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公开(公告)号：EP2719519A4
公开(公告)日：2015-04-08
申请号：EP11867467
申请日：2011-06-09
发明人： NISHIBASHI NOBUTAKA
CPC分类号： G06F17/50 , B29C70/30 , G05B19/41 , G05B2219/45238
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公开(公告)号：EP2738633A1
公开(公告)日：2014-06-04
申请号：EP12819293.7
申请日：2012-07-27
发明人： Nishibashi, Nobutaka
IPC分类号： G05B19/4103 , G05B19/18
CPC分类号： G05B19/41 , G05B19/4103 , G05B2219/40247 , G05B2219/49284
摘要： A numerical control device includes a pulse interpolation unit which obtains a position coordinate on respective transfer axes at each time point at every unit time of a reference time, the position coordinate corresponding to a position coordinate of a post-interpolation tool path in a workpiece coordinate system at each time point, and a transfer amount per unit time for the transfer axes from the obtained position coordinate on each transfer axis at each time point, and which sets the obtained transfer amount per unit time as a command pulse per specific period. The pulse interpolation unit obtains an intervening variable at each time point based on an intervening variable time function, obtains a position coordinate of a post-interpolation tool path in the workpiece coordinate system and a position coordinate of a post-interpolation second transfer axis path on a second transfer axis which correspond to the obtained intervening variable at each time point, and obtains a position coordinate on each transfer axis corresponding to the position coordinate of the post-interpolation tool path in the workpiece coordinate system at each time point based on a specific relational expression using the obtained position coordinate on the second transfer axis as a constraint and representing a correlation between a position coordinate of a tool in the workpiece coordinate system and a position coordinate on each transfer axis.
摘要翻译： 数值控制装置包括：在参考时间的每单位时间获取每个时间点的各个传送轴上的位置坐标的脉冲内插单元，对应于工件坐标中的插入后刀具路径的位置坐标的位置坐标 系统，每个时间点从每个转移轴上的获得的位置坐标中的转移轴的每单位时间的转移量，并且将获得的每单位时间的转移量设置为每个特定周期的指令脉冲。 脉冲插补单元基于中间变量时间函数在每个时间点获得中间变量，获得工件坐标系中的插补后刀具路径的位置坐标和插补后第二转移轴路径的位置坐标 第二转印轴，其对应于在每个时间点获得的中间变量，并且在每个时间点获得在每个时间点上对应于在工件坐标系中的插入后刀具路径的位置坐标的每个转移轴上的位置坐标， 使用在第二传送轴上获得的位置坐标作为约束并且表示工件坐标系中的工具的位置坐标与每个传送轴上的位置坐标之间的相关性的关系表达式。
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3.发明公开Method for calibrating parallel kinematic mechanism, method for verifying calibration, program product for verifying calibration, method for taking data, and method for taking correction data for spatial posturing correction 有权Verfahren zum Kalibrieren eines parallel kinematischen Mechanismus
公开(公告)号：EP1698954A1
公开(公告)日：2006-09-06
申请号：EP06002206.8
申请日：2006-02-02
IPC分类号： G05B19/402 , G05B19/421 , B25J9/16 , B23Q1/54
CPC分类号： B23Q17/22 , B23Q1/5462 , Y10T409/307672 , Y10T409/309576
摘要： A calibration method for calibrating a parallel kinematic mechanism which is provided with an end effecter, a plurality of driver shafts connecting the base and the end effecter via a plurality of joints provided in the base and the end effecter, respectively, and a numerical control device for controlling the posture of the end effecter by manipulating coordinates of each driver shaft using the kinematics or the inverse kinematics, the calibration method comprising: setting an adjustment tool attached to the end effecter in a specified number of different predetermined postures in a reference coordinate system provided outside the parallel kinematic mechanism to define a reference coordinate system of the parallel kinematic mechanism, an axis of the adjustment tool being in agreement with an axis of the end effecter; a taking step of taking coordinates of the posture of the adjustment tool each time the adjustment tool is placed in the posture; recording coordinates of each driver shaft manipulated by the numerical control device in accordance with the inverse kinematics each time the adjustment tool is placed in the posture; and calculating kinematic parameters necessary for the kinematics of the parallel kinematic mechanism based on the taken coordinates of the postures of the driver shafts and the recorded coordinates of the driver shafts. Accordingly, it is possible to obtain accurate posture information of the end effecter and relative coordinates of the driver shafts.
