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：US20090093905A1

公开(公告)日：2009-04-09

申请号：US12192590

申请日：2008-08-15

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

IPC分类号： G05B19/404

CPC分类号： G05B19/4086 ,  G05B2219/35557 ,  G05B2219/50049

摘要： A numerical controller controlling a 5-axis machine tool compensates setting error that arises when a workpiece is set on the table. Error in the three linear axes and the two rotation axes are compensated using preset error amounts to keep the calculated tool position and tool direction in a command coordinate system. If a trigonometric function used for error compensation has a plurality of solution sets, the solution set closest to the tool direction in the command coordinate system is selected from the plurality of solution sets and used as the positions of the two rotation axes compensated in the above error compensation.

摘要翻译： 控制5轴机床的数字控制器可以补偿工件设置在工作台上时产生的设定误差。 三个直线轴的误差和两个旋转轴的补偿使用预设的误差量，以将计算出的刀具位置和刀具方向保持在命令坐标系中。 如果用于误差补偿的三角函数具有多个解集，则从多个解集合中选择最靠近命令坐标系中的刀具方向的解，并将其用作在上述中补偿的两个旋转轴的位置 误差补偿。

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：US20060247817A1

公开(公告)日：2006-11-02

申请号：US11397692

申请日：2006-04-05

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

IPC分类号： G06F19/00

CPC分类号： G01B21/042

摘要： A work is installed on a table of a machine tool, and the coordinate system on the work is (X′, Y′, Z′). Each three points on respective three faces of the work, which are orthogonal to one another, A, B, C, D, E, F, G, H and I, are detected with a touch probe. From three points on the same plane, each of three formulas of planes which lies on the three points, respectively, are obtained. A position O′ (XO, YO, ZO) of a point where the three plane intersect with one another is obtained. This position is a parallel translation error. From these three plane formulas, points on the X′, Y′ and Z′ axes each being distant from the position O′ by the length L are obtained. Rotation matrices are obtained from the respective points, position O′ (XO, YO, ZO), and L. Rotary direction errors are obtained using the rotation matrices. In this manner, a work location error which is composed of the three-dimensional parallel translation error and three-dimensional rotary direction errors is obtained.

摘要翻译： 工件安装在机床的工作台上，工件上的坐标系为（X'，Y'，Z'）。 A，B，C，D，E，F，G，H和I彼此正交的工件的相应三个面上的每个三个点都用探针检测。 从同一平面上的三个点，分别得到位于三个点上的三个平面的三个公式。 获得三个平面彼此相交的点的位置O'（X O，O，Y O，Z O O）。 这个位置是平行翻译错误。 通过这三个平面公式，可以得到X'，Y'，Z'各自远离位置O'长度L的点。 旋转矩阵从相应的位置获得，位置O'（X O，O，O，Z O O）和L.旋转方向误差 使用旋转矩阵获得。 以这种方式，获得由三维平行平移平移误差和三维旋转方向误差构成的作业位置误差。

公开(公告)号：US06401006B1

公开(公告)日：2002-06-04

申请号：US09191127

申请日：1998-11-13

申请人： Tohru Mizuno ,  Toshiaki Otsuki ,  Shouichi Sagara ,  Yasuhiro Saito

发明人： Tohru Mizuno ,  Toshiaki Otsuki ,  Shouichi Sagara ,  Yasuhiro Saito

IPC分类号： G05F1900

CPC分类号： G05B19/4103 ,  G05B19/416

摘要： A controller to smoothly change speed of a machining tool to improve machining accuracy and speed of a machine. The controller includes a command analyzing section included in a block structure of software that analyzes a command program and converts it to data appropriate for use in a primary interpolation section. The primary interpolation section performs interpolation calculation in each first sampling period to obtain an interpolation point on a commanded path, and outputs the obtained interpolation point to an intermediate memory. The intermediate memory stores a motion amount for each axis, a feed rate and a block length. An acceleration/deceleration control section performs acceleration/deceleration control based on the data stored in the intermediate memory, and calculates speed in each second sampling period which is shorter than the first sampling period, to output the calculated speed to a secondary interpolation section. The secondary interpolation section defines a smooth curve expressed, for example, by a polynomial based on output from the acceleration/deceleration control section and the data in the intermediate memory, to output an interpolation point on the smooth curve in each second sampling period.

