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：US08041447B2

公开(公告)日：2011-10-18

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： G05B13/02 ,  G05B19/25 ,  G05B19/41 ,  G06F19/00

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：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：US08744612B2

公开(公告)日：2014-06-03

申请号：US13097858

申请日：2011-04-29

申请人： Soichiro Ide ,  Michiharu Kawahara ,  Takenori Ono

发明人： Soichiro Ide ,  Michiharu Kawahara ,  Takenori Ono

IPC分类号： G06F19/00 ,  G05B19/416 ,  G05B19/25

CPC分类号： G05B19/4163

摘要： A numerical controller for machine tools that has function of controlling the speed of arc operation calculates a first operable feedrate based on the arc radius of a machining path and the allowable frequency (or allowable angular speed) to which servo position control is capable of responding. The numerical controller also calculates a second operable feedrate based on the arc radius of the machining path and the allowable acceleration to which servo position control can respond, and selects the minimum feedrate from the commanded feedrate and the calculated first and second feedrate to perform speed control.

摘要翻译： 具有控制电弧运转速度功能的机床的数值控制器基于加工路径的电弧半径和伺服位置控制能够响应的允许频率（或允许角速度）来计算第一可操作进给率。 数值控制器还基于加工路径的弧半径和伺服位置控制可以响应的允许加速度来计算第二可操作进给率，并根据指令进给率和计算的第一和第二进给速度选择最小进给速度以执行速度控制 。

公开(公告)号：US08350514B2

公开(公告)日：2013-01-08

申请号：US13097795

申请日：2011-04-29

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： G05B19/25

CPC分类号： G05B19/404 ,  G05B2219/49198 ,  G05B2219/50297

摘要： A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.

摘要翻译： 用于控制多轴机器的数值控制器基于指令轴位置计算与轴相关的平移误差量和与轴相关的旋转误差量。 平移和旋转补偿量分别根据轴相关平移和旋转误差量计算。 平移和旋转补偿量分别被添加到命令线性和旋转轴位置。 三个直线轴和三个旋转轴分别被驱动到加入位置。 因此，提供了一种能够在多轴机器中使用工具或镗孔的侧面进行均匀加工的数值控制器处于命令的工具位置和姿势（取向）中。

公开(公告)号：US20120010745A1

公开(公告)日：2012-01-12

申请号：US13097858

申请日：2011-04-29

申请人： Soichiro IDE ,  Michiharu Kawahara ,  Takenori Ono

发明人： Soichiro IDE ,  Michiharu Kawahara ,  Takenori Ono

IPC分类号： G05B19/406

CPC分类号： G05B19/4163

摘要： A numerical controller for machine tools that has function of controlling the speed of arc operation calculates a first operable feedrate based on the arc radius of a machining path and the allowable frequency (or allowable angular speed) to which servo position control is capable of responding. The numerical controller also calculates a second operable feedrate based on the arc radius of the machining path and the allowable acceleration to which servo position control can respond, and selects the minimum feedrate from the commanded feedrate and the calculated first and second feedrate to perform speed control.

摘要翻译： 具有控制电弧运转速度功能的机床的数值控制器基于加工路径的电弧半径和伺服位置控制能够响应的允许频率（或允许角速度）来计算第一可操作进给率。 数值控制器还基于加工路径的弧半径和伺服位置控制可以响应的允许加速度来计算第二可操作进给率，并根据指令进给率和计算的第一和第二进给速度选择最小进给速度以执行速度控制 。

公开(公告)号：US20110234142A1

公开(公告)日：2011-09-29

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。