摘要翻译： 一种用于校准具有端部执行器的并联运动机构的校准方法，分别经由设置在基座和端部执行器中的多个接头连接基座和端部执行器的多个驱动轴以及数字控制装置 用于通过使用运动学或逆运动学来操纵每个驱动轴的坐标来控制末端执行器的姿势，所述校准方法包括：在参考坐标系中以指定数量的不同的预定姿势来设置附接到末端执行器的调节工具 设置在所述平行运动机构外部，以限定所述平行运动机构的参考坐标系，所述调节工具的轴线与所述端部执行器的轴线一致; 每当调节工具处于姿势时进行调节工具的姿势坐标的取走步骤; 每当调节工具处于姿势时，由数控装置根据逆运动学记录的每个驾驶员轴的记录坐标; 并且基于驾驶员轴的姿势的坐标和驾驶员轴的记录坐标来计算并联运动机构的运动学所需的运动学参数。 因此，可以获得末端执行器的准确姿势信息和驾驶员轴的相对坐标。
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公开(公告)号：EP2738634A1
公开(公告)日：2014-06-04
申请号：EP12819308.3
申请日：2012-07-27
发明人： Nishibashi, Nobutaka
IPC分类号： G05B19/4103
CPC分类号： G05B19/414 , G05B19/19 , G05B19/4103 , G05B2219/35158 , G05B2219/39177 , G05B2219/49344 , G05B2219/50353
摘要： In a numerical control device, a transfer command derivation unit obtains an intervening variable corresponding to each time point at every unit time of a reference time based on an intervening variable time function, and with respect to an intervening variable within a posture adjustment interval among the obtained intervening variables of the respective time points, the transfer command derivation unit obtains a position coordinate of a tip point on a tip path corresponding to the intervening variable and a position coordinate of a midair point on a midair path corresponding to the intervening variable, adjusts the obtained position coordinate of the midair point based on posture adjustment information so that a variation in a direction of a projection tool axis vector becomes more gradual, and obtains a tool axis vector extending from the obtained tip point to the adjusted midair point, while with respect to an intervening variable outside of the posture adjustment interval among the obtained intervening variables of the respective time points, the transfer command derivation unit obtains a position coordinate of the tip point on the tip path corresponding to the intervening variable and a tool axis vector extending from the tip point toward the midair point on the midair path corresponding to the intervening variable, and sets the obtained position coordinate of the tip point and the obtained tool axis vector as the position coordinate of the tip point and the tool axis vector at each time point.
摘要翻译： 在数控装置中，传送命令导出部基于中间的可变时间函数，在基准时刻的每单位时间获取与各时刻对应的中间变量，并且相对于 获取各时间点的中间变量，则转移指令导出单元获得与中间变量相对应的尖端路径上的尖端位置坐标和对应于中间变量的空中路径上的空中点的位置坐标，调整 基于姿势调整信息获得的空中点的位置坐标，使得投影工具轴向量的方向的变化变得更渐进，并且获得从所获得的尖点延伸到调整后的空中点的工具轴矢量，同时 相对于th之间的姿势调整间隔之外的中间变量 e获得各个时间点的中间变量，传递命令导出单元获得与中间变量相对应的尖端路径上的尖端位置坐标和从顶点到太空路径上的空中点的工具轴矢量 对应于中间变量，并且将获得的尖点位置坐标和所获得的刀具轴矢量设置为每个时间点的尖点和刀具轴矢量的位置坐标。
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公开(公告)号：EP1698954B1
公开(公告)日：2011-11-23
申请号：EP06002206.8
申请日：2006-02-02
IPC分类号： G05B19/402 , G05B19/421 , B25J9/16 , B23Q1/54
CPC分类号： B23Q17/22 , B23Q1/5462 , Y10T409/307672 , Y10T409/309576
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6.发明公开
公开(公告)号：EP1775077A3
公开(公告)日：2009-03-11
申请号：EP06020333.8
申请日：2006-09-27
CPC分类号： B25J17/0266 , B25J9/0057 , B25J9/1623 , B25J9/1692 , Y10T74/2036
摘要： A parallel kinematic machine (1) is provided with: a parallel kinematic mechanism including a base (10), an end effecter (20), and a parallel link mechanism (31-36); a numerical control device (100) for controlling a position and an orientation of the end effecter (20) by driving the driver shafts based on kinematics of the parallel kinematic mechanism (4); a posture setter for setting an adjustment tool (50) attached to the end effecter (20) in a known posture in a reference coordinate system (X,Y,Z) defined outside of the parallel kinematic mechanism (4) based on a predetermined measurement method, an axis of the end effecter and an axis of the adjustment tool (50) being in agreement with each other; a data acquirer (114) for acquiring data that has a form in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool (50) in the known posture, and defines a correlation between kinematic parameters necessary for the kinematics of the parallel kinematic mechanism (4), and the reference coordinate system (X,Y,Z); and a calculator (113) for calculating at least the kinematic parameters based on the acquired data by directly using a relational expression describing forward kinematics of the parallel kinematic mechanism (4).
