公开(公告)号：US08283884B2

公开(公告)日：2012-10-09

申请号：US13035635

申请日：2011-02-25

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka

IPC分类号： G05B19/25

CPC分类号： G05B19/404 ,  G05B2219/49344 ,  G05B2219/50297

摘要： A five-axis machining tool that machines a workpiece mounted on a table using three linear axes and two rotary axes is controlled by a numerical controller. The numerical controller calculates a translational compensation amount and a rotational compensation amount by obtaining axis-dependent translational compensation amounts and axis-dependent rotational compensation amounts on the basis of commanded axis positions. Then, the numerical controller moves the three linear axes and the two rotary axes of the five-axis machining tool to positions obtained by adding the translational compensation amount and the rotational compensation amount thus calculated to a command linear axis position and a command rotary axis position, respectively.

摘要翻译： 使用三轴直线轴和两个旋转轴对安装在工作台上的工件进行加工的五轴加工工具由数字控制器控制。 数值控制器通过基于指令的轴位置获得与轴相关的平移补偿量和与轴相关的旋转补偿量来计算平移补偿量和旋转补偿量。 然后，数值控制器将五轴加工工具的三个直线轴和两个旋转轴移动到通过将如此计算的平移补偿量和旋转补偿量相加到指令直线轴位置和指令旋转轴位置而获得的位置 ， 分别。

公开(公告)号：US07433754B2

公开(公告)日：2008-10-07

申请号：US11790069

申请日：2007-04-23

申请人： Toshiaki Otsuki ,  Soichiro Ide

发明人： Toshiaki Otsuki ,  Soichiro Ide

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34089 ,  G05B2219/34149 ,  G05B2219/49344

摘要： A numerical controller configured to enable machining of a conical surface such that vectors at a start point, an end point, and an interpolation point of a circular arc and their extensions never cross one another. Normal direction vectors Vnors and Vnore, tangential direction vectors Vtans and Vtane, and tool posture vectors Vts and Vte at the starting and end points are obtained based on programmed positions PA′ and PB′ of the starting and end points, a circle center position, and rotational positions of two rotary axes. Based on these vectors, tangential direction angles as and ae and the normal direction angles bs and be with respect to tool postures at the starting and end points are obtained. Normal and tangential direction vectors Vnori and Vtani and angles ai and bi at the interpolation point are obtained by interpolating the normal and tangential direction vectors and angles at the starting and end points, whereby a tool posture vector Vti at the interpolation point is obtained. The rotational positions of the rotary axes and positions of linear axes are obtained based on the tool posture vector Vti at the interpolation point. Circular machining can be also performed for a three-dimensional programmed circular arc.

摘要翻译： 一种数字控制器，其被配置为能够加工圆锥形表面，使得在起始点，终点和圆弧的内插点处的矢量及其延伸部不会相互交叉。 根据起始点和终点的编程位置PA'和PB'，圆心中心位置，圆弧中心位置， 和两个旋转轴的旋转位置。 基于这些向量，获得切向方向角度和ae以及法线方向角度bs，并且相对于起点和终点处的工具姿势。 通过内插正交和切向方向矢量以及起点和终点处的角度来获得正交和切向方向矢量Vnori和Vtani以及插值点处的角度ai和bi，由此获得插值点处的刀具姿态矢量Vti。 基于插补点处的刀具姿势向量Vti，获得旋转轴的旋转位置和直线轴的位置。 也可以对三维编程圆弧进行圆形加工。

公开(公告)号：US20080288103A1

公开(公告)日：2008-11-20

申请号：US12081757

申请日：2008-04-21

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

IPC分类号： G05B19/19

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.

摘要翻译： 如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。 在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。 此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。 为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。

公开(公告)号：US20060247820A1

公开(公告)日：2006-11-02

申请号：US11414170

申请日：2006-05-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34171

摘要： The invention provides a method of generating a smooth curve from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes to perform interpolation along the curve. Corrected command points are obtained for linear axes and for rotary axes, respectively. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. And a curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, curve interpolation which is more appropriate than that in a multi-axis machine tool having two or more rotary axes can be performed.