摘要翻译： 控制器可以平滑地改变加工工具的速度，提高机床的加工精度和速度。 控制器包括一个命令分析部分，其包括在分析命令程序的软件的块结构中，并将其转换成适合于在主要插值部分中使用的数据。 主插值部在每个第一采样周期中执行插值计算，以获得指令路径上的内插点，并将获得的插值点输出到中间存储器。 中间存储器存储每个轴的运动量，进给速率和块长度。 加速/减速控制部分基于存储在中间存储器中的数据执行加速/减速控制，并且计算比第一采样周期短的每个第二采样周期中的速度，以将计算出的速度输出到二次插值部分。 二次插值部分定义了例如基于加速/减速控制部分的输出的多项式和中间存储器中的数据表示的平滑曲线，以在每个第二采样周期内在平滑曲线上输出插值点。

公开(公告)号：US4870595A

公开(公告)日：1989-09-26

申请号：US256111

申请日：1988-10-11

申请人： Toshiaki Otsuki

发明人： Toshiaki Otsuki

IPC分类号： G05B19/18 ,  G05B19/408 ,  G05B19/4155 ,  G06F9/22 ,  G06F3/00

CPC分类号： G05B19/408 ,  G05B2219/35373 ,  G05B2219/35549

摘要： Data accommodated in a plurality of successive blocks specified by a registration command is converted into an execute form and prestored in storage means. In response to an execution command, control is performed in accordance with the stored data. In the case of executing in succession a plurality of blocks each having a short execution time, data in the blocks is converted into the execute form and stored. This eliminates the time for the data conversion, and hence permits continuous movement of a movable machine part.

摘要翻译： 容纳在由注册命令指定的多个连续块中的数据被转换为执行形式并且预先存储在存储装置中。 响应于执行命令，根据存储的数据进行控制。 在连续执行多个具有短执行时间的块的情况下，块中的数据被转换为执行形式并被存储。 这消除了数据转换的时间，并且因此允许可移动机器部件的连续移动。

公开(公告)号：US4842691A

公开(公告)日：1989-06-27

申请号：US24030

申请日：1987-03-10

申请人： Masato Nakajima ,  Toshiaki Otsuki ,  Atsushi Ikeda

发明人： Masato Nakajima ,  Toshiaki Otsuki ,  Atsushi Ikeda

IPC分类号： C09F1/04 ,  D21H17/62

CPC分类号： D21H17/62 ,  C09F1/04

摘要： This invention provides a sizing agent (A) to be used in neutral range in papermaking, the sizing agent being characterized in that it is an aqueous dispersion of a reaction product prepared by reacting, in a specific proportion, (i) a rosin compound and (ii) at least one polyhydric alcohol selected from among a trihydric alcohol and a tetrahydric alcohol both consisting of carbon, hydrogen and oxygen, and a sizing method using the sizing agent (A) in neutral range at a pH of about 6 to about 9 in papermaking. And this invention further provides a sizing agent (B) to be used in neutral range in papermaking, the sizing agent being characterized in that it is an aqueous dispersion of a reaction product prepared by reacting, in a specific proportion, (i) a rosin compound, (ii) at least one polyhydric alcohol selected from among a trihydric alcohol and a tetrahydric alcohol both consisting of carbon, hydrogen and oxygen and (iii) a .alpha.,.beta.-unsaturated carboxylic acid derivative, and a sizing method using the sizing agent (B) in neutral range at a pH of about 6 to about 9 in papermaking.

摘要翻译： 本发明提供了一种在造纸中使用的上浆剂（A），上浆剂的特征在于它是以特定比例反应制备的反应产物的水分散体，（i）松香化合物和 （ii）选自由碳，氢和氧组成的三元醇和四元醇中的至少一种多元醇，以及在pH为约6至约9的中性范围内使用上浆剂（A）的施胶方法 在造纸。 本发明还提供了一种在造纸中使用的上浆剂（B），上浆剂的特征在于，其为通过使特定比例的（i）松香 化合物，（ii）至少一种选自三元醇和四元醇的多元醇，其均由碳，氢和氧组成，和（iii）α，β-不饱和羧酸衍生物和使用上浆剂的施胶方法 （B）在造纸中在约6至约9的pH值的中性范围内。

