公开(公告)号：US20060247820A1

公开(公告)日：2006-11-02

申请号：US11414170

申请日：2006-05-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34171

摘要： The invention provides a method of generating a smooth curve from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes to perform interpolation along the curve. Corrected command points are obtained for linear axes and for rotary axes, respectively. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. And a curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, curve interpolation which is more appropriate than that in a multi-axis machine tool having two or more rotary axes can be performed.

摘要翻译： 本发明提供了一种通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数值控制器从指令的点序列生成平滑曲线的方法，以沿曲线执行内插。 对于直线轴和旋转轴分别获得纠正的指令点。 用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。 并且生成通过合成的校正命令点的曲线来执行插值。 结果，可以进行比具有两个以上旋转轴的多轴机床更合适的曲线插补。

公开(公告)号：US07274969B2

公开(公告)日：2007-09-25

申请号：US11414170

申请日：2006-05-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34171

摘要： A method of generating a smooth curve to perform interpolation from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes. Corrected command points are obtained for linear axes and for rotary axes. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. A curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, a more appropriate curve interpolation method for a multi-axis machine tool having two or more rotary axes can be performed.

摘要翻译： 一种用于通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数字控制器从指令的点序列生成平滑曲线的方法。 对于直线轴和旋转轴获得纠正的指令点。 用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。 生成通过合成校正后的指令点的曲线，进行插补。 结果，可以执行具有两个或更多个旋转轴的多轴机床的更适合的曲线插补方法。

公开(公告)号：US09063536B2

公开(公告)日：2015-06-23

申请号：US13243466

申请日：2011-09-23

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

IPC分类号： G05B19/25 ,  G05B19/408

CPC分类号： G05B19/4086

摘要： A numerical controller controls a three-axis machine tool that machines a workpiece, mounted on a table, with at least three linear axes. The numerical controller includes a workpiece mounting error compensation unit that compensates a mounting error caused when the workpiece is mounted. The workpiece mounting error compensation unit performs an error compensation with respect to an instructed linear-axis position with amounting error which is set beforehand, in order to keep a position with respect to the workpiece at a tool center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis position. The three linear axes are driven based on the obtained compensated linear-axis position.

摘要翻译： 一个数字控制器控制一个三轴机床，用于安装在工作台上的工件至少具有三个直线轴。 数值控制器包括工件安装误差补偿单元，用于补偿安装工件时引起的安装误差。 工件安装误差补偿单元相对于预先设定的量误差的指示的线性轴位置执行误差补偿，以便基于所指示的线性来保持相对于工件在刀具中心点位置的位置 三轴线的轴位置，以获得补偿的直线轴位置。 基于获得的补偿线性轴位置驱动三个直线轴。

公开(公告)号：US07239938B2

公开(公告)日：2007-07-03

申请号：US10968127

申请日：2004-10-20

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

IPC分类号： G06F19/00

CPC分类号： G05B19/4061 ,  G05B2219/49137 ,  G05B2219/49141

摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.

摘要翻译： 存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。 该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。 因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。 类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。 此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。 当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

公开(公告)号：US20050033459A1

公开(公告)日：2005-02-10

申请号：US10909304

申请日：2004-08-03

申请人： Toshiaki Otsuki ,  Soichiro Ide

发明人： Toshiaki Otsuki ,  Soichiro Ide

IPC分类号： B23Q15/00 ,  G05B11/01 ,  G05B11/32 ,  G05B19/18 ,  G05B19/4093 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416

CPC分类号： G05B19/416 ,  B25J9/1623 ,  G05B19/4103 ,  G05B2219/33272 ,  G05B2219/34167 ,  G05B2219/43062 ,  G05B2219/43065 ,  G05B2219/43203

摘要： A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive axes are not exceeded. A program is analyzed in a command analysis section, and an interpolated position on a motion path in the rectangular coordinate system is determined in a first interpolation section, and then converted by means of a transformation section into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section, a tangential acceleration is determined. In a velocity limit calculating section, a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes. A deceleration target velocity at the time of each position being reached is determined in a deceleration target velocity calculating section. An intermediate memory stores the calculated results. A motion amount for a processing period of a second interpolation section is determined in an acceleration/deceleration processing section, and is interpolated in the second interpolation section, to be output to a servo control section for the drive axes. By performing the acceleration/deceleration processing before the second interpolation, a trajectory error is eliminated.

