公开(公告)号：US4851986A

公开(公告)日：1989-07-25

申请号：US143133

申请日：1987-12-03

Applicant: Masaki Seki ,  Kouji Samukawa

Inventor： Masaki Seki ,  Kouji Samukawa

IPC: G05B19/4093 ,  G05B19/4097 ,  G05B19/41

CPC classification number: G05B19/41 ,  G05B2219/35147 ,  G05B2219/35151

Abstract: A method of creating NC data for a complex curved surface (10) which has a combination of at least two three-dimensional curved surfaces (11, 12). The NC data creation method includes inputting data specifying each of the curved surfaces (11, 12) and data for specifying cutting path patterns (a pattern 21 of radiating straight lines and a pattern 22 of parallel straight lines) for respective ones of the curved surfaces. Points are obtained discretely from a cutting starting point (P.sub.i) of one curved surface (11) to a boundary point (R.sub.i) with the other curved surface (12) along the radiating-type cutting path pattern (21) set for this curved surface. Points are also obtained discretely on the other curved surface along the cutting path pattern (22) of parallel straight lines specified with respect to the other curved surface (12). A pick-feed is performed points are obtained discretely along the cutting path pattern on each of the curved surfaces in similar fashion. NC data for generating a complex curved surface by successively traversing each of the points, is created.

公开(公告)号：US4847779A

公开(公告)日：1989-07-11

申请号：US163972

申请日：1988-02-02

Applicant: Kamiguchi Masao ,  Umemoto Hiroshi

Inventor： Kamiguchi Masao ,  Umemoto Hiroshi

IPC: B29C45/50 ,  B29C45/67 ,  B29C45/70 ,  B29C45/76 ,  G05B19/18 ,  G05B19/404 ,  G05B19/41 ,  G05B19/414

CPC classification number: B29C45/76 ,  G05B19/41 ,  G05B19/4147 ,  G05B2219/34402 ,  G05B2219/45244 ,  Y02P90/265

Abstract: A numerical control method and an apparatus therefor, in which a mold opening operation or an eject operation is performed during a metering operation so that the injection-molding cycle time is shortened. When a cooling period terminates or mold opening is completed during the metering operation, a programmable machine controller for sequentially controlling an injection-molding machine delivers information specifying a clamp axis or an eject axis, the displacement, moving speed, and moving direction of the axis, and a step feed command to a numerical control unit for controlling servomotors for axes of the injection-molding machine, through a common RAM. Pulse distribution for the clamp axis or the eject axis, based on this information, and pulse distribution for a screw rotating axis are alternately executed by a numerical control unit, which responds to the step feed command. Thus, the screw rotating axis is driven simultaneously with the clamp axis or the eject axis, so that the mold opening or eject operation can be performed during the metering operation.

公开(公告)号：US4837703A

公开(公告)日：1989-06-06

申请号：US63644

申请日：1987-06-17

Applicant: Yukinori Kakazu ,  Noburo Minami ,  Katsuhiko Nukui

Inventor： Yukinori Kakazu ,  Noburo Minami ,  Katsuhiko Nukui

IPC: G05B19/18 ,  B23Q15/00 ,  G05B19/404 ,  G05B19/4061 ,  G05B19/4063 ,  G05B19/4069 ,  G05B19/4093 ,  G05B19/4097 ,  G05B19/41

CPC classification number: G05B19/4069 ,  G05B19/4061 ,  G05B19/41 ,  G05B2219/36289 ,  G05B2219/36319 ,  G05B2219/49157 ,  Y02P90/265

Abstract: The issue of tool path generation has so far been approached from points of automatic programming system on typified by APT. In the automatic programming system, however, patterns of workpieces should be recognized by operators, and if the workpieces are of complicated shapes, it should require much skill and time. Studies have been conducted in recent years to generate tool paths by building up in advance solid models in a computer, and modifying the models for a particular problem everytime it needs to be solved. According to this invention method, a required shape and an environmental model including a workpiece are modeled in three-dimensions by using CSG models, and are offset in a normal direction of the surface in correspondence to the tool radius to convert the tool into a line tool so that the problem is replaced with a graphic problem viewed from the tool axis direction. In other words, this invention method attempts to solve the problem of checking tool collision by a hidden line or surface removal process of a graphic algorithm, and further the shape is offset by an offset value decided by taking into consideration an appropriate finish margin to thereby enhance efficiency in machining.

