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1. 发明申请

US20170308042A1 NUMERICAL CONTROL DEVICE AND CAUSE ANALYZING METHOD 审中-公开
公开(公告)号：US20170308042A1
公开(公告)日：2017-10-26
申请号：US15493339
申请日：2017-04-21
申请人： FANUC CORPORATION
发明人： Yasutaka KURASAWA
IPC分类号： G05B13/02 , G05B19/404
CPC分类号： G05B13/02 , G05B19/404 , G05B19/416 , G05B2219/40598 , G05B2219/50179
摘要： A numerical control device includes: a data storage unit that cyclically associates and stores command speeds and actual speeds of a motor in chronological order; a difference pattern table that associates and stores causes of a difference between the command speed and the actual speed, and difference patterns of the causes; a cause analyzing unit that analyzes the cause of the difference between the command speed and the actual speed by comparing the command speeds and the actual speeds stored in chronological order in the data storage unit, with the difference patterns stored in the difference pattern table; and a display unit that displays the analyzed cause.

2. 发明授权

US08140177B2 Numerical controller with interference check function 有权
标题翻译：数字控制器具有干扰检查功能
公开(公告)号：US08140177B2
公开(公告)日：2012-03-20
申请号：US12196363
申请日：2008-08-22
申请人： Soichiro Ide , Yusaku Yamada , Osamu Hanaoka
发明人： Soichiro Ide , Yusaku Yamada , Osamu Hanaoka
IPC分类号： G06F19/00 , G06F17/50 , G05B19/04
CPC分类号： G05B19/4061 , G05B2219/49138 , G05B2219/49157 , G05B2219/50179
摘要： A numerical controller having an interference prevention function whereby calculation for preventing interference is reliably performed. The numerical controller has the function of defining interference regions corresponding to multiple machine structural objects, respectively, moving the interference regions in accordance with machine coordinate values of the machine structural objects updated by interpolation, and performing an interference check to determine whether or not the interference regions interfere with each other. Interference check computation period automatic adjusting means automatically adjusts an interference check computation period, based on the value obtained by dividing a computation time required for the interference check by time of occupancy of the interference check within one interpolation period. Interference region expanding means expands the interference regions, based on the highest of feed velocities of respective axes and the interference check computation period. Checking means determines whether or not the expanded interference regions interfere with each other.
摘要翻译：具有防干扰功能的数值控制器，可靠地进行防止干扰的计算。数字控制器具有分别对应于多个机械结构物体的干涉区域定义的功能，根据通过插值更新的机器结构对象的机器坐标值移动干扰区域，并执行干扰检查以确定干扰是否区域相互干扰。干扰检查计算周期自动调整装置根据在一个内插期间内将干扰检查所占用的计算时间除以干扰检查占用时间而得到的值，自动调整干扰检查计算周期。干扰区域扩展装置基于各个轴的进给速度和干扰检查计算周期的最高值来扩展干扰区域。检查装置确定扩展的干扰区域是否彼此干扰。

3. 再颁专利

USRE39907E1 Tolerance based motion control system 有权
标题翻译：基于公差的运动控制系统
公开(公告)号：USRE39907E1
公开(公告)日：2007-11-06
申请号：US10453090
申请日：2003-06-03
申请人： Jiawei Hong
发明人： Jiawei Hong
IPC分类号： G05B13/00
CPC分类号： G05B19/416 , G05B2219/43203 , G05B2219/50179
摘要： The present invention involves a tolerance based motion controller. The controller is capable of processing a group of tolerance constraints. The tolerance constraints specify where and when each tolerance constraint is to be applied, along with the information specifying the desired trajectory of motion. There are also a group of velocity constraints, specifying the maximum allowable velocity at each point along the desired trajectory. This information along with sensor feedback is used to modify the velocity along the actual trajectory of motion. This results in the time required traverse the trajectory being as short as possible. Also, the actual trajectory of motion should never exceed the permissible deviation from the desired trajectory, as specified by the tolerance constraints, with the velocity always being bounded by the specified velocity constraint.
摘要翻译：本发明涉及一种基于公差的运动控制器。控制器能够处理一组公差约束。公差约束指定应用每个公差约束的何时和何时以及指定所需运动轨迹的信息。还有一组速度约束，指定沿所需轨迹的每个点的最大允许速度。该信息与传感器反馈一起用于沿着实际运动轨迹修改速度。这导致所需的时间越过轨迹尽可能短。此外，运动的实际轨迹不应超过由公差约束规定的所需轨迹的允许偏差，速度总是受到指定速度约束的限制。

