公开(公告)号：US09377772B2

公开(公告)日：2016-06-28

申请号：US13943934

申请日：2013-07-17

申请人： FANUC Corporation

发明人： Naoya Koide

IPC分类号： G06F19/00 ,  G05B19/18 ,  G05B19/4093

CPC分类号： G05B19/182 ,  G05B19/40937 ,  G05B2219/34175 ,  G05B2219/36215 ,  Y02P90/265

摘要： A numerical controller configured to control a machine tool for machining the workpiece on the basis of a machining program composed of a plurality of blocks includes a corner multiple curves inserting unit. This corner multiple curves inserting unit inserts, between consecutive two blocks, three cubic polynomial curves in which a position, a direction and a curvature are continuous and the distances from these two blocks are within a prescribed allowable tolerance, if a direction or a curvature between these two blocks is discontinuous in the machining program.

摘要翻译： 基于由多个块构成的加工程序来控制用于加工工件的机床的数值控制装置，其特征在于，包括：角多路曲线插入单元。 这个角多点曲线插入单元在连续的两个块之间插入三个三次多项式曲线，其中位置，方向和曲率是连续的，并且距离这两个块的距离在规定的允许公差内，如果在两个块之间的方向或曲率 这两个块在加工程序中是不连续的。

公开(公告)号：US20140025194A1

公开(公告)日：2014-01-23

申请号：US13943934

申请日：2013-07-17

申请人： FANUC Corporation

发明人： Naoya KOIDE

IPC分类号： G05B19/18

CPC分类号： G05B19/182 ,  G05B19/40937 ,  G05B2219/34175 ,  G05B2219/36215 ,  Y02P90/265

摘要： A numerical controller configured to control a machine tool for machining the workpiece on the basis of a machining program composed of a plurality of blocks includes a corner multiple curves inserting unit. This corner multiple curves inserting unit inserts, between consecutive two blocks, three cubic polynomial curves in which a position, a direction and a curvature are continuous and the distances from these two blocks are within a prescribed allowable tolerance, if a direction or a curvature between these two blocks is discontinuous in the machining program.

摘要翻译： 基于由多个块构成的加工程序来控制用于加工工件的机床的数值控制装置，其特征在于，包括：角多路曲线插入单元。 这个角多点曲线插入单元在连续的两个块之间插入三个三次多项式曲线，其中位置，方向和曲率是连续的，并且距离这两个块的距离在规定的允许公差内，如果在两个块之间的方向或曲率 这两个块在加工程序中是不连续的。

公开(公告)号：US20050049743A1

公开(公告)日：2005-03-03

申请号：US10489552

申请日：2002-08-31

申请人： Matthias Fauser ,  Steve Kallenborn

发明人： Matthias Fauser ,  Steve Kallenborn

IPC分类号： G05B19/4093 ,  G05B19/41 ,  G05B19/416 ,  G06F19/00

CPC分类号： G05B19/416 ,  G05B19/40937 ,  G05B19/41 ,  G05B2219/34171 ,  G05B2219/34175 ,  G05B2219/43063 ,  G05B2219/49369 ,  Y02P90/265

摘要： A method for continuous-path control includes predefining at least two global tolerances to a numerical control and predefining, to the numerical control, a tool path including support points, a non-continuously differentiable corner of the tool path being situated at each support point. The method also includes assigning, by a tolerance-assignment unit, one of the at least two global tolerances determined to the corner at each support point. A global edge tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point leads to an edge in a workpiece. A global curve tolerance may be predefined when the tolerance-assignment unit recognizes that the corner at the support point approximates a curvilinear, continuously differentiable curve. A global edge tolerance may be predefined to be smaller than a global curve tolerance. A numerical control includes an arrangement for specifying at least two global tolerances and an arrangement for specifying a tool path having support points at which non-continuously differentiable corners of the tool path are situated. The numerical control also includes a tolerance-assignment unit adapted to assign one of the at least two global tolerances to the corner at each support point.

