公开(公告)号：US08763230B2

公开(公告)日：2014-07-01

申请号：US12977487

申请日：2010-12-23

申请人： Chin-Chu Sun ,  Cheng-Yu Chen ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang

发明人： Chin-Chu Sun ,  Cheng-Yu Chen ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang

IPC分类号： B21D39/03 ,  G05B19/4155

CPC分类号： G05B19/4155 ,  G05B2219/36091 ,  G05B2219/36092 ,  Y10T29/49 ,  Y10T29/49826 ,  Y10T29/49828 ,  Y10T29/49829

摘要： The present invention provides a manufacturing method for a machine tool having a human-machine interface and a program with predetermined manufacturing conditions. The manufacturing method includes (1) setting, via the human-machine interface, one or more specific manufacturing areas of the workpiece and specific conditions for the specific manufacturing areas; (2) determining by the controller whether the manufacturing of the workpiece is performed at one of the specific manufacturing areas; (3) performing the manufacturing of the workpiece under one of the specific conditions corresponding to the one of the specific manufacturing areas via the controller and monitoring continuously the manufacturing status of the machine tool if the manufacturing of the workpiece is performed at one of the specific manufacturing areas; and (4) performing the manufacturing of the workpiece according to the predetermined manufacturing conditions via the controller if the manufacturing of the workpiece is not performed at the specific manufacturing areas.

摘要翻译： 本发明提供一种具有人机接口和具有预定制造条件的程序的机床的制造方法。 制造方法包括（1）通过人机界面设定工件的一个或多个特定制造区域和特定制造区域的特定条件; （2）由控制器确定工件的制造是否在特定制造区域中的一个上进行; （3）经由控制器在与特定制造区域相对应的特定条件之一下进行工件制造，并连续地监视机床的制造状态，如果工件的制造是以具体的 制造领域; （4）如果不在特定制造区域进行工件的制造，则经由控制器按照规定的制造条件进行工件的制造。

公开(公告)号：US20100094435A1

公开(公告)日：2010-04-15

申请号：US12366598

申请日：2009-02-05

申请人： Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Cheng-Yu Chen

发明人： Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Cheng-Yu Chen

IPC分类号： G05B19/404 ,  G06F15/00

CPC分类号： G05B19/416 ,  G05B2219/43062

摘要： A method for controlling acceleration and deceleration before interpolating is provided. The method comprises steps of previewing and analyzing a processing program to estimate a limitation of a processing velocity, which comprises providing the processing program including a pathway formed by plural blocks; unitizing the motion vector of each block into the unit vector ( N ^ i = N _ i  N _ i  ) ; calculating a length (DVi=∥{right arrow over (DV)}i∥) of a vector difference in the unit vectors between each block and its next block ({right arrow over (DV)}i={circumflex over (N)}i−{circumflex over (N)}i+1); calculating a sum of the length of the vector difference in a distance from a starting block (S=Σ DVn); and calculating the limitation of the processing velocity for an end of each block (Vlim) according to an inverse ratio of the sum (1/S); and distributing a processing velocity according to the limitation.

摘要翻译： 提供了一种用于在内插之前控制加速和减速的方法。 该方法包括步骤：预览和分析处理程序以估计处理速度的限制，其包括提供包括由多个块形成的路径的处理程序; 将每个块的运动矢量单元化为单位矢量（N ^ i = N _ iN _ i）; 计算每个块与其下一个块之间的单位向量中的向量差的长度（DVi =∥{右箭头（DV）}i‖）（{右箭头（DV）} i = {在（N） } i- {（n）} i + 1）; 计算与起始块的距离中的矢量差的长度的和（S =＆Sgr; DVn）; 根据和（1 / S）的反比，计算每个块的结束处理速度的限制（Vlim）; 并根据该限制分配处理速度。

公开(公告)号：US20120117787A1

公开(公告)日：2012-05-17

申请号：US12977487

申请日：2010-12-23

申请人： Chin-Chu SUN ,  Cheng-Yu Chen ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang

发明人： Chin-Chu SUN ,  Cheng-Yu Chen ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang

IPC分类号： B23P17/04

CPC分类号： G05B19/4155 ,  G05B2219/36091 ,  G05B2219/36092 ,  Y10T29/49 ,  Y10T29/49826 ,  Y10T29/49828 ,  Y10T29/49829

摘要： The present invention provides a manufacturing method for a machine tool having a human-machine interface and a program with predetermined manufacturing conditions. The manufacturing method includes (1) setting, via the human-machine interface, one or more specific manufacturing areas of the workpiece and specific conditions for the specific manufacturing areas; (2) determining by the controller whether the manufacturing of the workpiece is performed at one of the specific manufacturing areas; (3) performing the manufacturing of the workpiece under one of the specific conditions corresponding to the one of the specific manufacturing areas via the controller and monitoring continuously the manufacturing status of the machine tool if the manufacturing of the workpiece is performed at one of the specific manufacturing areas; and (4) performing the manufacturing of the workpiece according to the predetermined manufacturing conditions via the controller if the manufacturing of the workpiece is not performed at the specific manufacturing areas.

摘要翻译： 本发明提供一种具有人机接口和具有预定制造条件的程序的机床的制造方法。 制造方法包括（1）通过人机界面设定工件的一个或多个特定制造区域和特定制造区域的特定条件; （2）由控制器确定工件的制造是否在特定制造区域中的一个上进行; （3）经由控制器在与特定制造区域相对应的特定条件之一下进行工件制造，并连续地监视机床的制造状态，如果工件的制造是以具体的 制造领域; （4）如果不在特定制造区域进行工件的制造，则经由控制器按照规定的制造条件进行工件的制造。

公开(公告)号：US08667475B2

公开(公告)日：2014-03-04

申请号：US12972812

申请日：2010-12-20

申请人： Wan-Kun Chang ,  Chin-Chu Sun ,  Cheng-Yu Chen ,  Yung-Ming Kao ,  Shih-Chang Liang

发明人： Wan-Kun Chang ,  Chin-Chu Sun ,  Cheng-Yu Chen ,  Yung-Ming Kao ,  Shih-Chang Liang

IPC分类号： G06F9/45

CPC分类号： G05B19/408 ,  G05B2219/36242

摘要： A program-converting module for a multi-axis cooperated machine and a program-converting method. Machining programs and mechanism data of a plurality of first machines are input to a first input module. Mechanism data of a plurality of second machines are input to a second input unit. A setting unit sets at least one of the first machines to be a source machine, and sets one of the second machines to be a target machine. A conversion unit uses a kinematical method to convert the machining program of the source machine into a machining program applicable to the target machine based on the mechanism data of the source and target machines, without requiring CAD/CAM software.

摘要翻译： 一种用于多轴协作机器的程序转换模块和一种程序转换方法。 将多个第一机器的加工程序和机构数据输入到第一输入模块。 将多个第二机器的机构数据输入到第二输入单元。 设置单元将至少一个第一机器设置为源机器，并将第二机器中的一个设置为目标机器。 转换单元使用运动学方法将源机的加工程序转换为适用于目标机器的加工程序，基于源机和目标机器的机构数据，而不需要CAD / CAM软件。

公开(公告)号：US20120109361A1

公开(公告)日：2012-05-03

申请号：US12972812

申请日：2010-12-20

申请人： Wan-Kun Chang ,  Chin-Chu Sun ,  Cheng-Yu Chen ,  Yung-Ming Kao ,  Shih-Chang Liang

发明人： Wan-Kun Chang ,  Chin-Chu Sun ,  Cheng-Yu Chen ,  Yung-Ming Kao ,  Shih-Chang Liang

IPC分类号： G05B19/401

CPC分类号： G05B19/408 ,  G05B2219/36242

摘要： A program-converting module for a multi-axis cooperated machine and a program-converting method. Machining programs and mechanism data of a plurality of first machines are input to a first input module. Mechanism data of a plurality of second machines are input to a second input unit. A setting unit sets at least one of the first machines to be a source machine, and sets one of the second machines to be a target machine. A conversion unit uses a kinematical method to convert the machining program of the source machine into a machining program applicable to the target machine based on the mechanism data of the source and target machines, without requiring CAD/CAM software.