4. 发明申请

US20070085850A1 METHOD OF CURVATURE CONTROLLED DATA SMOOTHING 有权
标题翻译：曲线控制数据扫描方法
公开(公告)号：US20070085850A1
公开(公告)日：2007-04-19
申请号：US11277286
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G06T11/20
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： The present invention involves a method of adjusting path data for a motive body includes identifying four consecutive points of the path data. The four consecutive points include a first point, a second point, a third point and a fourth point. It is determined whether the second point is suitable for smoothing. If the second point is suitable for smoothing, then a first arc and a second arc are located, and the second point is moved into an area between the first arc and the second arc. The first arc is defined by the first point, the second point and the fourth point. The second arc is defined by the first point, the third point and the fourth point. A line move associated with the second point is replaced with at least one arc move associated with the second point.
摘要翻译：本发明涉及一种调整运动体的路径数据的方法，包括识别路径数据的四个连续点。连续四个点包括第一点，第二点，第三点和第四点。确定第二点是否适合于平滑。如果第二点适于平滑，则定位第一弧和第二弧，并且将第二点移动到第一弧和第二弧之间的区域中。第一弧由第一点，第二点和第四点定义。第二弧由第一点，第三点和第四点定义。与第二点相关联的线移动被替换为与第二点相关联的至少一个弧移动。

5. 发明授权

US08112163B2 Embedded dynamic alarm control system 失效
标题翻译：嵌入式动态报警控制系统
公开(公告)号：US08112163B2
公开(公告)日：2012-02-07
申请号：US12383343
申请日：2009-03-23
申请人： Fakhruddin T Attarwala
发明人： Fakhruddin T Attarwala
IPC分类号： G05B13/02 , G05B13/00
CPC分类号： G05B19/4063 , G05B2219/34477 , G05B2219/42162 , G05B2219/49181 , G05B2219/50179
摘要： A system and method of modeling, prediction, optimization and controlling an embedded alarm control having a plurality of independently controlled, manipulated variables, at least one controlled variables and one or more disturbance variables. The method includes determining simultaneously a set number of dynamic moves of the manipulated variables along with steady state values of the manipulated and controlled variables with steady state constraints relating to the manipulated and controlled variables as well as dynamic constraints relating to the manipulated and controlled variables including relating to the disturbance variables. Embedding alarm controls in the simultaneous dynamic control and steady state optimization with varying type of alarming situations and aiding operator in recovery actions. Performing a receding horizon form of control wherein the optimization and control is performed at successive time interval by monitoring and feedback of process responses resulting from the control actions applied at previous time intervals.
摘要翻译：一种用于建模，预测，优化和控制具有多个独立控制的操纵变量，至少一个受控变量和一个或多个干扰变量的嵌入式报警控制的系统和方法。该方法包括同时确定操纵变量的设定数量的动态移动以及与被操纵和受控变量相关的稳态约束的被操纵和受控变量的稳态值以及与被操纵和受控变量相关的动态约束，包括涉及到扰动变量。将报警控制嵌入在同步动态控制和稳态优化中，并具有不同类型的报警情况，并帮助操作员进行恢复操作。执行后退水平形式的控制，其中通过监视和反馈由先前时间间隔施加的控制动作产生的过程响应，以连续的时间间隔执行优化和控制。

6. 发明授权

US07792604B2 Method of performing additive lookahead for adaptive cutting feedrate control 有权
标题翻译：对自适应切削进给速度控制执行附加前瞻性的方法
公开(公告)号：US07792604B2
公开(公告)日：2010-09-07
申请号：US11277291
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G06F19/00
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.
摘要翻译：本发明涉及通过移动物体的路径导航，更具体地，涉及用于计算机可控机床的运动控制系统。

7. 发明授权

US07693588B2 Method of curvature controlled data smoothing 有权
标题翻译：曲率方法控制数据平滑
公开(公告)号：US07693588B2
公开(公告)日：2010-04-06
申请号：US11277286
申请日：2006-03-23
申请人： Jiawei Hong , Xiaonan Tan
发明人： Jiawei Hong , Xiaonan Tan
IPC分类号： G05B19/18
CPC分类号： G05B19/4163 , G05B19/41 , G05B19/4103 , G05B19/416 , G05B2219/34171 , G05B2219/34175 , G05B2219/43057 , G05B2219/43199 , G05B2219/43203 , G05B2219/50179
摘要： The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.
摘要翻译：本发明涉及通过移动物体的路径导航，更具体地，涉及用于计算机可控机床的运动控制系统。

