公开(公告)号：US20140371916A1

公开(公告)日：2014-12-18

申请号：US14374120

申请日：2012-12-20

申请人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

发明人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

IPC分类号： G05B13/04 ,  G05B19/402

CPC分类号： G05B13/04 ,  B23Q15/013 ,  G05B19/19 ,  G05B19/402 ,  G05B2219/41105 ,  G05B2219/42209 ,  G05B2219/42225 ,  G05B2219/45207 ,  G05D3/12

摘要： A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement model position.

摘要翻译： 伺服控制装置包括通过基于位置指令执行预定的过滤器计算来计算粗略运动模型位置的粗动参考模型单元; 粗动作跟随控制单元，其控制粗动轴电动机，使得粗动轴电动机位置基于粗动轴电动机位置跟随粗动模型位置 电机和粗动模型位置; 集成参考模型单元，通过基于位置命令执行预定的过滤器计算来计算积分模型位置; 以及精细运动跟随控制单元，其控制细长运动轴电动机，使得微运动轴电动机位置基于从微动运动提供的微动轴电动机位置跟随微动模型位置 轴电动机和从集成模型位置和粗动模型位置获得的精细运动模型位置。

公开(公告)号：US5315526A

公开(公告)日：1994-05-24

申请号：US772392

申请日：1991-10-07

申请人： Yutaka Maeda ,  Yoshimaro Hanaki ,  Seiichi Iwasaka

发明人： Yutaka Maeda ,  Yoshimaro Hanaki ,  Seiichi Iwasaka

IPC分类号： B23B21/00 ,  B23Q1/60 ,  G05B19/18 ,  G06F15/46

CPC分类号： G05B19/184 ,  B23Q1/601 ,  G05B2219/41268 ,  G05B2219/41457 ,  G05B2219/42209 ,  Y02P90/265 ,  Y10T82/2535

摘要： A numerically controlled lathe capable of machining a workpiece by numerically controlling a machining table provided with a machining tool. In order to prevent a local uneven abrasion of parts, which make a sliding contact, due to a mass production of workpieces having a simple form or a machining in a non-circular shape, there are provided a main carriage and a sub carriage. A machining tool is positioned on the sub carriage, and the sub carriage traverses on the main carriage along an axis which the main carriage and the sub carriage have in common. When a circular machining is carried out, the main carriage and the sub carriage respectively traverse by an equal amount in directions opposite to each other, and the cutting tool is constantly maintained at a position designated by an instruction. At the time of a non-circular machining, the main carriage and the sub carriage respectively traverse in directions opposite to each other; moreover, the sub carriage rapidly traverses in response to an instruction designating a location of the tool. Thus parts which make a sliding contact are evenly worn out by shifting the relative positions of both the main and sub carriages.

摘要翻译： 一种能够通过数控加工工具加工台加工工件的数控车床。 为了防止由于大量生产具有简单形状的工件或以非圆形形式的机加工而产生滑动接触的部件的局部不均匀磨损，设置有主滑架和副滑座。 加工工具位于副托架上，副托架沿着主托架和副托架具有共同的轴线在主托架上运动。 当执行圆形加工时，主托架和副托架分别在彼此相反的方向上横过相等的量，并且切割工具始终保持在由指令指定的位置。 在非圆形加工时，主托架和副托架分别沿彼此相反的方向横移; 此外，副托架响应于指示工具的位置的指令而快速地穿过。 因此，通过移动主滑架和副滑座的相对位置，使滑动接触部件均匀地磨损。

公开(公告)号：US20190027170A1

公开(公告)日：2019-01-24

申请号：US15894958

申请日：2018-02-13

申请人： OMRON Corporation

发明人： Masaki NAMIE ,  Yukio INAME ,  Mikiko MANABE

IPC分类号： G11B5/596

CPC分类号： G11B5/59627 ,  G05B13/048 ,  G05B19/4086 ,  G05B19/4103 ,  G05B2219/41149 ,  G05B2219/41195 ,  G05B2219/42058 ,  G05B2219/42209

摘要： A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.