Abstract translation: 迄今为止，以APT为代表的自动编程系统的问题已经探讨了刀具路径生成问题。 然而，在自动编程系统中，操作人员应该认识到工件的图案，如果工件的形状复杂，则需要很多技巧和时间。 近年来已经进行了研究，通过在计算机上预先建立固体模型，在每次需要解决的情况下修改特定问题的模型来生成工具路径。 根据本发明的方法，通过使用CSG模型，将包括工件的所需形状和环境模型三维地建模，并且在与刀具半径相对应的表面的法线方向上偏移以将工具转换成线 工具，使问题被从刀具轴方向看到的图形问题所取代。 换句话说，本发明的方法尝试通过图形算法的隐藏线或表面去除处理来解决检查刀具碰撞的问题，并且还通过考虑适当的精加工余量决定的偏移值来抵消形状的偏移。 提高加工效率。

公开(公告)号：US4821207A

公开(公告)日：1989-04-11

申请号：US43581

申请日：1987-04-28

Applicant: Loo Ming ,  Veljko Milenkovic

Inventor： Loo Ming ,  Veljko Milenkovic

IPC: B25J9/16 ,  B25J9/18 ,  G05B19/41 ,  G05B19/4103 ,  G06F15/46 ,  G05B19/415 ,  G05B19/42

CPC classification number: G05B19/41

Abstract: A method for generating a path to be followed by the end effector of an industrial robot includes defining the location of points on the path, recording the coordinates of the points in cartesian space, determining the slope of the path at each of the taught points with reference to a code that defines the nature of the path in the vicinity of each point, calculating the direction vector representing the slope at each taught point, locating the position and slope of a point midway between successive taught points, connecting the taught points and the midpoints with a circular arc whose slope is equal to the slope at the taught points and midpoints, and generating points between the taught points with reference to the desired velocity of the end effector at each of the generated points on the path to be traversed.

公开(公告)号：US4816733A

公开(公告)日：1989-03-28

申请号：US843695

申请日：1986-03-04

Applicant: Shinsuke Sakakibara ,  Tatsuo Karakama

Inventor： Shinsuke Sakakibara ,  Tatsuo Karakama

IPC: B25J9/18 ,  G05B19/18 ,  G05B19/404 ,  G05B19/41 ,  G05B19/42

CPC classification number: G05B19/182 ,  G05B19/41 ,  G05B2219/39399 ,  G05B2219/45083 ,  G05B2219/50291

Abstract: A tool position compensation method for correcting a tool position when an old tool (16) mounted on a hand (15) of a robot is replaced. Information on the axes of the robot after the new tool is mounted is obtained based on information on the axes of the robot taught before the old tool is replaced, tool position information (TCP1) at that time, and tool position information TCP2) after the new tool is mounted.

Abstract translation: PCT No.PCT / JP85 / 00396 Sec。 371日期：1986年3月4日 102（e）日期1986年3月4日PCT申请日1985年7月13日PCT公布。 第WO86 / 00729号公报 日期：1986年1月30日。一种用于在安装在机器人的手部（15）上的旧工具（16）被更换时用于校正刀具位置的刀具位置补偿方法。 基于关于在更换旧工具之前教导的机器人的轴的信息，在此之后的工具位置信息（TCP1）和工具位置信息TCP2）之后的信息，获得关于安装新工具之后的机器人的轴的信息 安装了新工具。

