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公开(公告)号：US20180299267A1
公开(公告)日：2018-10-18
申请号：US15767571
申请日：2016-10-05
发明人： Eric Durand , Franck Duquenoy
CPC分类号： G01B21/04 , B25J9/0042 , B25J9/1623 , B25J17/0216 , G01D5/34746 , G05B19/31 , G05B2219/50053
摘要： A method for compensating for accuracy errors of a hexapod is disclosed, said hexapod comprising a base, an actuation assembly having six linear translation actuators, a control unit, and a movable carriage comprising a platform connected to the base by means of the actuation assembly. The method includes a measurement step for determining geometry and positioning errors on the hexapod, the measurement step including sub-steps for determining positioning errors of the pivot centers on the carriage and on the base, for determining length errors of the actuators and for measuring positioning errors of the actuators along the path thereof, the compensation method also including a step for calculating, from measurements taken, error compensation values and a step for applying said error compensation values to the control unit of the hexapod, during subsequent use of said hexapod.
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公开(公告)号：US20180250783A1
公开(公告)日：2018-09-06
申请号：US15907792
申请日：2018-02-28
申请人： FANUC CORPORATION
CPC分类号： B23Q15/22 , B23Q3/15526 , B23Q3/15534 , B23Q11/0891 , B23Q17/2404 , B23Q17/2409 , B23Q17/2452 , B23Q17/249 , B23Q2220/006 , B23Q2716/00 , G05B19/31 , G05B2219/35519
摘要： A machine tool system includes a machine tool main body for machining a workpiece supported on a table by using a tool detachably attached to a spindle, and an information processing apparatus. The machine tool main body includes a rotary tool magazine in which multiple grips each capable of holding the tool to be attached to the spindle are provided along the circumferential direction, and an image pickup device that is arranged in the tool magazine and configured to take an image of multiple members in a machining area of the machine tool main body. The information processing apparatus includes a geometric feature calculating unit configured to calculate the shapes and the arrangement state of the multiple members in the machining area, based on image data of the image taken by the image pickup device.
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公开(公告)号：US20180217576A1
公开(公告)日：2018-08-02
申请号：US15885678
申请日：2018-01-31
IPC分类号： G05B19/409 , G05B19/31 , G06F3/0482
CPC分类号： G05B19/409 , G05B19/31 , G05B2219/32423 , G05B2219/40099 , G05B2219/40518 , G06F3/0482
摘要： Various embodiments are related to processor subsystems of material handling systems performing methods of creating one or more case placement patterns for placement of cases on a pallet by a palletizer. A human-machine interface (HMI) is executed by the processor subsystem that provides a control affordance to a user, selection, or to provide numerical inputs, for creating or selecting pre-created patterns. The HMI is adapted to provide preview of patterns in real-time, while the patterns are created. In this regard, the preview of patterns corresponds to currently positioned representations of cases on a pallet. The HMI is also adapted to render dynamic changes on the previewed pattern as the cases are positioned on the pallet, in real world, by the palletizer.
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公开(公告)号：US09958857B2
公开(公告)日：2018-05-01
申请号：US15483258
申请日：2017-04-10
申请人： FANUC CORPORATION
发明人： Shoutarou Hashimoto , Tadashi Okita , Yuuki Morita
IPC分类号： H02P1/54 , G05B11/01 , G05B19/404 , G05B19/31 , G05B19/4062
CPC分类号： G05B19/404 , G05B19/31 , G05B19/4062 , G05B2219/34013 , G05B2219/41059 , G05B2219/50297
摘要： To provide a motor control device, motor control method, and non-transitory computer readable medium recording a motor control program, which add a backlash correction amount to a position command for a motor at the appropriate timing. Included are a first position detection part that detects a first position which is a position of a movable part; a second position detection part that detects a second position which is a position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value and a second position detected value; and a backlash correction part that adds a backlash correction amount when the absolute value for the variation of the positional error since reversal of a position command was detected exceeds the predetermined reference value.
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公开(公告)号：US20170300033A1
公开(公告)日：2017-10-19
申请号：US15483258
申请日：2017-04-10
申请人： FANUC CORPORATION
发明人： Shoutarou HASHIMOTO , Tadashi OKITA , Yuuki MORITA
IPC分类号： G05B19/404 , G05B19/31 , G05B19/4062
CPC分类号： G05B19/404 , G05B19/31 , G05B19/4062 , G05B2219/34013 , G05B2219/41059 , G05B2219/50297
摘要： To provide a motor control device, motor control method, and non-transitory computer readable medium recording a motor control program, which add a backlash correction amount to a position command for a motor at the appropriate timing. Included are a first position detection part that detects a first position which is a position of a movable part; a second position detection part that detects a second position which is a position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value and a second position detected value; and a backlash correction part that adds a backlash correction amount when the absolute value for the variation of the positional error since reversal of a position command was detected exceeds the predetermined reference value.
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公开(公告)号：US20170285606A1
公开(公告)日：2017-10-05
申请号：US15470011
申请日：2017-03-27
申请人： FANUC CORPORATION
发明人： Hiroshi MATSUMURA , Makoto SUZUKI
IPC分类号： G05B19/31 , G05B19/416
CPC分类号： G05B19/31 , G05B19/4067 , G05B19/40937 , G05B19/4163 , G05B2219/37582 , G05B2219/45044
摘要： A numerical control device that controls servomotors configured to process a workpiece into an arbitrary finishing shape by performing a plurality of processing operations so that the tool moves along a processing locus, the numeral control device includes: an initial locus deriving unit configured to derive the processing locus based on the arbitrary finishing shape; a processed range acquiring unit configured to acquire a processed range in which the tool has performed the processing operation; a receiving unit configured to receive a processing instruction for a changed finishing shape different from the arbitrary finishing shape; and a changed locus deriving unit configured to derive a changed processing locus based on a shape of a changed processed part obtained by excluding the processed range from the changed finishing shape at the time of interruption of the processing.