摘要翻译： 本发明提供了一种通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数值控制器从指令的点序列生成平滑曲线的方法，以沿曲线执行内插。 对于直线轴和旋转轴分别获得纠正的指令点。 用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。 并且生成通过合成的校正命令点的曲线来执行插值。 结果，可以进行比具有两个以上旋转轴的多轴机床更合适的曲线插补。

公开(公告)号：US20050033459A1

公开(公告)日：2005-02-10

申请号：US10909304

申请日：2004-08-03

申请人： Toshiaki Otsuki ,  Soichiro Ide

发明人： Toshiaki Otsuki ,  Soichiro Ide

IPC分类号： B23Q15/00 ,  G05B11/01 ,  G05B11/32 ,  G05B19/18 ,  G05B19/4093 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416

CPC分类号： G05B19/416 ,  B25J9/1623 ,  G05B19/4103 ,  G05B2219/33272 ,  G05B2219/34167 ,  G05B2219/43062 ,  G05B2219/43065 ,  G05B2219/43203

摘要： A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive axes are not exceeded. A program is analyzed in a command analysis section, and an interpolated position on a motion path in the rectangular coordinate system is determined in a first interpolation section, and then converted by means of a transformation section into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section, a tangential acceleration is determined. In a velocity limit calculating section, a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes. A deceleration target velocity at the time of each position being reached is determined in a deceleration target velocity calculating section. An intermediate memory stores the calculated results. A motion amount for a processing period of a second interpolation section is determined in an acceleration/deceleration processing section, and is interpolated in the second interpolation section, to be output to a servo control section for the drive axes. By performing the acceleration/deceleration processing before the second interpolation, a trajectory error is eliminated.

摘要翻译： 一个消除由加速/减速控制引起的误差的控制器，并且控制不由直角坐标系表示的驱动轴的速度，使得不超过驱动轴的速度，加速度和加加速度的最大允许值。 在命令分析部分中分析程序，并且在第一内插部分中确定直角坐标系中的运动路径上的内插位置，然后通过变换部分转换成不在矩形坐标中的驱动轴的位置 系统。 在切向加速度计算部中，确定切向加速度。 在速度限制计算部中，确定到达每个位置时的速度极限，其不超过驱动轴的速度，加速度和加加速度的最大允许值。 在减速目标速度计算部中确定到达各位置时的减速目标速度。 中间存储器存储计算结果。 在加速/减速处理部分中确定第二内插部分的处理周期的运动量，并且在第二内插部分中被内插，以输出到用于驱动轴的伺服控制部分。 通过在第二次插补之前进行加减速处理，消除了轨迹误差。

公开(公告)号：US08260453B2

公开(公告)日：2012-09-04

申请号：US12325419

申请日：2008-12-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

IPC分类号： G05B19/00 ,  G05B19/18 ,  G05B19/25 ,  G05B19/41 ,  G05B19/416 ,  B25J9/06 ,  B25J9/10

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.

摘要翻译： 一种用于控制五轴加工装置的数值控制器，其中对刀具取向指令进行校正，从而获得平滑的加工表面和缩短的加工时间。 数值控制器包括：命令读取装置，其连续地读取刀具定向指令;刀具取向指令校正装置，其校正刀具取向指令，使得每个旋转轴运动量与直线轴运动量之间的比率在每个块中是恒定的;插值装置 基于由刀具定向指令校正装置校正的刀具取向指令，运动路径指令和相对运动速度指令，在每个插补周期确定各个轴位置，使得刀具终点沿着命令的命令运动路径移动 相对运动速度和驱动相应轴电动机的装置，使得到达由内插装置确定的各个轴位置。

公开(公告)号：US07869897B2

公开(公告)日：2011-01-11

申请号：US12081757

申请日：2008-04-21

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takeshi Miyazaki

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： If the angle α formed between the interpolated cutting surface perpendicular direction vector (It, Jt, Kt) and the interpolated tool direction vector (Ttx, Tty, Ttz) becomes smaller, movement of a tool becomes unstable. In this case, the tool diameter compensation vector (TCx, TCy, TCz) is set to the tool diameter compensation vector calculated in the immediately previous interpolation cycle, thereby preventing unstable movement. Further, in case of a block instruction where a distance between positions in cutting point instructions is large whereas distance of movement of linear axis control point is small, an excessive cutting may occur. To deal with this problem, movement of linear axis control point in a current block is stopped or converted into linear movement so as to prevent a loop-shaped movement of the linear axis control point.