摘要翻译： 一个消除由加速/减速控制引起的误差的控制器，并且控制不由直角坐标系表示的驱动轴的速度，使得不超过驱动轴的速度，加速度和加加速度的最大允许值。 在命令分析部分中分析程序，并且在第一内插部分中确定直角坐标系中的运动路径上的内插位置，然后通过变换部分转换成不在矩形坐标中的驱动轴的位置 系统。 在切向加速度计算部中，确定切向加速度。 在速度限制计算部中，确定到达每个位置时的速度极限，其不超过驱动轴的速度，加速度和加加速度的最大允许值。 在减速目标速度计算部中确定到达各位置时的减速目标速度。 中间存储器存储计算结果。 在加速/减速处理部分中确定第二内插部分的处理周期的运动量，并且在第二内插部分中被内插，以输出到用于驱动轴的伺服控制部分。 通过在第二次插补之前进行加减速处理，消除了轨迹误差。

公开(公告)号：US08350514B2

公开(公告)日：2013-01-08

申请号：US13097795

申请日：2011-04-29

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

IPC分类号： G05B19/25

CPC分类号： G05B19/404 ,  G05B2219/49198 ,  G05B2219/50297

摘要： A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.

摘要翻译： 用于控制多轴机器的数值控制器基于指令轴位置计算与轴相关的平移误差量和与轴相关的旋转误差量。 平移和旋转补偿量分别根据轴相关平移和旋转误差量计算。 平移和旋转补偿量分别被添加到命令线性和旋转轴位置。 三个直线轴和三个旋转轴分别被驱动到加入位置。 因此，提供了一种能够在多轴机器中使用工具或镗孔的侧面进行均匀加工的数值控制器处于命令的工具位置和姿势（取向）中。

公开(公告)号：US20080288103A1

公开(公告)日：2008-11-20

申请号：US12081757

申请日：2008-04-21

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

IPC分类号： G05B19/19

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.

摘要翻译： 如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。 在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。 此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。 为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。

公开(公告)号：US08260453B2

公开(公告)日：2012-09-04

申请号：US12325419

申请日：2008-12-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

IPC分类号： G05B19/00 ,  G05B19/18 ,  G05B19/25 ,  G05B19/41 ,  G05B19/416 ,  B25J9/06 ,  B25J9/10

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.

摘要翻译： 一种用于控制五轴加工装置的数值控制器，其中对刀具取向指令进行校正，从而获得平滑的加工表面和缩短的加工时间。 数值控制器包括：命令读取装置，其连续地读取刀具定向指令;刀具取向指令校正装置，其校正刀具取向指令，使得每个旋转轴运动量与直线轴运动量之间的比率在每个块中是恒定的;插值装置 基于由刀具定向指令校正装置校正的刀具取向指令，运动路径指令和相对运动速度指令，在每个插补周期确定各个轴位置，使得刀具终点沿着命令的命令运动路径移动 相对运动速度和驱动相应轴电动机的装置，使得到达由内插装置确定的各个轴位置。

公开(公告)号：US08041447B2

公开(公告)日：2011-10-18

申请号：US12192590

申请日：2008-08-15

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

IPC分类号： G05B13/02 ,  G05B19/25 ,  G05B19/41 ,  G06F19/00

CPC分类号： G05B19/4086 ,  G05B2219/35557 ,  G05B2219/50049

摘要： A numerical controller controlling a 5-axis machine tool compensates setting error that arises when a workpiece is set on the table. Error in the three linear axes and the two rotation axes are compensated using preset error amounts to keep the calculated tool position and tool direction in a command coordinate system. If a trigonometric function used for error compensation has a plurality of solution sets, the solution set closest to the tool direction in the command coordinate system is selected from the plurality of solution sets and used as the positions of the two rotation axes compensated in the above error compensation.

摘要翻译： 控制5轴机床的数字控制器可以补偿工件设置在工作台上时产生的设定误差。 三个直线轴的误差和两个旋转轴的补偿使用预设的误差量，以将计算出的刀具位置和刀具方向保持在命令坐标系中。 如果用于误差补偿的三角函数具有多个解集，则从多个解集合中选择最靠近命令坐标系中的刀具方向的解，并将其用作在上述中补偿的两个旋转轴的位置 误差补偿。

公开(公告)号：US07869897B2

公开(公告)日：2011-01-11

申请号：US12081757

申请日：2008-04-21

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.

摘要翻译： 如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。 在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。 此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。 为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。