公开(公告)号：EP0494314B1

公开(公告)日：1996-07-10

申请号：EP91913115.1

申请日：1991-07-25

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi ,  MATSUMOTO, Eiji, Fanuc Dai-3 Vira-karamatsu

IPC分类号： B23Q35/128 ,  G01B11/24

CPC分类号： B23Q35/128 ,  G05B2219/37422

摘要： In a copy control device wherein a model (6) and a work are moved relatively with a tracer head (4) and a tool in an X - Y plane, measured distance values to the surface of the model, which are detected by first and second non-contact detectors (5a, 5b) obliquely mounted on the tracer head (4) rotatable about a Z axis are periodically sampled to obtain the coordinate values of measured points on the surface of the model, a normal vector (Nm) on the surface of the model is calculated from three coordinate values out of four measured points (P1n-1, P1n, P2n-1, P2n) successively obtained by the both detectors, and the tracer head is rotated so as to move along a projection (N1n) of the normal vector (Nn) on the X - Y plane, so that measuring axes of the detectors are controlled to be approximately vertical to the surface of the model. After two points are selected from four measured points, such a point is selected out of the remaining two measuring two points as a third point that satisfies a condition that a point of intersection between a perpendicular from such a point to a straight line passing through the previously selected two points and the above-mentioned straight line is interposed between the previously selected two points, and that satisfies a condition that the length of the above-mentioned perpendicular is larger than a predetermined value.

公开(公告)号：EP0440803B1

公开(公告)日：1994-03-02

申请号：EP90910916.7

申请日：1990-07-20

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi ,  ARAMAKI, Hitoshi

IPC分类号： B23Q35/123

CPC分类号： B23Q35/123

摘要： A profile control apparatus which prevents overcutting by a cutter at a corner portion by moving a tracer head ahead of the cutter. An instruction value Su or Sw proportional to the change quantity of a speed instruction value Vx or Vy for each axis obtained on the basis of the displacement quantity εx, εy, εz in the direction of each axis detected by the tracer head is calculated by an operational unit (18u, 19u, 18w, 19w), and a U-axis motor and a W-axis motor for moving only a model in the direction of each axis are driven by use of each instruction value Su or Sw as a moving distance. A sub-table for supporting only the model is disposed on a main table of a profile machine tool and this sub-table is moved ahead of the main table supporting thereon a work, by the U-axis motor and the W-axis motor by a distance corresponding to the instruction values, Su, Sw corresponding to the delay of the servo system.

公开(公告)号：EP0215127B1

公开(公告)日：1993-04-14

申请号：EP86901484.5

申请日：1986-02-12

申请人： FANUC LTD.

发明人： YAMAZAKI, Etsuo ,  MATSUURA, Hitoshi

IPC分类号： G05B19/18

CPC分类号： G05B19/23

摘要： To precisely detect the position of a mechanically moving portion which is driven by a motor, restraining the effect of backlash. A position detector (3) produces a position detection pulse every time after a mechanically moving portion (2) driven by a motor (1) is moved by a predetermined amount. A counting means (4) counts the position detection pulses sent from the position detector (3), and a reading means (5) reads a value counted by the counting means (4) every time after a predetermined period of time. A cancelling means (6) cancels the content of the counting means (4) by a counted amount read by the reading means (5). A backlash amount storage means (7) stores a backlash amount of the drive system, and a moving amount calculating means (8) calculates a practica l amount of movement of the mechanically moving portion (2) every time after said predetermined period of time based upon the content stored in the backlash amount storage means (7) and the value read by the reading means (5). An integrating means (9) integrates the results calculated by the moving amount calculating means (8).

公开(公告)号：EP0440804A1

公开(公告)日：1991-08-14

申请号：EP90910919.1

申请日：1990-07-20

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi ,  ARAMAKI, Hitoshi

IPC分类号： B23Q35/123

CPC分类号： B23Q35/128 ,  B23Q35/123 ,  Y10T409/300896 ,  Y10T409/30196

摘要： A profile control apparatus which prevents overcutting by a cutter at a corner portion by moving a tracer head ahead of the cutter. A first delay speed instruction V xm or V zm is determined by a first delay circuit (14a or 14c) having a time constant and a second delay speed instruction is determined by a second delay circuit (14b or 14d) having a time constant different from that of the first delay circuit for each speed instruction V x , V z for each axis determined on the basis of the displacement quantity ε x , ε y , ε z in the direction of each axis detected by the tracer head, and the difference V xs or V zs between the first and second delay speed instructions is calculated. An X-axis main motor and a Z-axis main motor are driven by the first delay speed instructions to operate the machine as a whole, and an X-axis sub-motor and a Z-axis sub-motor are driven by the differences in parallel with the movement described above so as to move only the tracer head and thereby to move the tracer head ahead of the cutter.