公开(公告)号：US5661388A

公开(公告)日：1997-08-26

申请号：US448872

申请日：1995-05-24

申请人： Hiroshi Kurosawa

发明人： Hiroshi Kurosawa

IPC分类号： G03F9/00 ,  B23Q1/00 ,  B23Q1/30 ,  B23Q1/34 ,  B23Q15/24 ,  G03F7/20 ,  G05B19/39 ,  G05D3/12 ,  H01L21/027 ,  H01L21/68 ,  B23Q16/00 ,  B65G49/07

CPC分类号： G03F7/70691 ,  G05B19/39 ,  G05B2219/41326 ,  G05B2219/41344 ,  G05B2219/41457 ,  G05B2219/42122 ,  G05B2219/42126 ,  G05B2219/42209 ,  G05B2219/45027

摘要： A positioning method and positioning system wherein a driving device, for moving a movable table on a rough-motion stage by a small amount, is alternately controlled through a pair of switchable control systems. The amounts by which the table is driven are initially adjusted to the same amounts by the pair of control systems when the paired control systems are switched.

摘要翻译： 一种定位方法和定位系统，其中通过一对可切换控制系统交替地控制用于在粗动台上移动少量可移动台的驱动装置。 当配对的控制系统被切换时，通过控制系统对来初始调整表的驱动量。

公开(公告)号：US08374706B2

公开(公告)日：2013-02-12

申请号：US13024699

申请日：2011-02-10

申请人： Marco Bock ,  Wolfgang Papiernik

发明人： Marco Bock ,  Wolfgang Papiernik

IPC分类号： G05B11/01

CPC分类号： G05B19/39 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/42219

摘要： In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.

摘要翻译： 在使用具有在公共方向上移动的单独控制的驱动轴的情况下移动自动化机器的机器元件的方法中，第一控制器接收使用具有频率相关传递函数的滤波器进行滤波的第一期望控制变量。 在一个实施例中，第一期望的控制变量表示机器元件的整体运动。 在滤波的第一期望变量和第一实际变量之间确定差异，并且将差作为期望的控制变量提供给第二控制器，以控制第二驱动轴的运动。 在另一个实施例中，将经滤波的第一期望变量和第二期望变量相加以形成和，并且将形成的和与第一实际变量之间的差作为期望的控制变量提供给第二控制器，以控制第 第二传动轴。

公开(公告)号：US20120143354A1

公开(公告)日：2012-06-07

申请号：US13024699

申请日：2011-02-10

申请人： Marco Bock ,  Wolfgang Papiernik

发明人： Marco Bock ,  Wolfgang Papiernik

IPC分类号： G05B19/402 ,  G05D3/12

CPC分类号： G05B19/39 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/42219

摘要： In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.

摘要翻译： 在使用具有在公共方向上移动的单独控制的驱动轴的情况下移动自动化机器的机器元件的方法中，第一控制器接收使用具有频率相关传递函数的滤波器进行滤波的第一期望控制变量。 在一个实施例中，第一期望的控制变量表示机器元件的整体运动。 在滤波的第一期望变量和第一实际变量之间确定差异，并且将差作为期望的控制变量提供给第二控制器，以控制第二驱动轴的运动。 在另一个实施例中，将经滤波的第一期望变量和第二期望变量相加以形成和，并且将形成的和与第一实际变量之间的差作为期望的控制变量提供给第二控制器，以控制第 第二驱动轴。

公开(公告)号：US20100146802A1

公开(公告)日：2010-06-17

申请号：US12643332

申请日：2009-12-21

申请人： Andreas Ehlerding

发明人： Andreas Ehlerding

IPC分类号： G01B5/008

CPC分类号： G05B19/402 ,  B23Q1/445 ,  G05B19/404 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/49284 ,  G05B2219/50019

摘要： A method for the optimized movement co-ordination of measuring machines or machine tools having redundant axles having at translatory action, wherein the longer partial axles in each case permit a relatively slowly accelerated partial movement over a relatively large measuring or processing space and the shorter partial axles in each case essentially carry out the movement components of a total movement at a substantially altogether constant measuring or processing speed, which require an acceleration beyond a maximum set or stipulated for the respective longer partial axles, wherein, when approaching positions that in an undivided movement would otherwise not be attainable, the base axles correspondingly decelerate and can even come to a complete standstill, wherein by simultaneous displacement of the neutral starting point of the additional axles, the respective movement component of the base axles missing from the total movement is compensated.

