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    Numerically controlled machine tool and numerical control device
    1.
    发明公开
    Numerically controlled machine tool and numerical control device 有权
    Steuervorrichtung

    公开(公告)号：EP2221692A2

    公开(公告)日：2010-08-25

    申请号：EP10004807.3

    申请日：2007-11-02

    申请人： MAKINO MILLING MACHINE CO. LTD.

    发明人： Mori, Norio ,  Kasahara, Tadashi ,  Nishiguchi, Tadahiro

    IPC分类号： G05B19/404 ,  B23Q17/22

    CPC分类号： G05B19/404 ,  B23Q17/22 ,  G05B19/4015 ,  G05B2219/33078 ,  G05B2219/37123 ,  G05B2219/39056 ,  G05B2219/49344 ,  G05B2219/50057 ,  G05B2219/50297

    摘要： A numerically controlled machine tool which has a linear feed axis (X,Y,Z) and a rotational feed axis (A,B,C) and which has functions for measuring in advance, errors of a relative position and a relative attitude of a main spindle (4) relative to a work table (6) by positioning the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C) to specified position and attitude, and correcting a movement command based on measured error data (34), the error data (34) being multidimensional data containing a position error (34a) and an attitude error (34b). The machine tool includes a error data storage means (25) which store an error map that is prepared by collecting a plurality of the error data (34) corresponding to positions and rotation angles of the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C), and a correction data computing means (26) which compute correction data for correcting the movement command from a command position for the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C) and the error data (34) stored in the error data storage means (25).

    摘要翻译： 一种具有线性进给轴（X，Y，Z）和旋转进给轴（A，B，C）的数控机床，其预先具有用于测量的功能，相对位置的误差和相对姿态的误差 通过将线性进给轴线（X，Y，Z）和旋转进给轴线（A，B，C）定位到指定的位置和姿态，相对于工作台（6）的主轴（4） 在测量误差数据（34）上，误差数据（34）是包含位置误差（34a）和姿态误差（34b）的多维数据。 该机床包括误差数据存储装置，其存储通过收集对应于直线进给轴（X，Y，Z）的位置和旋转角度的多个误差数据（34）而准备的误差图，以及 旋转进给轴（A，B，C）和校正数据计算装置（26），其计算用于从用于线性进给轴（X，Y，Z）和旋转进给的指令位置校正运动命令的校正数据 轴（A，B，C）和存储在错误数据存储装置（25）中的错误数据（34）。

    VERFAHREN UND VORRICHTUNG ZUR ONLINE KALIBRIERUNG UND ZUM FÜHREN EINES MEHRACHSIGEN GELENKARMROBOTERS
    3.
    发明公开
    VERFAHREN UND VORRICHTUNG ZUR ONLINE KALIBRIERUNG UND ZUM FÜHREN EINES MEHRACHSIGEN GELENKARMROBOTERS 审中-公开
    METHOD AND APPARATUS FOR在线标定以及用于驱动多轴关节臂机器人

    公开(公告)号：EP2969401A1

    公开(公告)日：2016-01-20

    申请号：EP14715852.1

    申请日：2014-03-10

    申请人： KUKA Systems GmbH ,  Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)

    发明人： CARSTENS, Jan ,  KENDER, Helmut ,  KREBS, Florian ,  GERNGROSS, Tobias

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1638 ,  B25J9/1641 ,  B25J9/1692 ,  G05B2219/36415 ,  G05B2219/39024 ,  G05B2219/39056

    摘要： The invention relates to a method or an apparatus for online calibration and for guiding a multiaxis jointed-arm robot (2) that, with an end effector (4), travels along a preprogrammed path stored in its robot controller (5). The jointed-arm robot (2) moves the end effector (4) along the programmed path during a reference journey with an experimentally performed process and in so doing carries along a test sample from an external guidance system (8). During the robot movement, the position and orientation of the test sample (9) are recorded by an external, in particular optical measuring device and a guidance computer (14) of the guidance system (8). In this case, position, orientation and path errors are detected online and correction values are ascertained and output to the robot controller (5). The robot controller (5) uses the correction values to correct the programmed path as appropriate. The external guidance system (8) and/or the robot controller (5) store the correction values, and in later operation the thus corrected programmed path is travelled along possibly without an external guidance system (8).

    Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system
    5.
    发明公开
    Method for in-line calibration of an industrial robot, calibration system for performing such a method and industrial robot comprising such a calibration system 审中-公开
    用于与所述校准系统中执行的方法和工业机器人用于在线的工业机器人校准系统的校准的方法

    公开(公告)号：EP2722136A1

    公开(公告)日：2014-04-23

    申请号：EP12189174.1

    申请日：2012-10-19

    申请人： inos Automationssoftware GmbH

    发明人： Alifragkis, Matthaios, Dr. ,  Bouganis, Alexandros, Dr. ,  Demopoulos, Andreas ,  Tassakos, Charalambos, Dr.-Ing

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1692 ,  G05B2219/39018 ,  G05B2219/39043 ,  G05B2219/39046 ,  G05B2219/39048 ,  G05B2219/39056 ,  G05B2219/39391 ,  G05B2219/39394 ,  G05B2219/39397

    摘要： The invention refers to a method for in-line calibration of an industrial robot (1). The robot (1) comprises a fixed base section (2) and a multi chain link robot arm (3). The chain links (4) are interconnected and connected to the base section (2) of the robot (1), respectively, by means of articulated joints (5). An end effector (6) of the robot arm (3) can be moved in respect to the base section (2) within a three-dimensional workspace into any desired location. The idea is to move the end effector (6) into a predefined calibration location and to determine characteristic parameters of the robot (1) for that location. The characteristic parameters are compared to previously acquired values of the corresponding parameters for that calibration location. The differences between the characteristic parameters of the current location and the previously acquired parameters are used for correcting the kinematic model of the robot (1) and during normal operation of the robot (1) to enhance the accuracy of movement of the distal end (6). The end effector (6) is moved exactly into the calibration location by means of an iterative closed loop control process, in which light sources (7) fixedly connected to the end effector (6) emit light rays which impact on at least one optical position sensor (12) fixedly positioned in respect to the robot base (2). The end effector (6) is moved such that the actual ray positions (20) on the sensors (12) are moved to a predefined position (20') corresponding to the predefined calibration location by means of the iterative process.

    摘要翻译： 本发明涉及一种用于在在线的工业机器人（1）的校准。 机器人（1）包括一个固定的基座部分（2）和多连杆机械手臂链（3）。 链节（4）相互连接并且连接到基座部分（2）机器人（1），分别由铰接接头的装置（5）。 机器人臂（3）的端部执行（6）能够在相对于三维工作空间内的基座部分（2）被移动到任何所需的位置。 这样做是为了使端部执行（6）移动到一个预定的校准位置和所述机器人（1）针对该位置的确定性矿特性参数。 的特征参数进行比较，以针对相应的校准位置的参数的先前获取的值。 使用当前位置的特征参数和先前获取的参数之间的差异，用于校正机器人的运动学模型（1），并且在正常操作的机器人（1）的提升远端的运动的准确度（6 ）。 端部执行器（6）被精确地移动到通过迭代闭环控制过程的装置中的校准位置，其中光源（7）固定地连接到端部执行器（6）发射的光线哪上的至少一个光学位置冲击 传感器（12）在相对于机器人基座（2）固定地定位。 端部执行器（6）上移动检查没有在传感器（12）的实际位置射线（20）通过所述迭代过程的装置被移动到预定的位置（20“）对应于所述预定的校准位置。

    METHOD AND DEVICE FOR PREPARING ERROR MAP AND NUMERICALLY CONTROLLED MACHINE TOOL HAVING ERROR MAP PREPARATION FUNCTION
    7.
    发明公开
    METHOD AND DEVICE FOR PREPARING ERROR MAP AND NUMERICALLY CONTROLLED MACHINE TOOL HAVING ERROR MAP PREPARATION FUNCTION 审中-公开
    方法和设备产生误差表和数控机床与错误表生产函数

    公开(公告)号：EP2975475A1

    公开(公告)日：2016-01-20

    申请号：EP15002431.3

    申请日：2007-11-02

    申请人： MAKINO MILLING MACHINE CO., LTD.

    发明人： Norio, Mori ,  Tadashi, Kasahara ,  Tadahiro, Nishiguchi

    IPC分类号： G05B19/401 ,  G05B19/404 ,  B23Q17/22 ,  B23Q15/00

    CPC分类号： G05B19/404 ,  B23Q17/22 ,  G05B19/4015 ,  G05B2219/33078 ,  G05B2219/37123 ,  G05B2219/39056 ,  G05B2219/49344 ,  G05B2219/50057 ,  G05B2219/50297

    摘要： In a numerically controlled machine tool which has a linear feed axis (X,Y,Z) and a rotational feed axis (A,B,C) and in which a main spindle (4) and a table (6) are movable relative to each other, a position error (34a) and an attitude error (34b) produced by an operation of a linear feed axis (X,Y,Z) and a rotational feed axis (A,B,C) are measured at a plurality of measurement points set within a movable range of the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C), and the position error (34a) and the attitude error (34b) thus measured are stored as an error map in correspondence to a position of the linear feed axis (X,Y,Z) and a rotation angle of the rotational feed axis (A,B,C).