摘要翻译： 一种轮廓控制装置，其通过将示踪器头移动到切割器前方来防止切割器在角部的过度切割。 第一延迟速度指令Vxm或Vzm由具有时间常数的第一延迟电路（14a或14c）确定，并且第二延迟速度指令由与第二延迟速度指令的时间常数不同的第二延迟电路（14b或14d）确定， 基于由示踪器头检测到的每个轴的方向上的位移量εx，εy，εz确定的每个轴的每个速度指令Vx，Vz的第一延迟电路以及在示踪器头检测到的每个轴的方向上的差Vxs或Vzs 计算第一和第二延迟速度指令。 X轴主电动机和Z轴主电动机由第一延迟速度指令驱动，以整体操作机器，X轴副电动机和Z轴副电动机由差异驱动 与上述运动平行，以仅移动示踪器头，从而使示踪器头在切割器之前移动。

公开(公告)号：EP0131056B1

公开(公告)日：1989-05-31

申请号：EP84900114.4

申请日：1983-12-21

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi ,  YAMAZAKI, Etsuo ,  SAKURAI, Hiroshi

IPC分类号： B23Q35/00

CPC分类号： B23Q35/123

摘要： In this method of controlling profiling, a profiling-inhibited region (TMI) is set and the profiling-inhibited region is skipped during profiling. The method comprises the steps of setting a profiling-inhibited region (TMI) and a safety level (ZLs) in consideration of the configuration of a model (MDL); moving a tracer head along the surface of the model to effect profiling within a region (TM); inhibiting the profiling when the tracer head reaches the profiling-inhibited region (TMI); lifting the tracer head to the safety level (ZLs); moving the tracer head, after it has reached the safety level, at the safety level to the other boundary of the profiling-inhibited region; approaching the head to the workpiece; and resuming the profiling in a region (TM') upon completion of the approach.

摘要翻译： 在这种控制分析的方法中，设置分析禁止区域（TMI）并且在分析期间跳过禁止分析禁止的区域。 该方法包括以下步骤：考虑到模型（MDL）的配置来设置剖析禁止区域（TMI）和安全级别（ZLs）; 沿着模型的表面移动示踪头以实现区域内的分析（TM）; 当所述示踪头到达所述形貌抑制区域（TMI）时抑制所述形貌分析; 将示踪头提升到安全水平（ZLs）; 在示踪头达到安全水平之后，将示踪头移动到安全水平处，以防止形貌抑制区域的另一边界; 靠近工件的头部; 并在完成该方法后恢复区域（TM'）的分析。

公开(公告)号：EP0215127A1

公开(公告)日：1987-03-25

申请号：EP86901484.5

申请日：1986-02-12

申请人： FANUC LTD.

发明人： YAMAZAKI, Etsuo ,  MATSUURA, Hitoshi

IPC分类号： G05B19/18

CPC分类号： G05B19/23

摘要： To precisely detect the position of a mechanically moving portion which is driven by a motor, restraining the effect of backlash. A position detector (3) produces a position detection pulse every time after a mechanically moving portion (2) driven by a motor (1) is moved by a predetermined amount. A counting means (4) counts the position detection pulses sent from the position detector (3), and a reading means (5) reads a value counted by the counting means (4) every time after a predetermined period of time. A cancelling means (6) cancels the content of the counting means (4) by a counted amount read by the reading means (5). A backlash amount storage means (7) stores a backlash amount of the drive system, and a moving amount calculating means (8) calculates a practical amount of movement of the mechanically moving portion (2) every time after said predetermined period of time based upon the content stored in the backlash amount storage means (7) and the value read by the reading means (5). An integrating means (9) integrates the results calculated by the moving amount calculating means (8).

公开(公告)号：EP0328694B1

公开(公告)日：1994-06-29

申请号：EP88907828.3

申请日：1988-08-31

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi

IPC分类号： B23Q35/127

CPC分类号： B23Q35/127 ,  G05B2219/37425 ,  G05B2219/49243 ,  G05B2219/50356

摘要： In the present invention, a non-contact type probe (PRB) capable of measuring simultaneously distances to three points on a model surface is used to determine inclination increments in the X and Y directions from the distances of the points A, B and C with respect to the probe that are measured at each predetermined sampling time, and calculate the normal direction N of the model at the measuring point A. An increment of each axis per sampling time is determined from (i) the increment of each of the three axes of rotation of the orthogonal coordinates system and the two axes of rotation of the probe necessary for turning the optical axis (OPI) to the normal direction while the measuring point A is kept fixed and (ii) a feed quantity per each sampling time and the distances measured by distance measuring means. While the optical axis (OPI) is directed to the model normal direction by performing simultaneous 5-axis control using these increments, the model (MDL) is profiled.