公开(公告)号：US4772161A

公开(公告)日：1988-09-20

申请号：US20123

申请日：1987-02-27

Applicant: Takaaki Nagao ,  Yotaro Hatamura ,  Kozo Ono

Inventor： Takaaki Nagao ,  Yotaro Hatamura ,  Kozo Ono

IPC: B24B49/16 ,  B23Q15/013 ,  B23Q17/22 ,  B24B19/20 ,  G05B19/41 ,  B23Q15/12

CPC classification number: B23Q17/2233 ,  B24B19/20 ,  B24B49/16 ,  G05B19/41 ,  G05B2219/49362 ,  Y10T409/304704 ,  Y10T409/306888 ,  Y10T409/30728 ,  Y10T409/308008

Abstract: A profile working machine includes a support portion, a working portion, and a drive and control system. The machine also includes displacement sensors for detecting the present relative displacements between the support portion and working portion, a load sensor for detecting each working reaction force exerted to the working portion, a memory unit for storing values corresponding to a predetermined suitable working reaction force detected by the load sensor, a deviation computing unit for computing the deviation of each working reaction force from the values stored in the memory unit, and a displacement computing unit for computing, based on the deviation determined by the deviation computing unit and the present relative displacement detected by the displacement sensors, corrective relative displacements of the support portion and working portion required to bring the difference to 0, whereby the spatial orientation of the load sensor is maintained constant relative to the direction of the suitable working reaction force.

Abstract translation: 轮廓加工机包括支撑部分，工作部分以及驱动和控制系统。 该机器还包括用于检测支撑部分和工作部分之间的当前相对位移的位移传感器，用于检测施加到工作部分上的每个工作反作用力的负载传感器，用于存储与检测到的预定合适的工作反作用力对应的值的存储单元 通过负载传感器，用于计算每个工作反作用力与存储在存储单元中的值的偏差的偏差计算单元;以及位移计算单元，用于基于由偏差计算单元确定的偏差和当前的相对位移 由位移传感器检测到，将差值设定为0所需的支撑部分和工作部分的校正相对位移，由此负载传感器的空间取向相对于合适的工作反作用力的方向保持恒定。

公开(公告)号：US4764878A

公开(公告)日：1988-08-16

申请号：US43350

申请日：1987-03-17

Applicant: Kunio Tanaka ,  Yasushi Onishi

Inventor： Kunio Tanaka ,  Yasushi Onishi

IPC: B23Q15/00 ,  G05B19/4093 ,  G05B19/41 ,  G05B19/00

CPC classification number: G05B19/41 ,  G05B2219/49381

Abstract: The invention relates to a surface cutting method for back-and-forth surface cutting of the interior of an area (AR) bounded by a closed curve.The surface cutting method includes repeating the following steps:a step of obtaining points of intersection P.sub.i, Q.sub.i between an i-th cutting path (PT.sub.i) and an offset curve offset (OFC') by (T+C+R) to the outer side of the closed curve, as well as points of intersection P.sub.i+1, Q.sub.i+1 between the offset curve and an (i+1)th cutting path (PT.sub.i+1), where T, C and R represent excess thickness, amount of clearance and tool radius, respectively;a step of obtaining a coordinate value, in the cutting path direction, of an outermost point R.sub.i on the offset curve (OFC') between the points of intersection Q.sub.i, Q.sub.i+1, where Q.sub.i is a point of intersection on a cutting end point side of the i-th cutting path (PT.sub.i) and Q.sub.i+1 is a point of intersection on a cutting starting point side of the (i+1)th cutting path (PT.sub.i+1);a step of performing surface cutting by moving a tool along the i-th cutting path until a coordinate value of the position of the tool in the cutting path direction coincides with the coordinate value of the point R.sub.i in the cutting path direction; anda step of moving the tool at a cutting velocity to the next (i+1)th cutting path (PT.sub.i+1) in a shift direction.