    摘要翻译： 在数控机床具有直形（C A，B，）和进给轴（X，Y，Z）和一个旋转进给轴，其中，主轴（4）和表（6）相对于可动 海誓山盟，（34B）通过在直线进给轴（X，Y，Z）和一个旋转进给轴（A，B，C）的操作所产生的位置误差（图34A）和姿态误差在的多元性被测量 直线进给轴（X，Y，Z）和旋转进给轴（A，B，C），并且位置误差（34A）的一个可移动范围内设定测量点和所述姿态误差（34b）的这样测量被存储 如错误对应位置图直线进给轴的位置（X，Y，Z）和旋转进给轴的旋转角度（A，B，C）。

    Numerically controlled machine tool and numerical control device
    8.
    发明公开
    Numerically controlled machine tool and numerical control device 有权
    数控机床和数值控制装置

    公开(公告)号：EP2221692A3

    公开(公告)日：2013-10-09

    申请号：EP10004807.3

    申请日：2007-11-02

    申请人： MAKINO MILLING MACHINE CO., LTD.

    发明人： Mori, Norio ,  Kasahara, Tadashi ,  Nishiguchi, Tadahiro

    IPC分类号： G05B19/401 ,  G05B19/404 ,  B23Q17/22

    CPC分类号： G05B19/404 ,  B23Q17/22 ,  G05B19/4015 ,  G05B2219/33078 ,  G05B2219/37123 ,  G05B2219/39056 ,  G05B2219/49344 ,  G05B2219/50057 ,  G05B2219/50297

    摘要： A numerically controlled machine tool which has a linear feed axis (X,Y,Z) and a rotational feed axis (A,B,C) and which has functions for measuring in advance, errors of a relative position and a relative attitude of a main spindle (4) relative to a work table (6) by positioning the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C) to specified position and attitude, and correcting a movement command based on measured error data (34), the error data (34) being multidimensional data containing a position error (34a) and an attitude error (34b). The machine tool includes a error data storage means (25) which store an error map that is prepared by collecting a plurality of the error data (34) corresponding to positions and rotation angles of the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C), and a correction data computing means (26) which compute correction data for correcting the movement command from a command position for the linear feed axis (X,Y,Z) and the rotational feed axis (A,B,C) and the error data (34) stored in the error data storage means (25).

    Control of a machining operation
    10.
    发明公开
    Control of a machining operation 审中-公开
    Steuerung eines Bearbeitungsvorgangs

    公开(公告)号：EP2555069A1

    公开(公告)日：2013-02-06

    申请号：EP12176072.2

    申请日：2012-07-12

    申请人： Rolls-Royce plc

    发明人： Cameron, Mitchel

    IPC分类号： G05B19/418 ,  B25J9/16 ,  B23H9/10

    CPC分类号： G05B19/41815 ,  B25J9/1692 ,  G05B2219/39056 ,  G05B2219/40071 ,  G05B2219/45147 ,  Y02P90/08 ,  Y02P90/083

    摘要： A method for controlling the machining of a component is provided. The method incorporates closed-loop control based on feedback of measured parameters. The method includes the steps of: (i) measuring predetermined dimensions of a component; (ii) comparing the measured dimensions against design data defining a required shape for the component; (iii) using the results of the comparison to define material removal that is needed to bring the component to the required shape; (iv) delivering the component to a site at or adjacent to a machining station having a material removal tool (24), the component being gripped by a robotic manipulator (22) at said site; (v) using the defined material removal and the known position of the robotic manipulator at the machining station to determine movements of the material removal tool that will produce the required shape for the component; and (vi) performing a machining operation on the component at the machining station using the determined movements while maintaining the grip on the component by the robotic manipulator. The method further includes: the step, between steps (iv) and (v), of measuring the position of the gripped component and/or the robotic manipulator at said site to determine errors in the position of the robotic manipulator; and using the determined errors in the previous step to improve the accuracy of the known position of the robotic manipulator at the machining station.

    摘要翻译： 提供了一种用于控制部件加工的方法。 该方法采用基于测量参数反馈的闭环控制。 该方法包括以下步骤：（i）测量部件的预定尺寸; （ii）将测量的尺寸与限定组件的所需形状的设计数据进行比较; （iii）使用比较结果来定义将组件带到所需形状所需的材料去除; （iv）将组件递送到具有材料去除工具（24）的加工站处或邻近的位置，所述部件被所述位置处的机器人操纵器（22）夹持; （v）使用定义的材料去除和机械手操纵器在加工站处的已知位置来确定将为部件产生所需形状的材料去除工具的移动; 以及（vi）使用所确定的运动在加工站的部件上进行加工操作，同时通过机器人操纵器保持对部件的抓握。 该方法还包括：在步骤（iv）和（v）之间的步骤，测量所述位置处的夹持部件和/或机器人操纵器的位置，以确定机器人操纵器的位置的误差; 并且在上一步骤中使用确定的误差来提高机械手操纵器在加工台处的已知位置的准确度。