公开(公告)号：EP0523254A1

公开(公告)日：1993-01-20

申请号：EP92904410.5

申请日：1992-02-05

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi

IPC分类号： B23Q35/12 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  Y10T409/30112

摘要： A tool is made to copy a model, following the same path as that of a tracer head which copies the model, and lagging the tracer head by a predetermined time in order that a cutter doesn't bite a work at a corner part. One each axis of a machine tool, the tracer head is driven independently of the tool by sub-motors additively provided on the feed shafts for the tool. Copying command values are stored in a FIFO memory (41), and are outputted to each axis of the machine tool at predetermined time intervals. In a computing circuit (43), speed command values (Vxs) for the sub-motors are computed from the copying command values. According to these speed command values (Vxs), the tracer head copies the model, preceding the tool.

摘要翻译： 按照与复制模型的示踪器头的路径相同的路径，并且将示踪器头滞后预定时间，以便切割器不在拐角部分咬合工件，来复制模型。 机床的每个轴线上，示踪器头部通过辅助设置在工具的进给轴上的子马达独立于工具驱动。 复制命令值存储在FIFO存储器（41）中，并以预定的时间间隔输出到机床的各个轴。 在计算电路（43）中，根据复制命令值计算子电动机的速度指令值（Vxs）。 根据这些速度指令值（Vxs），示踪器头复制模型，在该工具之前。

公开(公告)号：EP0510208A1

公开(公告)日：1992-10-28

申请号：EP91919147.8

申请日：1991-11-08

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi

IPC分类号： B23Q35/128 ,  G01B11/24

CPC分类号： G05B19/41 ,  B23Q35/128 ,  G05B19/4207

摘要： An inexpensive digitizing control device capable of producing a normal vector representing a normal direction of a model surface at real time by optical cutting method. A processor (11) of the control device (1) operates to move a table (31) with a model (6) horizontally with respect to a tracer head (4) on which a light source (5a) and a camera (56) are mounted. At the same time, measured data representing two detected points, where a light receiving pattern taken by the camera and two one-dimensional light sensors provided on a light receiving surface of the camera intersect each other, and table-camera movement control data are periodically subjected to sampling. Based on the sampled data, profile data are produced from coordinate values of two points on a model surface. A normal vector on the model surface is calculated based on the coordinate values of the two points and the coordinate value of the previously sampled point on the model surface in order to bring the tracer head to an angular position corresponding to the normal vector, so that a slit light is caused to fall into the camera positively.

摘要翻译： 一种廉价的数字化控制装置，其能够通过光学切割方法实时地产生表示模型表面法线方向的法向矢量。 控制装置（1）的处理器（11）操作以相对于其上具有光源（5a）和照相机（56）的示踪器头（4）水平移动具有模型（6）的台（31） 被安装。 同时，表示两个检测点的测量数据，其中照相机拍摄的光接收图案和设置在照相机的光接收表面上的两个一维光传感器彼此相交，并且台照相机移动控制数据周期性地 进行抽样。 基于采样数据，从模型表面上的两个点的坐标值产生轮廓数据。 基于两点的坐标值和模型表面上先前采样点的坐标值计算模型表面上的法线矢量，以将示踪器头置于与法向量相对应的角位置，使得 使狭缝光正确地落入相机中。

公开(公告)号：EP0359817A1

公开(公告)日：1990-03-28

申请号：EP88902223.2

申请日：1988-02-29

申请人： FANUC LTD

发明人： MATSUURA, Hitoshi

IPC分类号： B23Q35/123

CPC分类号： B23Q35/123

摘要： This invention relates to a pick feed method in rotary member profiling which rotates a model MDL), moves back and forth a stylus (ST) kept in contact with the model in a direction of the centre of rotation (O M ) of the model in accordance with the model shape, and pick-feeds the stylus within a plane parallel to the model rotation axis whenever the model rotates once, so as to make profile control During this pick-feeding, the entire periphery of the model is devided into two sections by a line (LL') connecting a point (P L ) having a predetermined rotary angle (θ L ) and the center of rotation (O M ) of the model so as to form first and second areas (Al, All). When the stylus (ST) is rotated relative to the model (MDL) by rotary member profiling control, judgement is made in which areas the stylus exists and pick-feeding is not carried out when the stylus has entered the second area (All) from the first area (Al), while pick-feeding is executed when the stylus has entered the first area from the second area.

摘要翻译： 本发明涉及一种旋转构件轮廓的拾取进给方法，该方法使模型（MDL）旋转，在模型的旋转中心（OM）的方向上来回移动与模型保持接触的触针（ST） 根据模型形状，并且每当模型旋转一次时，在与模型旋转轴平行的平面内拾取手写笔，以便进行轮廓控制。 在该拾取期间，模型的整个周边通过连接具有预定旋转角度（θL）的点（PL）和模型的旋转中心（OM）的线（LL'）分成两部分 以形成第一和第二区域（AI，AII）。 当通过旋转构件成形控制使得触针（ST）相对于模型（MDL）旋转时，当触笔已经进入第二区域（AII）时，判断存在触针的哪个区域并且不执行拾取进给 第一区域（AI），而当触控笔已经从第二区域进入第一区域时执行拾取。