摘要翻译： 一种用于多轴协作机器的程序转换模块和一种程序转换方法。 将多个第一机器的加工程序和机构数据输入到第一输入模块。 将多个第二机器的机构数据输入到第二输入单元。 设置单元将至少一个第一机器设置为源机器，并将第二机器中的一个设置为目标机器。 转换单元使用运动学方法将源机的加工程序转换为适用于目标机器的加工程序，基于源机和目标机器的机构数据，而无需CAD / CAM软件。

公开(公告)号：US08078295B2

公开(公告)日：2011-12-13

申请号：US12366598

申请日：2009-02-05

申请人： Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Cheng-Yu Chen

发明人： Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang ,  Yung-Ming Kao ,  Cheng-Yu Chen

IPC分类号： G05B11/32 ,  G06F19/00

CPC分类号： G05B19/416 ,  G05B2219/43062

摘要： A method for controlling acceleration and deceleration before interpolating is provided. The method includes steps of previewing and analyzing a processing program to estimate a limitation of a processing velocity and distributing a processing velocity according to the limitation. The step of previewing and analyzing a processing program includes sub-steps of providing the processing program including a pathway formed by plural blocks, unitizing the motion vector of each block into the unit vector ( N ^ i = N _ i  N _ i  ) , calculating a length (DVi=∥{right arrow over (DV)}i∥) of a vector difference in the unit vectors between each block and its next block ({right arrow over (DV)}i={circumflex over (N)}i−{circumflex over (N)}i+1), calculating a sum of the length of the vector difference in a distance from a starting block (S=ΣDVn), and calculating the limitation of the processing velocity for an end of each block (Vlim) according to an inverse ratio of the sum (1/S).

摘要翻译： 提供了一种用于在内插之前控制加速和减速的方法。 该方法包括以下步骤：预测和分析处理程序以估计处理速度的限制并根据该限制分配处理速度。 预览和分析处理程序的步骤包括提供处理程序的子步骤，该处理程序包括由多个块形成的路径，将每个块的运动矢量整合为单位矢量（N ^ i = N _ iN _ i ），计算每个块与其下一个块之间的单位矢量中的向量差的长度（DVi =∥{right arrow over（DV）}i‖）（{右箭头（DV）} i = {回旋（ 计算出与起始块（S =＆Sgr; DVn）的距离中的向量差的长度的和，并计算处理速度的限制（N） 根据和（1 / S）的反比，针对每个块（Vlim）的结束。

公开(公告)号：US07812560B2

公开(公告)日：2010-10-12

申请号：US12050338

申请日：2008-03-18

申请人： Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang ,  Chin-Chu Sun ,  Hsin-Chuan Su

发明人： Wan-Kun Chang ,  Yung-Ming Kao ,  Shih-Chang Liang ,  Chin-Chu Sun ,  Hsin-Chuan Su

IPC分类号： A61H1/02 ,  B25J9/00

CPC分类号： A61H1/02

摘要： The present invention relates to a rehabilitation robot and a tutorial learning method for the rehabilitation robot. The rehabilitation robot comprises a robotic device, a rehabilitation mode control unit, and a driving unit. The robotic device comprises at least a motor capable of controlling the joints of the robotic device. The rehabilitation mode control unit further comprises a tutorial learning module capable of enabling the rehabilitation robot to learn a rehabilitation operation of a physiotherapist in a tutorial manner as he/she is operating the rehabilitation robot while registering the rehabilitation operation as an operation mode of the same. When the rehabilitation robot is used for performing a therapeutic session on a patient and a tutorial learning mode is selected for the rehabilitation robot, it is required to have a physiotherapist operate the rehabilitation robot and the same time that the rehabilitation robot will register motor actuation parameters corresponding to the therapeutic session into the tutorial learning module. On the other hand, when an automatic rehabilitation mode is selected, the rehabilitation robot will access the motor actuation parameters registered in the tutorial learning module so as to reproduce the therapeutic session simulating the physiotherapist.

摘要翻译： 本发明涉及康复机器人和康复机器人的辅导学习方法。 康复机器人包括机器人装置，康复模式控制单元和驱动单元。 机器人装置至少包括能够控制机器人装置的关节的电动机。 康复模式控制单元还包括辅助学习模块，其能够使得康复机器人能够以其操作康复机器人的教学方式学习物理治疗师的康复操作，同时将康复操作注册为其操作模式 。 当康复机器人被用于对患者执行治疗会话并选​​择用于康复机器人的教学学习模式时，需要具有理疗师操作康复机器人，同时康复机器人将记录电动机致动参数 对应于治疗会话进入教程学习模块。 另一方面，当选择自动康复模式时，康复机器人将访问登记在教程学习模块中的电动机致动参数，以便再现模拟物理治疗师的治疗会话。