摘要翻译： 用于连续路径控制的方法包括将数字控制中的至少两个全局公差预定义为数值控制，并且预定义包括支撑点的刀具路径，刀具路径的非连续可微的拐角位于每个支撑点处。 所述方法还包括通过公差分配单元分配所确定的至少两个全局公差中的每一个在每个支撑点处的拐角。 当公差分配单元识别到支撑点处的角点导致工件中的边缘时，可以预定义全局边缘公差。 当公差分配单元识别到支撑点处的拐角接近曲线的连续可微曲线时，可以预定全局曲线公差。 全局边缘公差可以预定义为小于全局曲线公差。 数字控制包括用于指定至少两个全局公差的装置和用于指定具有支撑点的工具路径的装置，在该支撑点处刀具路径的不连续可微的拐角位于该位置。 数字控制还包括公差分配单元，其适于将至少两个全局公差中的一个分配给每个支撑点处的拐角。

公开(公告)号：US5726917A

公开(公告)日：1998-03-10

申请号：US693632

申请日：1996-08-09

申请人： Ulrich Staaden

发明人： Ulrich Staaden

IPC分类号： G05B19/4103 ,  G05B19/19 ,  G05B19/4093

CPC分类号： G05B19/4103 ,  G01B21/04 ,  G05B2219/34086 ,  G05B2219/34087 ,  G05B2219/34141 ,  G05B2219/34175 ,  G05B2219/37443 ,  G05B2219/43062 ,  G05B2219/43066 ,  G05B2219/43129 ,  G05B2219/43184 ,  G05B2219/43203 ,  Y02P90/265

摘要： The invention is directed to a method wherein the probe head of a coordinate measuring apparatus is driven in a controlled manner in accordance with desired data. The control data, which are necessary for the control, are prepared in the computer of the coordinate measuring apparatus as a point sequence (S1 to Sm) from the geometric data (G1 to Gn) as, for example CAD data. These CAD data describe the work profile to be scanned. For this purpose, the computer encodes the speed profile which ensures a jolt-free movement and a measurement time as short as possible by appropriately selecting the spacings between the points (S1 to Sm) of the control data.

摘要翻译： 本发明涉及一种方法，其中根据期望的数据以受控的方式驱动坐标测量装置的探针头。 在坐标测量装置的计算机中，从几何数据（G1到Gn）作为点序列（S1到Sm），例如CAD数据，准备控制所需的控制数据。 这些CAD数据描述了要扫描的工作简档。 为此，计算机对速度分布进行编码，通过适当地选择控制数据的点（S1至Sm）之间的间距，确保无抖动运动和测量时间尽可能短。

公开(公告)号：US20110264265A1

公开(公告)日：2011-10-27

申请号：US13086850

申请日：2011-04-14

申请人： Yoshiki Kanemoto

发明人： Yoshiki Kanemoto

IPC分类号： B25J9/16 ,  G05B19/25

CPC分类号： B25J9/1666 ,  G05B2219/34141 ,  G05B2219/34175 ,  G05B2219/40428 ,  G05B2219/40449 ,  G05B2219/40476 ,  G05B2219/40512 ,  G05B2219/40519

摘要： A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.

摘要翻译： 能够维持受控对象的运动的连续性或平滑性的系统等。 根据本发明的控制系统1和作为其控制对象的机器人R，通过进行内插处理来生成期望的位置轨迹，该内插处理生成由以下的点序列的线性组合表示的线段 模型空间具有空间插值作为耦合系数的基函数。 因此，通过多个点（控制点）的线性组合来表示连续平滑地连接起始点和终点的线段，而不是通过设置在模型空间中的多个点的虚线 。

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。

公开(公告)号：US06701278B1

公开(公告)日：2004-03-02

申请号：US10049708

申请日：2002-07-22

申请人： Juergen Barg ,  Joerg Deisenroth

发明人： Juergen Barg ,  Joerg Deisenroth

IPC分类号： G01C1700

CPC分类号： G05B19/4103 ,  G05B19/416 ,  G05B2219/34098 ,  G05B2219/34175 ,  G05B2219/43036

摘要： An apparatus and a method for generating a set-point value for triggering at least one drive mechanism, in particular for a machine tool, are proposed, wherein, in a parts program (20) for describing a path of motion of a tool (12) movable by the at least one drive mechanism (18), at least two parts program positions (X1, Y1, Z1; X2, Y2, Z2; X3, Y3, Z3) are stored in memory. A controller (18) which from the parts program (20) ascertains at least one drive mechanism set-point value (VA(S)) for triggering the drive mechanism (18). Means (18) are provided for ascertaining a distance (S) that is located between the at least two parts program positions (X1, Y1, Z1; X3, Y3, Z3) and for generating a drive mechanism set-point value (VA(S)) as a function of the distance (S) and of at least one parts program parameter (V1, V2).

