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1. 发明申请

WO1994022099A1 SYSTEM FOR POSITIONING A WORKPOINT 审中-公开
标题翻译：定位工作点的系统
公开(公告)号：WO1994022099A1
公开(公告)日：1994-09-29
申请号：PCT/US1994002707
申请日：1994-03-14
申请人： PENTEK, INC. , GORE, Gerald, E. , ROMAN, Harry, T. , LEFKOWITZ, Sheldon , YOUNGWIRTH, Donald, M.
发明人： PENTEK, INC.
IPC分类号： G06F15/46
CPC分类号： G05B19/251 , G05B2219/34183 , G05B2219/34187 , G05B2219/36168 , G05B2219/37336 , G05B2219/45013 , G05B2219/49253 , G05B2219/49381 , G05B2219/50031 , G05B2219/50048
摘要： A system for positioning a work point (6) has a plurality of reeving systems (2, 3) spaced apart fom one another, with each reeving system having an adjustable support element (4, 5) connected to it. These support elements are also connected to the work point, with the length of the support elements between the work point and the reeving determining the work point's location. Associated with each reeving system is an actuator (46) adapted for releasing and taking up the support element. A control system (43) controls the actuators to release and take up each of the support elements to move the work point with respective to at least two spatial coordinate axes while controlling at least one motion parameter of the work point in a predetermined manner.
摘要翻译：用于定位工作点（6）的系统具有彼此间隔开的多个卷绕系统（2,3），每个卷绕系统具有连接到其的可调节支撑元件（4,5）。这些支撑元件也连接到工作点，工作点和支撑件之间的支撑元件的长度确定工作点的位置。与每个卷绕系统相关联的是适于释放和吸收支撑元件的致动器（46）。控制系统（43）控制致动器以释放和吸收每个支撑元件，以相应于至少两个空间坐标轴移动工作点，同时以预定方式控制工作点的至少一个运动参数。

2. 发明申请

WO1985001908A1 MACHINING METHOD FOR MACHINE TOOLS 审中-公开
标题翻译：机床加工方法
公开(公告)号：WO1985001908A1
公开(公告)日：1985-05-09
申请号：PCT/JP1984000522
申请日：1984-10-30
申请人： FANUC LTD , KISHI, Hajimu , TANAKA, Kunio
发明人： FANUC LTD
IPC分类号： B23Q15/013
CPC分类号： G05B19/41 , G05B2219/35316 , G05B2219/49381 , G05B2219/49385 , G05B2219/50109 , Y10T408/175
摘要： Method of machining by a reciprocating cutting motion and, more particularly, to a machining method including the steps of: automatically preparing a pickfeed path along which a tool (TL) does not interfere with a workpiece (WK) at the time of pickfeed; moving the tool along the pickfeed path; and effecting cutting. In the case of a workpiece which has a concave portion in the vicinity of the pickfeed path, first, an approach plane (AP) is obtained which is parallel to a plane (PL) that comes in contact with an outline curve (OLC) of the workpiece at a subsequent machining start point Ps and which includes a machining end point Pe, and then, a crossing point Pc is obtained which is defined between the approach plane (AP) and a straight line (SL) which passes through the machining start point Ps and extends in the direction of the central axis of the tool at the machining start point, whereby the pickfeed path is determined by the path Pe -> Pc -> Ps. On the other hand, in the case of a workpiece which has a convex portion in the vicinity of the pickfeed path, first, an approach plane (AP) is obtained which comes in contact with an outline curve (OLC) of the workpiece at a subsequent machining start point Ps, and then, a crossing point Pc is obtained which is defined between the approach plane and a straight line (SL') which passes through the machining end point Pe and extends in the direction of the central axis of the tool at the machining end point, whereby the pickfeed path is determined by the path Pe -> Pc -> Ps.