摘要翻译： 一种用于具有平移作用的具有冗余轴的测量机器或机床的优化运动协调的方法，其中每种情况下较长的部分轴允许在相对大的测量或处理空间上相对缓慢地加速的部分运动，并且较短的部分 在每种情况下的轴基本上以完全恒定的测量或处理速度基本上执行总运动的运动分量，其需要超过对于相应的较长部分轴设定或规定的最大值的加速度，其中当接近未分割的位置时 否则将不能实现运动，基座轴相应地减速并且甚至可以完全停止，其中通过同时移动附加轴的中性起点，补偿从总运动中缺失的基座的相应运动部件 。

公开(公告)号：US20060047358A1

公开(公告)日：2006-03-02

申请号：US10932239

申请日：2004-08-31

申请人： Erwin Liang ,  Eugene Olczak ,  Joseph Smolenski ,  Teeporn Tanpitukpongse ,  Eric Robrigado

发明人： Erwin Liang ,  Eugene Olczak ,  Joseph Smolenski ,  Teeporn Tanpitukpongse ,  Eric Robrigado

IPC分类号： G06F19/00

CPC分类号： G05B19/19 ,  B23B29/125 ,  B23B2260/108 ,  B23K26/0823 ,  B23K26/355 ,  B23K26/364 ,  G05B19/182 ,  G05B2219/41344 ,  G05B2219/42209 ,  Y02P90/265 ,  Y10T82/2502

摘要： There is provided a machining tool for machining a workpiece on a workpiece support in response to control signals. The machining tool includes a cutting tool configured to cut a surface of the workpiece. The machining tool also includes a first displacement mechanism and a second displacement mechanism. The first displacement mechanism arranged to displace the cutting tool relative to the workpiece in a first set of coordinates in response to the control signals. The second displacement mechanism supported by the first translation mechanism and arranged to displace the cutting tool relative to the workpiece in a second set of coordinates, the second displacement mechanism capable of a higher frequency response than the first displacement mechanism. The machining tool also includes a controller configured to receive the control signals and synchronize the displacement of the cutting tool due to the first displacement mechanism with the displacement of the cutting tool due to the second displacement mechanism.

摘要翻译： 提供了用于响应于控制信号在工件支架上加工工件的加工工具。 该加工工具包括切割工具，该切割工具被构造成切割工件的表面。 该加工工具还包括第一位移机构和第二位移机构。 所述第一移位机构被布置成响应于所述控制信号而以第一坐标系位移所述切削工具相对于所述工件。 所述第二位移机构由所述第一平移机构支撑并布置成在第二坐标系中相对于所述工件移动所述切割工具，所述第二位移机构能够比所述第一位移机构具有更高的频率响应。 该加工工具还包括控制器，该控制器被配置为接收控制信号并使由于第一位移机构的切削工具的位移与由于第二位移机构引起的切削工具的位移同步。