Abstract translation: PCT No.PCT / JP86 / 00380 Sec。 371日期1987年3月17日 102（e）1987年3月17日PCT PCT 1986年7月21日PCT公布。 出版物WO87 / 日本1987年1月29日。本发明涉及一种用闭合曲线界定的区域（AR）的内部进行前后面切割的表面切割方法。 表面切割方法包括重复以下步骤：将第i个切割路径（PTi）和偏移曲线偏移（OFC'）之间的交点Pi，Qi与（T + C + R）之间的点相对于外部 闭合曲线侧，以及偏移曲线与第（i + 1）切割路径（PTi + 1）之间的交点Pi + 1，Qi + 1，其中T，C和R表示多余的厚度， 的间隙和刀具半径; 获得交点Qi，Qi + 1之间的偏移曲线（OFC'）上的最外点Ri的坐标值在切割路径方向上​​的坐标值的步骤，其中Qi是切割终点上的交点 第i切割路径（PTi）的侧面和第一+ 1是第（i + 1）切割路径（PTi + 1）的切割起点侧的交点; 通过沿着第i切割路径移动刀具直到刀具在切割路径方向上​​的位置的坐标值与切割路径方向上​​的点Ri的坐标值一致来进行表面切割的步骤; 以及将刀具以切割速度移动到在移动方向上的下一（i + 1）切割路径（PTi + 1）的步骤。

公开(公告)号：US4764877A

公开(公告)日：1988-08-16

申请号：US43349

申请日：1987-03-17

Applicant: Kunio Tanaka ,  Yasushi Onishi

Inventor： Kunio Tanaka ,  Yasushi Onishi

IPC: B23Q15/00 ,  C07C259/06 ,  G05B19/4093 ,  G05B19/41 ,  G05B19/00

CPC classification number: G05B19/41 ,  G05B2219/49381 ,  G05B2219/49392

Abstract: The present invention relates to a surface cutting method for cutting a surface within an area (AR) bounded by a predetermined closed curve (CCL) by moving a tool (TL) along a cutting path (PT.sub.i) in a predetermined direction (direction of arrow A) to cut the surface within the area, thenceforth moving the tool along an adjacent cutting path (PT.sub.i+1), obtained by a shift of a predetermined amount, to cut the surface, and repeating these surface cutting operations.The surface cutting method includes obtaining an offset curve (OFC) offset by a predetermined amount to the outer side of the closed curve (CCL), obtaining width W, in the shift direction (direction of arrow B), of the area bounded by the offset curve (OFC), finding, from among lengths of line segments obtained by dividing the width W into n equal parts, a length closest to a predetermined maximum cut-in amount without exceeding the same, adopting this length as an actual cut-in amount P, and performing surface cutting by shifting the tool (TL) by the cut-in amount P in the shift direction after the end of surface cutting along the cutting path PT.sub.i, and thereafter moving the tool along the adjacent cutting path PT.sub.i+1. A cutting starting point (P.sub.i) and cutting end point (Q.sub.i) of each cutting path are provided on an offset curve (OFC') offset by a predetermined amount to the outer side of the closed curve (CCL) specifying the area.

Abstract translation: PCT No.PCT / JP86 / 00381 Sec。 371日期1987年3月17日 102（e）1987年3月17日PCT PCT 1986年7月21日PCT公布。 公开号WO87 / 00475 日本1987年1月29日。本发明涉及一种用于通过沿着切割路径（PTi）移动工具（TL）来切割由预定闭合曲线（CCL）界定的区域（AR）内的表面的表面切割方法 沿着预定方向（箭头A的方向）切割该区域内的表面，然后沿着通过预定量的偏移获得的相邻切割路径（PTi + 1）移动工具，以切割表面，并重复这些表面 切割作业。 表面切割方法包括获得偏移到闭合曲线（CCL）的外侧预定量的偏移曲线（OFC），获得沿着移动方向（箭头B的方向）的宽度W 偏移曲线（OFC），从宽度W分为n个相等部分获得的线段长度中，找出最接近预定最大切入量的长度，而不超过相同的长度，采用该长度作为实际切入 量P，并且通过沿着切割路径PTi在表面切割结束之后沿着移动方向移动刀具（TL）进行表面切割，然后沿着相邻切割路径PTi + 1移动刀具 。 每个切割路径的切割起始点（Pi）和切割终点（Qi）被设置在偏移预定量的偏移曲线（OFC'）上，以与指定该区域的闭合曲线（CCL）的外侧相对。