3. 发明申请

WO2013132946A1 サーボ制御装置及びサーボ制御方法审中-公开
标题翻译：伺服控制装置和伺服控制方法
公开(公告)号：WO2013132946A1
公开(公告)日：2013-09-12
申请号：PCT/JP2013/052636
申请日：2013-02-05
申请人：三菱重工業株式会社
发明人：竹内　克佳 , 倉本　博久 , 山本　英明
IPC分类号： G05D3/12 , G05B13/02 , G05B19/404
CPC分类号： G05B19/182 , G05B13/0205 , G05B2219/41004 , G05B2219/41427 , G05B2219/49135 , G05B2219/49381
摘要：サーボ制御装置（２０）は、Ｘ軸、Ｙ軸、Ｚ軸毎に、被駆動部の位置を位置指令に一致させるための位置フィードバック制御を行う位置フィードバック部（２１）と、軸毎に、位置フィードバック制御による被駆動部に対する位置制御の遅れを補償するための速度フィードフォワード制御を行う速度フィードフォワード部（２２）とを備える。そして、サーボ制御装置（２０）は、速度フィードフォワード制御がオフとされた場合に、軸毎の位置ループゲインを予め設定した同一値とし、速度フィードフォワード部（２２）による速度フィードフォワード制御がオンとされた場合に、位置フィードバック制御による位置ループゲインを軸毎に応じた最適ゲインとする。
摘要翻译：一种伺服控制装置（20）具有：位置反馈单元（21），其执行位置反馈控制，以将从动部件的位置与X，Y和Z轴中的每一个的位置指令相匹配; 以及速度前馈单元（22），其执行速度前馈控制，用于补偿由于每个轴的位置反馈控制导致的从动部分的位置控制的延迟。当速度前馈控制为OFF时，伺服控制装置（20）将每个轴的位置环增益设置为相同的预配置值，并且当速度前馈控制为OFF时将位置反馈控制产生的位置环增益设置为对应于每个轴的最佳增益速度前馈单元（22）的前馈控制为ON。

4. 发明申请

WO1985002572A1 AREA MACHINING METHOD 审中-公开
标题翻译：区域加工方法
公开(公告)号：WO1985002572A1
公开(公告)日：1985-06-20
申请号：PCT/JP1984000592
申请日：1984-12-14
申请人： FANUC LTD , KISHI, Hajimu , SEKI, Masaki , TAKEGAHARA, Takashi
发明人： FANUC LTD
IPC分类号： B23Q15/00
CPC分类号： G05B19/41 , G05B2219/49157 , G05B2219/49381
摘要： Method of machining an area (AR) surrounded by an outline curve (OLC) and at least two closed curves (INC1 and INC2) which are present inside the outline curve. The method includes: a step of calculating first and second offset curves (INF1 and INF2) which are outwardly offset from the respective closed curves (INC1 and INC2) by an amount which corresponds to the tool diameter; a step of checking as to whether the offset curves cross each other; a step of recognizing that when the offset curves cross each other there is a region (CSA) which is impossible to machine; and, when there is a region (CSA) which it is impossible to machine, a step of machining only the area other than said region (CSA).
摘要翻译：一种加工由轮廓曲线（OLC）包围的表面（AR）和存在于轮廓线内的至少两个闭合路缘（INC1和INC2）的方法。该方法包括：计算相对于各个闭合曲线（INC1和INC2）向外偏移对应于工具直径的值的第一和第二偏移曲线（INF1和INF2）; 检查偏移曲线是否相交; 在偏移曲线相交时识别是否存在无法加工的区域（CSA）; 在该区域（CSA）不可加工的情况下，仅加工除该区域之外的表面（CSA）。

5. 发明申请

WO1987000649A1 REGION MACHINING METHOD 审中-公开
标题翻译：区域加工方法
公开(公告)号：WO1987000649A1
公开(公告)日：1987-01-29
申请号：PCT/JP1986000368
申请日：1986-07-17
申请人： FANUC LTD , TANAKA, Kunio , ONISHI, Yasushi
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/41 , G05B2219/49381
摘要： A region machining method by which the interior of a region (AR) is machined by moving a tool along a plurality of offset passages (CPT1, CPT2, ... CPTn) which are in turn offset inwardly by a predetermined space from a closed curved line (OLC) which defines the region. In this region machining method, the center of gravity (W) of the region (AR) is determined to check whether the center of gravity is in the interior of the region, and whether the segments (L1, L2, L3, ...) connecting the center of gravity and each vertex (P1, P2, ... P10) of the region each other cross the closed curved line (OLC). When the center of gravity (W) is in the interior of the region and these segments do not cross the closed curved line, each segment is divided into a predetermined number of parts without dividing the region into a plurality of convex polygons even if the region is a concave-polygon, and a tool is moved for machining along a plurality of closed passages (CPT1-CPTn) which are formed by connecting together the divided points Pi1--Pi2--Pi3--Pi4--Pi5--Pi6--Pi7--Pi8--Pi9--Pi10 (i=a, b, ...n) which correspond to the divided points of the segments.
摘要翻译：一种加工区域的方法，通过该区域通过沿着多个交错的通道（CPT1，CPT2，... CPTn）移动工具来加工区域（AR）的内部，所述多个交错的通道又转移到在关于限定该区域的闭合曲线（OLC）的预定空间内。在这种加工区域的方法中，确定区域（AR）的重心（W）以控制重心是否在该区域内，并且确定区段（L1，L2， L3，...）连接该区域的每个顶点（P1，P2，... P10）处的重心与闭曲线（OLC）交叉。当重心（W）在该区域内并且所述片段不与该闭合曲线交叉时，每个片段被划分为预定数量的部分，而不将该区域划分为多个凸多边形，甚至均匀如果该区域是凹多边形，并且刀具移动以沿着通过将分割点Pi1-Pi2-Pi3-Pi4互连而形成的多个封闭通道（CPT1-CPTn）进行加工 - Pi5-Pi6-Pi7-Pi8-Pi9-Pi10（i = a，b，...，n）对应于分段的分割点。