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7.发明公开
公开(公告)号：EP1775077A2
公开(公告)日：2007-04-18
申请号：EP06020333.8
申请日：2006-09-27
CPC分类号： B25J17/0266 , B25J9/0057 , B25J9/1623 , B25J9/1692 , Y10T74/2036
摘要： A parallel kinematic machine (1) is provided with: a parallel kinematic mechanism including a base (10), an end effecter (20), and a parallel link mechanism (31-36); a numerical control device (100) for controlling a position and an orientation of the end effecter (20) by driving the driver shafts based on kinematics of the parallel kinematic mechanism (4); a posture setter for setting an adjustment tool (50) attached to the end effecter (20) in a known posture in a reference coordinate system (X,Y,Z) defined outside of the parallel kinematic mechanism (4) based on a predetermined measurement method, an axis of the end effecter and an axis of the adjustment tool (50) being in agreement with each other; a data acquirer (114) for acquiring data that has a form in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool (50) in the known posture, and defines a correlation between kinematic parameters necessary for the kinematics of the parallel kinematic mechanism (4), and the reference coordinate system (X,Y,Z); and a calculator (113) for calculating at least the kinematic parameters based on the acquired data by directly using a relational expression describing forward kinematics of the parallel kinematic mechanism (4).
摘要翻译： 甲并联机床（1）设置有：并联运动机构，它包括一个基座（10），末端执行器（20），和一个平行连杆机构（31-36）; 用于通过基于（4）的平行运动机构的运动学驱动驱动器轴的控制（20）的末端执行器的位置和取向的数值控制装置（100）; 坐标（，Y，Z X）的并联运动机构的外定义基于预定测量（4）系统中的参考以已知的姿势安装于末端执行器（20），用于调整工具的设定的姿势设定器（50） 方法来将末端执行器的与所述调整工具（50）在与海誓山盟协议是的轴轴线; 用于获取数据做了数据获取部（114）具有与用于指定在设置在已知姿势的调整工具（50）所使用的姿势设置器的测量方法的测量方法选择代码雅舞蹈的形状，并且限定运动之间的相关性 用于并行运动机构（4）的运动学所需的参数，和所述基准坐标系（X，Y，Z）; 及用于通过使用关系式直接描述向前并联运动机构（4）的运动学至少基于所述获取的数据运动学参数计算器（113）。
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公开(公告)号：EP2738635A4
公开(公告)日：2015-01-28
申请号：EP12819322
申请日：2012-07-27
发明人： NISHIBASHI NOBUTAKA
IPC分类号： G05B19/4103
CPC分类号： G05B19/40937 , G05B19/4103 , G05B19/416 , G05B2219/34096 , G05B2219/34098 , G05B2219/34175 , G05B2219/34176 , Y02P90/265
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公开(公告)号：EP2738633A4
公开(公告)日：2015-01-14
申请号：EP12819293
申请日：2012-07-27
发明人： NISHIBASHI NOBUTAKA
IPC分类号： G05B19/4103 , G05B19/18
CPC分类号： G05B19/41 , G05B19/4103 , G05B2219/40247 , G05B2219/49284
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10.发明公开METHOD FOR CALCULATING ROUTE OF PREPREG TAPE 审中-公开VERFAHREN ZUR BERECHNUNG DER ROUTE EINES PREPREGBANDES
公开(公告)号：EP2719519A1
公开(公告)日：2014-04-16
申请号：EP11867467.0
申请日：2011-06-09
发明人： NISHIBASHI, Nobutaka
IPC分类号： B29C70/06
CPC分类号： G06F17/50 , B29C70/30 , G05B19/41 , G05B2219/45238
摘要： Provided is a method for adhering and laminating a prepreg tape without wrinkles on different curved surfaces, comprising: an exploring vector computing step (S101) in which an exploring vector (SV) along the expected direction of adhesion (V(i)) of the prepreg tape on the plane (S) of the prepreg tape is computed with an arbitrary initial coordinate (p0) as a starting point, the exploring vector (SV) serving as a scalar of a predetermined quantity of small amount (Δa); and a foot computing step (S102) in which the foot of a perpendicular line p temp1-3 (i, j, k) leading from an end point (pe) of the computed exploring vector (SV) to the plane (S) is computed. A new exploring vector (SV) is computed based on the starting point of the exploring vector (SV) and the foot of the perpendicular line p temp1-3 (i, j, k) until a predetermined termination condition is realized. The present invention also comprises navigating steps (S100 to S125) in which the exploring vector computing step (S101) is repeated based on the new exploring vector (SV) with the foot of the perpendicular line p temp1-3 (i, j, k) serving as the initial point of the next computing.
摘要翻译： 本发明提供一种在不同曲面上粘贴并层叠无褶皱的预浸带的方法，其特征在于，包括：探索向量计算步骤（S101），其中沿预期的粘附方向（V（i））的探索矢量（SV） 以任意的初始坐标（p0）作为起始点计算预浸纸带的平面（S）上的预浸纸带，探测矢量（SV）作为小量的预定量的标量（“a”）; 以及脚计算步骤（S102），其中从计算出的探索向量（SV）的终点（pe）到平面（S）的一条垂直线p temp1-3（i，j，k）的脚是 计算。 基于探索向量（SV）的起始点和垂直线p temp1-3（i，j，k）的脚计算新的探索向量（SV），直到实现预定的终止条件。 本发明还包括导航步骤（S100至S125），其中基于具有垂直线p temp1-3（i，j，k）的脚的新的探索向量（SV）重复探索向量计算步骤（S101） ）作为下一次计算的初始点。
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