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公开(公告)号：US20170194841A1
公开(公告)日：2017-07-06
申请号：US15064746
申请日：2016-03-09
发明人： Jagannath RAJU
CPC分类号： H02K11/21 , G05B19/31 , G05B2219/35457 , H02K7/116
摘要： A rotary positioning system configured to provide absolute referencing is provided. The rotary positioning system includes an encoder mounted on a motor shaft of a motor and configured to generate an index pulse corresponding to a complete rotation of the motor shaft. The rotary positioning system also includes a speed reducer coupled to the motor shaft and configured to reduce a rotary motion of the motor by a pre-defined ratio and an output drive shaft coupled to the speed reducer and configured to transfer the reduced rotary motion to a load. The rotary positioning system further includes a sensor mounted on the output drive shaft of the speed reducer and configured to determine an absolute orientation of the output drive shaft and a controller coupled to the sensor and configured to generate a correlation function of the absolute orientation and the index pulse count.
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28.发明授权公开(公告)号：US09678499B2
公开(公告)日：2017-06-13
申请号：US14338454
申请日：2014-07-23
发明人： Tyler Garaas , Sohrab Haghighat
IPC分类号： G06F19/00 , G05B19/31 , G05B19/4103 , G05B19/4093
CPC分类号： G05B19/31 , G05B19/40937 , G05B19/4103 , G05B2219/34112 , G05B2219/35121 , G05B2219/36199 , G05B2219/40454 , G05B2219/40463 , G05B2219/45041 , G05B2219/49365 , Y02P90/265
摘要： A method controls a machine with redundant actuators according to pattern of disconnected contours, wherein the machine includes redundant actuators by first generating a set of initial trajectories from the pattern. Each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour. A set of costs for the set of initial trajectories is determined. A sequence of final trajectories is determined based on the set of costs. Then, a set of commands is generated for controlling the machine according to the sequence of final trajectories.
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公开(公告)号：US20160170401A1
公开(公告)日：2016-06-16
申请号：US14907989
申请日：2014-07-29
发明人： Kenji Mori , Jin Fukumitsu , Akihiro Nemoto , Takuro Kidani
CPC分类号： B23B41/12 , B23B29/03478 , B23B41/04 , B23B2215/242 , B23B2251/241 , G05B15/02 , G05B19/31 , G05B19/404 , G05B2219/37076 , G05B2219/37617 , G05B2219/50336
摘要： A round hole machining method and a round-hole machining device in which machining can be accurately performed regardless of the wear of an edge tool. A non-round hole machining device includes: a machining load data acquisition section for obtaining machining load data corresponding to a machining load acting on the cutting edge of a cutting tool when boring a bore in a cylinder block; a machined shape prediction section for predicting a machined shape of the workpiece by utilizing the obtained machining load data and elastic deformation amounts at respective positions on the workpiece; and a motor control section for machining the workpiece so as to form an inverted shape, that is, a shape formed by inverting the predicted machined shape with respect to a target shape.
摘要翻译： 圆孔加工方法和圆孔加工装置，其中可以精确地进行加工，而不管边缘工具的磨损。 一种非圆孔加工装置包括：加工载荷数据获取部分，用于获得与在气缸体中钻孔时作用在切削工具的切削刃上的加工载荷相对应的加工载荷数据; 加工形状预测部，用于通过利用所获得的加工载荷数据和在工件上的各个位置处的弹性变形量来预测加工的加工形状; 以及马达控制部分，用于加工所述工件以形成倒置的形状，即通过使所述预测加工形状相对于目标形状反转形成的形状。
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30.发明授权公开(公告)号：US09104192B2
公开(公告)日：2015-08-11
申请号：US13535266
申请日：2012-06-27
申请人： Matthew Brand
发明人： Matthew Brand
IPC分类号： G05B19/31 , G05B19/4103
CPC分类号： G05B19/31 , G05B19/4103 , G05B2219/34112 , G05B2219/36199 , G05B2219/45041 , G05B2219/49372
摘要： A set of costs representing operations of a machine along a set of trajectories connecting a set of exit and entry points on contours of a pattern is determined. Each trajectory represents an operation of the machine proceeding from an exit point with an exit velocity to an entry point with an entry velocity according to dynamics of the machine. The set of trajectories includes at least one trajectory representing the operation along a contour with non-zero velocities at corresponding exit and entry points, and at least one trajectory representing the operation between different contours with non-zero velocities at the corresponding exit and entry points. A sequence of the trajectories optimizing a total cost of operation of the machine tracking the pattern is determined based on the costs, and a set of instructions for controlling the machine is determined according to the sequence.
摘要翻译： 确定一组代表沿着连接模式轮廓上的一组出口和入口点的一组轨迹的机器的操作的成本。 每个轨迹表示机器从具有出口速度的出口点到具有根据机器的动力学的进入速度的入口点进行的操作。 该组轨迹包括至少一个轨迹，其表示在对应的出口和入口点处具有非零速度的轮廓的操作，以及表示在相应的出口和入口点处具有非零速度的不同轮廓之间的操作的至少一个轨迹 。 基于成本确定优化跟踪图案的机器的总操作成本的轨迹序列，并且根据顺序确定用于控制机器的一组指令。
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