6. 发明申请

WO1987000648A1 REGION MACHINING METHOD 审中-公开
标题翻译：区域加工方法
公开(公告)号：WO1987000648A1
公开(公告)日：1987-01-29
申请号：PCT/JP1986000367
申请日：1986-07-17
申请人： FANUC LTD , TANAKA, Kunio , ONISHI, Yasushi
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/41 , G05B2219/49381
摘要： A region machining method by which the interior of a region (AR) is machined by moving a tool, as if it were weaving a spider web, along a plurality of passages (CP3-CP0, LP5-LP1), which are in turn offset inwardly with respect to a closed curved line (OFC) which defines the region, and more particularly to a region machining method, in which, when the region (AR) is divided into a plurality of convex polygons (PG1, PG2), the number of cutting passages on the convex polygonal parts is determined according to the size of each polygonal part, the cutting pitch (spacing of the passages) on each convex polygonal parts being set substantially equal to an allowable cutting pitch.
摘要翻译：一种区域加工方法，通过该区域加工方法以类似于蜘蛛网的编织的方式通过移动工具沿着多个通道（CP3）加工区域（AR）的内部 -CP0，LP5-LP1），其相对于限定该区域的闭合曲线（OFC）又向内移位。更具体地说，本发明涉及一种区域加工方法，其中当区域（AR）被分割成多个凸多边形（PG1，PG2）时，在凸多边形部分上通过的区域的数量是根据每个多边形部分的尺寸确定，每个凸出多边形部分上的切割步骤（通道的间隔）被确定为基本上等于允许的切割间距。

7. 发明申请

WO1985002573A1 AREA MACHINING METHOD 审中-公开
标题翻译：区域加工方法
公开(公告)号：WO1985002573A1
公开(公告)日：1985-06-20
申请号：PCT/JP1984000593
申请日：1984-12-14
申请人： FANUC LTD , KISHI, Hajimu , SEKI, Masaki , TAKEGAHARA, Takashi
发明人： FANUC LTD
IPC分类号： B23Q15/00
CPC分类号： G05B19/41 , G05B2219/49381
摘要： Method of machining an area (AR) surrounded by an outline curve (OLC) and a plurality of closed curves (INC1 and INC2) by a unidirectionnal cutting technique or a reciprocative cutting technique. The method includes: a step of calculating first and second offset curves (INF1 and INF2) which are obtained by outwardly offsetting the respective closed curves by an amount which corresponds to the tool diameter; a step of calculating intersections (Ri to Ui) between each of the offset curves and the i th cutting path (PTi); a step of moving a tool (TL) from the machining start point (Pi) of the i th cutting path (PTi) along the path while effecting cutting as far as the first (Ri) of the two intersections (Ri and Si) between the cutting path (PTi) and the first offset curve (INF1); a step of, when the second intersection (Si) between the first offset curve and the cutting path (PTi) is present inside the second offset curve (INF2), moving the tool (TL) from the first intersection (Ri) as far as that intersection (Ui) of the two intersections (Ti and Ui) between the second offset curve and the cutting passage which is not present inside the first offset curve while effecting no cutting operation; and a step of moving the tool (TL) from the machining end point (Qi) along the cutting path while effecting cutting.

8. 发明申请

WO1987000266A1 DIGITIZING METHOD 审中-公开
标题翻译：数字化方法
公开(公告)号：WO1987000266A1
公开(公告)日：1987-01-15
申请号：PCT/JP1986000339
申请日：1986-07-01
申请人： FANUC LTD , ARAMAKI, Hitoshi
发明人： FANUC LTD
IPC分类号： G01B21/20
CPC分类号： G06K11/00 , G05B19/4207 , G05B2219/41363 , G05B2219/49381
摘要： A digitizing method which controls the movement of at least one axis (X- or Y-axis) by the numerical control based upon the passage data, which controls the movement of another axis (Z-axis) by the profile control, and which monitors the current positions of the axes in order to obtain three-dimensional data on an object. A numerical controller (101) performs numerical control based on NC data supplied from an NC tape (106) to move a tracer head (105) in the X- and Y-directions. A profile controller (102) performs the control relying upon displacement components (epsilonX, epsilonY, epsilonZ) of the axes generated by the tracer head, to produce a speed instruction VZ of the Z-axis, and to move the tracer head in the direction of Z-axis. The numerical controller (101) counts the number of pulses (FZ) generated every after a motor (MZ) that drives the profile control axis (Z-axis) has made rotation of a predetermined angle, and obtains the current position of the profile control axis. The numerical controller further obtains an instruction position of the numerical control axes (X-, Y-axes) using the passage data, and subtracts servo delay amounts (Ex, Ey) which are the contents of error registers (ERx, ERy) from the instruction position, in order to obtain a current position expressed by a mechanical position. Thereafter, the current positions of the axes represented by mechanical positions are stored in a memory (101b) every after a predetermined period of time.