摘要翻译： 如果在内插的切割面垂直方向矢量（It，Jt，Kt）和内插的刀具方向矢量（Ttx，Tty，Ttz）之间形成的角度α变小，则刀具的移动变得不稳定。 在这种情况下，刀具直径补偿矢量（TCx，TCy，TCz）被设定为在紧接在前的插补循环中计算出的刀具直径补偿矢量，从而防止不稳定的运动。 此外，在切割指令中的位置之间的距离大且线性轴控制点的移动距离小的块指令的情况下，可能发生过度切割。 为了解决这个问题，线性轴控制点在当前块中的移动被停止或转换为线性运动，以防止线性轴控制点的环形运动。

公开(公告)号：US20070250206A1

公开(公告)日：2007-10-25

申请号：US11790069

申请日：2007-04-23

申请人： Toshiaki Otsuki ,  Soichiro Ide

发明人： Toshiaki Otsuki ,  Soichiro Ide

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34089 ,  G05B2219/34149 ,  G05B2219/49344

摘要： A numerical controller configured to enable machining of a conical surface such that vectors at a start point, an end point, and an interpolation point of a circular arc and their extensions never cross one another. Normal direction vectors Vnors and Vnore, tangential direction vectors Vtans and Vtane, and tool posture vectors Vts and Vte at the starting and end points are obtained based on programmed positions PA′ and PB′ of the starting and end points, a circle center position, and rotational positions of two rotary axes. Based on these vectors, tangential direction angles as and ae and the normal direction angles bs and be with respect to tool postures at the starting and end points are obtained. Normal and tangential direction vectors Vnori and Vtani and angles ai and bi at the interpolation point are obtained by interpolating the normal and tangential direction vectors and angles at the starting and end points, whereby a tool posture vector Vti at the interpolation point is obtained. The rotational positions of the rotary axes and positions of linear axes are obtained based on the tool posture vector Vti at the interpolation point. Circular machining can be also performed for a three-dimensional programmed circular arc.

摘要翻译： 一种数字控制器，其被配置为能够加工圆锥形表面，使得在起始点，终点和圆弧的内插点处的矢量及其延伸部不会相互交叉。 根据起始点和终点的编程位置PA'和PB'，圆心中心位置，圆弧中心位置， 和两个旋转轴的旋转位置。 基于这些向量，获得切向方向角度和ae以及法线方向角度bs，并且相对于起点和终点处的工具姿势。 通过内插正交和切向方向矢量以及起点和终点处的角度来获得正交和切向方向矢量Vnori和Vtani以及插值点处的角度ai和bi，由此获得插值点处的刀具姿态矢量Vti。 基于插补点处的刀具姿势向量Vti，获得旋转轴的旋转位置和直线轴的位置。 也可以对三维编程圆弧进行圆形加工。

公开(公告)号：US20090228138A1

公开(公告)日：2009-09-10

申请号：US12342770

申请日：2008-12-23

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Daijirou Koga

IPC分类号： G05B19/4099 ,  G05B19/41

CPC分类号： G05B19/4103 ,  G05B19/404 ,  G05B2219/35158 ,  G05B2219/49344 ,  G05B2219/50297 ,  G05B2219/50336

摘要： A numerical controller for controlling a five-axis processing machine including three linear axes and two rotational axes for machining a workpiece attached onto a table thins out a command of a moving path of any one of the linear axes and a command of a tool direction if both of the change amount of a tool direction and the change amount of a linear axis in the command of the moving path are smaller than preset values, respectively.

摘要翻译： 用于控制包括三个直线轴和两个旋转轴的五轴加工机的数字控制器，用于加工附着在工作台上的工件，从而消除任何一个直线轴的运动路径的命令和一个工具方向的指令，如果 移动路径的指令中的刀具方向的变化量和线性轴的变化量都分别小于预设值。

公开(公告)号：US07274969B2

公开(公告)日：2007-09-25

申请号：US11414170

申请日：2006-05-01

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Hisashi Shiobara

IPC分类号： G06F19/00

CPC分类号： G05B19/4103 ,  G05B2219/34171

摘要： A method of generating a smooth curve to perform interpolation from a commanded sequence of points by a numerical controller for a multi-axis machine tool having three linear axes and two or more rotary axes. Corrected command points are obtained for linear axes and for rotary axes. Components of corrected command points for linear axes and corrected command points for rotary axes are synthesized with each other so as to obtain a synthesized corrected command point. A curve passing through the synthesized corrected command points is generated to perform interpolation. As a result, a more appropriate curve interpolation method for a multi-axis machine tool having two or more rotary axes can be performed.

摘要翻译： 一种用于通过具有三个线性轴和两个或更多个旋转轴的多轴机床的数字控制器从指令的点序列生成平滑曲线的方法。 对于直线轴和旋转轴获得纠正的指令点。 用于线性轴的校正指令点和旋转轴的校正指令点的组成部分彼此合成，以获得合成的校正指令点。 生成通过合成校正后的指令点的曲线，进行插补。 结果，可以执行具有两个或更多个旋转轴的多轴机床的更适合的曲线插补方法。