公开(公告)号：US4831542A

公开(公告)日：1989-05-16

申请号：US64585

申请日：1987-06-22

申请人： Atsushi Shima ,  Toshiaki Otsuki

发明人： Atsushi Shima ,  Toshiaki Otsuki

IPC分类号： G05B19/4069

CPC分类号： G05B19/4069

摘要： For reliably and easily judging whether or not a cutting locus is correct, which locus has been set in a cutting locus or tool path control program, which program has a step of commanding the rotational angle of a rotary table carrying a workpiece and a step of commanding the locus of a cutter corresponding to each rotational angle commanding step. A rotational angle range for displaying the locus of the cutter is set through a keyboard or the like. A CPU causes a display only if the locus of the cutter is within the set range.

摘要翻译： 为了可靠且容易地判断切割轨迹是否正确，哪个轨迹已设置在切割轨迹或刀具路径控制程序中，哪个程序具有指令承载工件的旋转台的旋转角度的步骤，以及步骤 指令对应于每个旋转角度命令步骤的切割器的轨迹。 通过键盘等设置用于显示切割器的轨迹的旋转角度范围。 只有当刀具的轨迹在设定范围内时，CPU才会进行显示。

公开(公告)号：US08938316B2

公开(公告)日：2015-01-20

申请号：US13403006

申请日：2012-02-23

申请人： Toshiaki Otsuki ,  Osamu Hanaoka

发明人： Toshiaki Otsuki ,  Osamu Hanaoka

IPC分类号： G06F19/00 ,  G05B19/4069 ,  G06G7/48

CPC分类号： G05B19/4069 ,  G05B2219/35346 ,  G05B2219/36219 ,  G05B2219/36252 ,  Y02P90/265

摘要： In connection with a machining program used in machining a workpiece by means of a machine tool controlled by a numerical controller, interpolation data, a command position point sequence, and a servo position point sequence for each processing period are determined by simulation by designating speed data for giving a machining speed and precision data for giving a machining precision. A predicted machining time for workpiece machining is determined based on the determined interpolation data, and a predicted machining error for workpiece machining is determined based on the determined command and servo position point sequences. Further, the precision data and the speed data are determined for the shortest predicted machining time within a preset machining error tolerance, based on a plurality of predicted machining times and a plurality of predicted machining errors.

摘要翻译： 关于通过由数控机床控制的机床来加工工件的加工程序，通过指定速度数据进行模拟来确定每个处理周期的插值数据，命令位置序列和伺服位置点序列 为加工精度提供加工速度和精度数据。 根据确定的插补数据确定工件加工的预测加工时间，并且基于所确定的命令和伺服位置点序列来确定用于工件加工的预测加工误差。 此外，基于多个预测加工时间和多个预测加工误差，在预设加工误差容限内，针对最短预测加工时间确定精度数据和速度数据。

公开(公告)号：US08255078B2

公开(公告)日：2012-08-28

申请号：US13038600

申请日：2011-03-02

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Osamu Hanaoka ,  Takafumi Sasaki

IPC分类号： G05B19/19

CPC分类号： G05B19/4103 ,  G05B2219/49286

摘要： A numerical controller for controlling a multi-axis machine tool having three linear axes and three rotating axes obtains an interpolated tool direction vector by interpolating a tool direction command and computes multiple solutions for three rotating axes from the vector. The three rotating axis positions are computed by synthesizing these multiple solutions. The three linear axis positions on a machine coordinate system are computed by adding to the interpolated tool center point position the product of the interpolated tool direction vector, or a verified tool direction vector based on the three rotating axis positions determined by the rotating axis position computing means, and a tool length compensation amount. The three rotating axes are moved to the positions computed above and the three linear axes are moved to the positions computed above.

摘要翻译： 用于控制具有三个直线轴和三个旋转轴的多轴机床的数值控制器通过内插刀具方向指令获得内插的刀具方向矢量，并且从向量计算三个旋转轴的多个解。 通过合成这些多个解来计算三个旋转轴位置。 通过将内插刀具方向矢量的乘积或基于由旋转轴位置计算确定的三个旋转轴位置的经验证的刀具方向矢量相加，插入到刀具中心点位置来计算机床坐标系上的三个直线轴位置 装置和刀具长度补偿量。 三个旋转轴被移动到上面计算的位置，并且三个线性轴被移动到上面计算的位置。