framework for determining the position of a first object, such as an operator, relative to a second object when the first object is moved relative to the second object. The metrology framework comprises a plurality of extensible instrument arms that are operatively connected in proximity to the first object and the second object. A sensor is in communication with each extensible instrument arm to provide a signal indicative of the extension of the instrument arm. The combination of the signals can be used to determine the position of the first object relative to the second object in all six degrees of freedom.
摘要翻译：本发明一般涉及一种用于当第一物体相对于第二物体移动时确定第一物体（例如操作者）相对于第二物体的位置的度量框架。计量框架包括可操作地连接到第一物体和第二物体附近的多个可伸展器械臂。传感器与每个可伸展的仪器臂连通，以提供指示仪器臂伸出的信号。信号的组合可以用于以所有六个自由度来确定第一对象相对于第二对象的位置。

7. 发明授权

US4988244A Six-axis machine tool 失效
标题翻译：六轴机床
公开(公告)号：US4988244A
公开(公告)日：1991-01-29
申请号：US572167
申请日：1990-08-23
申请人： Paul C. Sheldon , Edward E. Kirkham
发明人： Paul C. Sheldon , Edward E. Kirkham
IPC分类号： B23Q1/54 , B23Q5/40 , B25J9/16 , B25J17/02 , G05B19/23 , G05B19/401 , G05B19/408
CPC分类号： G05B19/4086 , B23Q1/5462 , B23Q5/40 , B25J17/0216 , B25J9/1623 , G05B19/231 , G05B19/4015 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T408/91 , Y10T409/303808 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： A machine includes a pair of spaced supports, one of which may mount an operator such as a tool in a spindle and the other of which may mount an object such as a workpiece. The spaced platforms are joined by six powered and extensible legs joined to the respective platforms by universal joints. The length of the legs is individually manipulated to vary the position of the platforms and therefore the object and operator relative to each other in six axes. The powered legs may be hydraulic cylinders or recirculating ball screw driven. The distance between the spaced platforms may be measured by separate instrument arms which join the platforms. The instrument arms may use a digital position device to measure the extension and contraction of the instrument arms or may use a laser interferometer for that purpose. The changes in the instrument arm's lengths may be used to generate signals which are used to control the extension and contraction of the powered legs. A method for converting the part program coordinate block instructions into instructions for varying the length of the powered legs.
摘要翻译：机器包括一对间隔开的支撑件，其中一个可以将诸如工具的操作者安装在主轴中，另一个可以安装诸如工件的物体。隔开的平台通过六个通过万向接头连接到各个平台的动力和可延伸的腿连接。腿的长度被单独操作以改变平台的位置，并因此改变物体和操作者在六个轴线上相对于彼此的位置。动力腿可以是液压缸或循环滚珠丝杠驱动。间隔平台之间的距离可以通过连接平台的单独的仪器臂来测量。仪器臂可以使用数字位置装置来测量仪器臂的伸展和收缩，或者可以为此目的使用激光干涉仪。仪器臂长度的变化可用于产生用于控制动力腿的伸缩的信号。一种用于将零件程序坐标块指令转换成用于改变动力支腿的长度的指令的方法。

8. 发明授权

US4578763A Sampled data servo control system with deadband compensation 失效
标题翻译：具有死区补偿的采样数据伺服控制系统
公开(公告)号：US4578763A
公开(公告)日：1986-03-25
申请号：US523063
申请日：1983-08-15
申请人： Donald H. Jones , Spencer W. Allen , Philip R. Chimes
发明人： Donald H. Jones , Spencer W. Allen , Philip R. Chimes
IPC分类号： G05B19/23 , G05B19/25
CPC分类号： G05B19/232 , G05B2219/41254 , G05B2219/41481 , G05B2219/42171
摘要： The present invention provides a high response inexpensive microprocessor based control system. The system uses only one detector that detects only one motion characteristic of the object controlled by the system. In the preferred embodiment, the system controls the position and velocity of the movable member of the motor by creating commands that represent the desired position of the movable member 1024 times per second. The system also provides methods for improving the accuracy and precision of the system.
摘要翻译：本发明提供了一种高响应廉价的基于微处理器的控制系统。该系统仅使用一个仅检测由系统控制的对象的一个运动特性的检测器。在优选实施例中，系统通过创建代表每秒可移动构件的期望位置的命令1024次/秒来控制电动机的可动构件的位置和速度。该系统还提供了提高系统精度和精度的方法。

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