公开(公告)号：US5808435A

公开(公告)日：1998-09-15

申请号：US657039

申请日：1996-05-28

申请人： Michael Mager

发明人： Michael Mager

IPC分类号： G01B7/00 ,  G05B11/18 ,  G05B19/39

CPC分类号： G01B7/002 ,  G05B19/39 ,  G05B2219/41457 ,  G05B2219/42089 ,  G05B2219/42209

摘要： A micropositioner has a coarse positioner and a fine positioner, with a separate closed loop control circuit for the fine positioner. A disk head being positioned over a disk is attached to the stage of the fine positioner. The fine positioner includes a parallelogram flexure having first and second opposite sides attached respectively to the coarse positioning stage and the fine positioning stage. A piezoelectric translator translates the second side of the flexure relative to the coarse positioning stage. In order to sense displacement of the fine positioning stage relative to the coarse positioning stage, a differential electric field sensor is employed. The sensor includes a pair of side plates both mounted fixedly relative to one of the stages and opposing each other to create an electrical field between them, and a probe plate mounted fixedly relative to the other of the two stages and between the two side plates. As the second stage moves relative to the first, the voltage sensed by the probe plate is fed back to control the piezoelectric translator until the probe voltage indicates that the fine displacement amount matches a desired fine displacement amount indicated by a command signal. In an embodiment, the fine positioner feedback loop controls the voltages applied to the side plates such that the voltage sensed by the probe plate is zero whenever the fine positioner is at equilibrium.

摘要翻译： 微定位器具有粗定位器和精细定位器，具有用于精细定位器的单独的闭环控制电路。 位于盘上方的盘头安装在精细定位器的台上。 精细定位器包括平行四边形弯曲部，其具有分别连接到粗定位台和精细定位台的第一和第二相对侧。 压电转换器相对于粗定位台平移挠曲件的第二侧。 为了检测精细定位台相对于粗定位台的位移，采用差动电场传感器。 该传感器包括一对侧板，它们相对于一个台架固定安装并相互相对以在它们之间产生电场;以及探针板，其相对于两个台阶中的另一个固定地安装在两个侧板之间。 当第二阶段相对于第一阶段移动时，由探针板感测的电压被反馈以控制压电转换器，直到探针电压指示精细位移量与由命令信号指示的期望精细位移量相匹配。 在一个实施例中，精细定位器反馈环路控制施加到侧板的电压，使得只要精细定位器处于平衡状态，探针板感测到的电压为零。

公开(公告)号：US5751585A

公开(公告)日：1998-05-12

申请号：US615049

申请日：1996-03-12

申请人： Donald R. Cutler ,  Robert M. Pailthorp ,  Mark A. Unrath

发明人： Donald R. Cutler ,  Robert M. Pailthorp ,  Mark A. Unrath

IPC分类号： G05B19/19 ,  G05B19/39 ,  G05D3/12 ,  H05K3/00 ,  G06F19/00 ,  G06G7/66

CPC分类号： B23K26/083 ,  B23K26/082 ,  B23K26/0876 ,  G05B19/39 ,  H05K3/0038 ,  G05B2219/34047 ,  G05B2219/34391 ,  G05B2219/36029 ,  G05B2219/41331 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/42219 ,  G05B2219/45041 ,  G05B2219/45139 ,  H05K2203/0165 ,  H05K2203/108 ,  H05K3/0008 ,  H05K3/0017

摘要： A multi-rate positioner system (50) receives unpanelized positioning commands from a database storage subsystem (64), profiles the commands (72) into a half-sine positioning signal, and further processes the signal into a low-frequency positioning signal (LFP) and a high-frequency positioning signal (HFP) for actuating respective slow (56, 58) and fast (54) positioners to target locations on a workpiece (62). The slow and fast positioners move without necessarily stopping in response to a stream of positioning command data while coordinating their individually moving positions to produce temporarily stationary tool positions (140) over target locations defined by the database. The multi-rate positioning system reduces the fast positioner movement range requirement while providing significantly increased tool processing throughput.

摘要翻译： 多速率定位器系统（50）从数据库存储子系统（64）接收未通用的定位命令，将命令（72）分配成半正弦定位信号，并进一步将该信号处理成低频定位信号（LFP ）和用于致动相应的缓慢（56,58）和快速（54）定位器的目标位置的高频定位信号（HFP）。 响应于定位指令数据流而缓慢且快速的定位器移动而不必停止，同时协调其单独移动的位置，以在由数据库定义的目标位置上产生临时固定的工具位置（140）。 多速率定位系统降低了快速定位器移动范围的要求，同时提供了显着增加的刀具处理吞吐量。