9. 发明申请

WO1985002571A1 AREA MACHINING METHOD 审中-公开
标题翻译：区域加工方法
公开(公告)号：WO1985002571A1
公开(公告)日：1985-06-20
申请号：PCT/JP1984000591
申请日：1984-12-14
申请人： FANUC LTD , KISHI, Hajimu , SEKI, Masaki , TAKEGAHARA, Takashi
发明人： FANUC LTD
IPC分类号： B23Q15/00
CPC分类号： G05B19/41 , G05B2219/49381 , G05B2219/49392
摘要： Method of machining an area (AR) surrounded by a predetermined outline curve (OLC) by a unidirectional cutting operation. The method includes: a step of effecting cutting along the i th cutting path (PTi); a step of moving a tool (TL) by cutting feed along the outline curve (OLC) up to a machining end point (Qi-1) of the (i-1) th cutting passage along which the previous cutting operation has been conducted; a step of moving the tool (TL) by quick feed from the point (Qi-1) to the machining start point (Pi) of a cutting path (PTi) and positioning the tool (TL) at the point (Pi); a step of moving the tool (TL) by cutting feed along the outline curve (OLC) from the machining start point (Pi) of the cutting path (PTi) to the machining start point (Pi+1) of the next cutting path (PTi+1); a step of moving the tool (TL) by cutting feed along the cutting path (PTi+1), thereby executing cutting along the cutting path (PTi+1); and a step of repeating these steps, thereby effecting an area machining operation.
摘要翻译：一种在单向切割操作中加工由预定轮廓曲线（OLC）包围的表面（AR）的方法。该方法包括沿着第i个切割路径（PTi）切割; 将具有沿着轮廓曲线（OLC）的切割移动的工具（TL）移动到第（i-1）切口的加工终点（Qi-1）进行初步切割操作; 以快速将刀具（TL）从点（Qi-1）移动到切割路径（PTi）的加工起点（Pi）并定位工具（TL）在（Pi）点; 通过沿着轮廓曲线（OLC）从切割路径（PTi）的加工开始点（Pi）到加工开始点的切割移动来移动工具（TL）（P i + 1）的后续加工路径（P i + 1）; 通过沿着切割路径（PTi + 1）的切割移动来移动工具（TL），从而沿着切割路径（PTi + 1）进行切割; 重复这些步骤，以执行表面加工操作。

10. 发明申请

WO1985001909A1 MACHINING METHOD FOR MACHINE TOOL 审中-公开
标题翻译：机床加工方法
公开(公告)号：WO1985001909A1
公开(公告)日：1985-05-09
申请号：PCT/JP1984000523
申请日：1984-10-30
申请人： FANUC LTD , KISHI, Hajimu , TANAKA, Kunio
发明人： FANUC LTD
IPC分类号： B23Q15/013
CPC分类号： G05B19/41 , G05B2219/49381 , G05B2219/49385
摘要： A curved surface machining method in which a curved surface is machined by a undirectional cutting operation and, more particularly, to a curved surface machining method including the steps of: automatically preparing a pickfeed path along which a tool (TL) does not interfere with a workpiece at the time of pickfeed; pick-feeding the tool along the path; and effecting cutting. The pickfeed path is obtained by the use of a predetermined tool relief amount l from a cutting path end point Pe, a clearance plane (CPL), the coordinate values of the cutting end point Pe, and the coordinate values of the cutting start point Ps of a subsequent cutting path. More specifically, the following coordinate values are obtained: the coordinate values of a point Pa which is spaced from the cutting path end point Pe in the direction of the central axis of the tool by the tool relief amount l; the coordinate values of the foot Pb of a perpendicular extending from the point Pa to the clearance plane (CPL); the coordinate values of a point Pd which is spaced from the cutting start point Ps of a subsequent cutting path (PT2) in the direction of the central axis of the tool by the tool relief amount l; and the coordinate values of the foot Pc of a perpendicular extending from the point Pd to the clearance plane. Thus, the pickfeed path is determined by the path Pe -> Pa -> Pb -> Pc -> Pd -> Ps.

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