8. 发明申请

US20100241247A1 Embedded dynamic alarm control system 失效
标题翻译：嵌入式动态报警控制系统
公开(公告)号：US20100241247A1
公开(公告)日：2010-09-23
申请号：US12383343
申请日：2009-03-23
申请人： Fakhruddin T. Attarwala
发明人： Fakhruddin T. Attarwala
IPC分类号： G05B13/04 , G05B13/02 , G05B9/02
CPC分类号： G05B19/4063 , G05B2219/34477 , G05B2219/42162 , G05B2219/49181 , G05B2219/50179
摘要： A system and method for performing modeling, prediction, optimization and control, which would permit what is, described herein as embedded alarm control. In the proposed method of embedding alarm control, the alarm limits are used to constrain the controlled variables dynamically such that the controller actions are affected to minimize and prevent alarm limit violations in addition to the constraints commonly included. It is proposed in the present invention that the alarm limits be incorporated as part of optimization and constrained control action calculation in a model predictive control. As an exemplary case, this method of incorporation of alarm limits within optimization and control is described and the results obtained from it are presented.The embedding of alarm control within optimization and control would not only directly minimize number of alarms from becoming active from improved control but also provide additional capabilities whereby selectively alarms limits violations can be tuned to reduce the number of alarms without compromising on either product quality control or safety violations.
摘要翻译：一种用于执行建模，预测，优化和控制的系统和方法，其将允许在此描述为嵌入式报警控制。在提出的嵌入式报警控制方法中，采用报警限制动态约束受控变量，使得控制器动作受到影响，除了通常包含的约束外，还能最大限度地防止报警限制违规。在本发明中提出，在模型预测控制中将报警极限作为优化和约束控制动作计算的一部分并入。作为示例性的情况，描述了在优化和控制中引入报警极限的这种方法，并且从中获得了结果。报警控制在优化和控制中的嵌入不仅可以直接使报警从改进的控制中变得活跃起来，还可以提供附加功能，从而可以调整选择性报警限制违规，以减少报警次数，而不会影响产品质量控制或安全违规。

9. 发明申请

US20090062955A1 NUMERICAL CONTROLLER WITH INTERFERENCE CHECK FUNCTION 有权
标题翻译：具有干涉检查功能的数字控制器
公开(公告)号：US20090062955A1
公开(公告)日：2009-03-05
申请号：US12196363
申请日：2008-08-22
申请人： Soichiro IDE , Yusaku YAMADA , Osamu HANAOKA
发明人： Soichiro IDE , Yusaku YAMADA , Osamu HANAOKA
IPC分类号： G05B19/4061
CPC分类号： G05B19/4061 , G05B2219/49138 , G05B2219/49157 , G05B2219/50179
摘要： A numerical controller having an interference prevention function whereby calculation for preventing interference is reliably performed. The numerical controller has the function of defining interference regions corresponding to multiple machine structural objects, respectively, moving the interference regions in accordance with machine coordinate values of the machine structural objects updated by interpolation, and performing an interference check to determine whether or not the interference regions interfere with each other. Interference check computation period automatic adjusting means automatically adjusts an interference check computation period, based on the value obtained by dividing a computation time required for the interference check by time of occupancy of the interference check within one interpolation period. Interference region expanding means expands the interference regions, based on the highest of feed velocities of respective axes and the interference check computation period. Checking means determines whether or not the expanded interference regions interfere with each other.
摘要翻译：具有防干扰功能的数值控制器，可靠地进行防止干扰的计算。数字控制器具有分别对应于多个机械结构物体的干涉区域定义的功能，根据通过插值更新的机器结构对象的机器坐标值移动干扰区域，并执行干扰检查以确定干扰是否区域相互干扰。干扰检查计算周期自动调整装置根据在一个内插期间内将干扰检查所占用的计算时间除以干扰检查占用时间而得到的值，自动调整干扰检查计算周期。干扰区域扩展装置基于各个轴的进给速度和干扰检查计算周期的最高值来扩展干扰区域。检查装置确定扩展的干扰区域是否彼此干扰。

10. 发明授权

US5214362A Method for detecting a collision and stopping drive of a machine driven by servomotors 失效
标题翻译：用于检测伺服电机驱动的机器的碰撞和停止驱动的方法
公开(公告)号：US5214362A
公开(公告)日：1993-05-25
申请号：US477871
申请日：1990-04-11
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
IPC分类号： G05B9/02 , G05B19/4061 , G05D3/00 , G05D3/12
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.) of the difference between the velocity deviation of the current servo control period and that of the previous control period is smaller than a collision discriminating reference value (ERR) (S3), and causes an alarm to be displayed and at the same time delivers a torque command having a value of zero to stop rotation of the servomotor (S8, S9) when the absolute value is larger than the reference value.

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