公开(公告)号：US4722044A

公开(公告)日：1988-01-26

申请号：US713442

申请日：1985-03-19

Applicant: Richard K. Heiser ,  Thomas R. Fulkerson ,  Royal R. Hawkins

Inventor： Richard K. Heiser ,  Thomas R. Fulkerson ,  Royal R. Hawkins

IPC: E02F9/20 ,  G05B19/41 ,  G05B19/427 ,  G06F15/20 ,  E02F3/72

CPC classification number: G05B19/41 ,  E02F9/2037 ,  G05B19/427 ,  G05B2219/35354 ,  G05B2219/35438 ,  G05B2219/36153 ,  G05B2219/36383 ,  G05B2219/36544 ,  G05B2219/39002 ,  G05B2219/41105 ,  G05B2219/41255 ,  G05B2219/41318 ,  G05B2219/41363 ,  G05B2219/42318

Abstract: Machines having a boom or arm pivotally disposed thereon wherein the length of the boom or arm and the angle thereof with respect to a reference plane are adjustable by means of actuators are well known. However, it is extremely difficult, if not impossible, to simultaneously control the actuators in a coordinated fashion to move the end of the boom or arm in a straight line path. In order to overcome this problem, a boom control system for a boom according to the present invention controls the actuators in either of two modes of operation, the first mode of operation comprising independent control over each actuator to afford polar coordinate operation and the second mode of operation comprising synchronized control over the actuators so that the end of the member may be moved in a straight line. Means are provided for manually selecting one of the two modes of operation. Means may be provided for calculating the amount of remaining horizontal throw of the boom or arm when a command to move same is issued.

公开(公告)号：US4703143A

公开(公告)日：1987-10-27

申请号：US811368

申请日：1985-12-20

Applicant: Yasumi Okubo ,  Asami Morino

Inventor： Yasumi Okubo ,  Asami Morino

IPC: B23H7/06 ,  G05B19/401 ,  G05B19/41 ,  G05D15/00

CPC classification number: B23H7/065 ,  G05B19/4015 ,  G05B19/41 ,  G05B2219/37612 ,  G05B2219/41123 ,  G05B2219/45221 ,  G05B2219/49164

Abstract: A machining control method for an electrical discharge machine compensates for the lagging of the wire electrode as the electrode is advanced from a straight line portion to a change of direction portion of the outline to be machined. The wire electrode is advanced from the straight line portion of the outline until it reaches the change of direction point of the outline and is then halted until the wire electrode lag is corrected. During the halt, machining takes place under a different set of conditions. When the lag is corrected, the wire electrode is advanced along the change of direction portion under a third set of machining conditions. When the wire electrode reaches another straight line portion, the outline machining of the workpiece is resumed under the first set of machining conditions. Also disclosed is a method of controlling the positioning of a workpiece by trial positioning a large number of workpieces having a variety of weights under a variety of load conditions of the control motor. The positioning accuracy of the trial positionings are measured and a table of correction values for positioning according to the desired positioning is calculated and stored. When positioning a workpiece to be machined, the weight and motor load are compared to the stored correction values, a correction value is determined, and the workpiece is positioned using the determined correction value.

Abstract translation: 放电机械的加工控制方法补偿当电极从直线部分前进到待加工轮廓的方向部分的变化时线电极的滞后。 线电极从轮廓的直线部分前进直到其到达轮廓的方向点的改变，然后停止直到线电极滞后被校正。 在停止期间，加工在不同的条件下进行。 当滞后被校正时，线电极在第三组加工条件下沿着方向部分的改变而前进。 当线电极到达另一条直线部分时，在第一组加工条件下恢复工件的轮廓加工。 还公开了一种通过在控制电动机的各种负载条件下试验定位具有各种重量的多个工件的方法来控制工件的定位。 测量试验定位的定位精度，并计算并存储根据所需定位的定位校正值表。 当定位要加工的工件时，将重量和电机负载与存储的校正值进行比较，确定校正值，并使用确定的校正值来定位工件。