摘要翻译： 提出了一种用于产生用于触发至少一个驱动机构，特别是用于机床的设定点值的装置和方法，其中，在用于描述工具（12）的运动路径的零件程序（20）中， ）可由所述至少一个驱动机构（18）移动，至少两个程序位置（X1，Y1，Z1; X2，Y2，Z2; X3，Y3，Z3）存储在存储器中。 从零件程序（20）确定用于触发驱动机构（18）的至少一个驱动机构设定点值（VA（S））的控制器（18）。 提供装置（18），用于确定位于至少两个部件程序位置（X1，Y1，Z1; X3，Y3，Z3）之间的距离（S），并且用于产生驱动机构设定点值（VA（ S））作为距离（S）和至少一个零件程序参数（V1，V2）的函数。

公开(公告)号：US5959864A

公开(公告)日：1999-09-28

申请号：US849449

申请日：1997-06-02

申请人： Atsushi Mori ,  Yoshinori Nakata

发明人： Atsushi Mori ,  Yoshinori Nakata

IPC分类号： B23K26/00 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B2219/34169 ,  G05B2219/34175 ,  G05B2219/35221 ,  G05B2219/35473 ,  G05B2219/36321 ,  G05B2219/43009

摘要： An acceleration change determination device determines whether or not a change in acceleration at a joint in blocks in a matching program decoded by a pre-processing and arithmetic device is more than a predetermined value. When the change of acceleration is found to be more than the predetermined value, the speed commanding device adjusts the speed to lower commanded speed at points immediately before and immediately after the joint in blocks. A movement control device outputs an interpolation pulse to individual moving axes so that the speed becomes the commanded modified speed, thereby controlling a servo motor.

摘要翻译： PCT No.PCT / JP96 / 02898 Sec。 371日期：1997年6月2日 102（e）日期1996年6月2日PCT提交1996年10月4日PCT公布。 公开号WO97 / 13184 日期1997年04月10日加速度变化判定装置判定由预处理和运算装置解码的匹配程序中的块中的加速度的变化是否大于预定值。 当发现加速度的变化大于预定值时，速度指令装置调整速度以在块之前和紧随其后的点处降低指令速度。 移动控制装置向每个移动轴输出插补脉冲，使得速度成为指令的修正速度，由此控制伺服电动机。

公开(公告)号：US5276383A

公开(公告)日：1994-01-04

申请号：US750397

申请日：1991-08-27

申请人： Toshihiko Nishimura ,  Masahiko Yomota

发明人： Toshihiko Nishimura ,  Masahiko Yomota

IPC分类号： B25J9/22 ,  B25J9/18 ,  G05B19/4103 ,  G05B19/416 ,  G05B19/41 ,  G05B19/18

CPC分类号： G05B19/4103 ,  G05B2219/34098 ,  G05B2219/34175

摘要： A robot route interpolation method for interpolation a polygonal route of a robot which is defined by the predetermined three or more points, wherein the acceleration at the time when a first velocity on the above polygonal route before a turning point is changed into a second velocity on the above polygonal route after the turning point is obtained based on the above first and second velocities so that, based on the above first velocity and the above acceleration, the above robot is moved toward the turning point at an uniform velocity of the first velocity and is also moved at an uniform acceleration in the direction of the above acceleration.

摘要翻译： 一种机器人路线插值方法，用于对由所述预定的三个或更多个点限定的机器人的多边形路线进行插值，其中，当在转折点之前的上述多边形路线上的第一速度变为第二速度时， 基于上述第一速度和第二速度获得转向点之后的上述多边形路线，使得基于上述第一速度和上述加速度，上述机器人以第一速度的均匀速度朝向转折点移动，并且 也以上述加速度的方向以均匀的加速度移动。

公开(公告)号：US20180079043A1

公开(公告)日：2018-03-22

申请号：US15562735

申请日：2015-03-31

申请人： MAKINO MILLING MACHINE CO., LTD.

发明人： Kosuke INOUE

IPC分类号： B23Q15/00 ,  G05B19/29 ,  G05B19/4093

CPC分类号： B23Q15/00 ,  G05B19/29 ,  G05B19/4093 ,  G05B19/40938 ,  G05B2219/34175 ,  G05B2219/36342 ,  G05B2219/49363 ,  G05B2219/49365

摘要： A tool path-generating device for generating a tool path for moving a tool and a workpiece relative to each other and processing said workpiece is equipped with: an opposite path-extracting section for extracting two tool paths, the movement directions of which are roughly opposite to each other; a reversal position-calculating section for calculating a reversal position at which the tool feed direction is reversed at a position, between the endpoint of one of the two tool paths and the starting point of the other of the two tool paths, that is separated from the workpiece; and a reversal path-generating section for calculating a connecting path that passes through the endpoint of one of the two tool paths, the reversal position, and the starting point of the other of the two tool paths.