公开(公告)号：US20080224545A1

公开(公告)日：2008-09-18

申请号：US11839873

申请日：2007-08-16

申请人： Wan-Kun Chang ,  Kuei-Lu Liu ,  Jui-Kuan Lin ,  Yung-Ming Kao ,  Shih-Chang Liang ,  Chia-Sheng Chiang

发明人： Wan-Kun Chang ,  Kuei-Lu Liu ,  Jui-Kuan Lin ,  Yung-Ming Kao ,  Shih-Chang Liang ,  Chia-Sheng Chiang

IPC分类号： H03K3/00

CPC分类号： G05B19/409 ,  G05B2219/35459 ,  G05B2219/37356

摘要： A pulse generating device and method are provided. The pulse generating device includes a control device, a first knob, and a second knob. The control device is configured to receive a pulse signal and generate a pulse command. After being actuated, the first knob provides a single pulse of the pulse signal to the control device for triggering the control device to generate a single pulse command. The second knob provides the pulse signal to the control device in a frequency corresponding to a twisted angle of the second knob so as to trigger the control device to repeatedly generate the pulse command.

摘要翻译： 提供脉冲发生装置和方法。 脉冲发生装置包括控制装置，第一旋钮和第二旋钮。 控制装置被配置为接收脉冲信号并产生脉冲命令。 在被致动之后，第一旋钮向控制装置提供脉冲信号的单个脉冲，用于触发控制装置产生单个脉冲命令。 第二旋钮以对应于第二旋钮的扭转角度的频率向控制装置提供脉冲信号，以触发控制装置重复产生脉冲命令。

公开(公告)号：US08364288B2

公开(公告)日：2013-01-29

申请号：US12794862

申请日：2010-06-07

申请人： Wan-Kun Chang ,  Chin-Chu Sun ,  Shih-Chang Liang ,  Chih-Yuan Hsu ,  Hsin-Chuan Su

发明人： Wan-Kun Chang ,  Chin-Chu Sun ,  Shih-Chang Liang ,  Chih-Yuan Hsu ,  Hsin-Chuan Su

IPC分类号： G05B19/18 ,  G05B19/42

CPC分类号： G05B19/4083 ,  G05B2219/34391 ,  G05B2219/36084 ,  G05B2219/50227

摘要： An apparatus and a method of synchronizing and interpolating axes of a multi-system are provide. According to the number M of operating systems, the apparatus analyzes a multi-axis process program of N axes to generate M system process programs, wherein, N≧M≧2. A synchronous code is added to the M system process programs. According to the specifications of the operating systems, a delay time compensation program is added to the M system process programs to ensure the synchronization of the systems therebetween. The characteristics of the controllers and the servos of the operation systems are adjusted to unify the characteristics of the systems. The M system process programs are outputted to the operating systems correspondingly.

摘要翻译： 提供了一种同步和内插多系统的轴的装置和方法。 根据操作系统的数量M，该装置分析N轴的多轴处理程序以产生M系统处理程序，其中N≥M≥2。 同步代码被添加到M系统进程程序中。 根据操作系统的规格，向M系统处理程序添加延迟时间补偿程序，以确保其间的系统同步。 对操作系统的控制器和伺服系统的特性进行调整，以统一系统的特性。 M系统处理程序相应地输出到操作系统。

公开(公告)号：US08364305B2

公开(公告)日：2013-01-29

申请号：US12855618

申请日：2010-08-12

申请人： Chih-Yuan Hsu ,  Hsin-Chuan Su ,  Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang

发明人： Chih-Yuan Hsu ,  Hsin-Chuan Su ,  Chin-Chu Sun ,  Shih-Chang Liang ,  Wan-Kun Chang

IPC分类号： G06F19/00

CPC分类号： G05B19/40937 ,  G05B2219/35488 ,  G05B2219/36284 ,  G05B2219/36513 ,  Y02P90/265

摘要： An apparatus and a method for tuning control parameters are disclosed. The apparatus includes a parameter database, a user interface, a processing unit and a control unit. The parameter database stores several control parameter sets, which are classified into several data groups respectively corresponding to several total machining points. The user interface is for selecting one of the total machining points, and distributing the selected total machining point to at least one machining item to generate distribution data of points. The user interface is further for inputting embryo data. The processing unit selects one of the control parameter sets corresponding to the distribution data of points and the embryo data from the parameter database. The control unit controls a machine tool according to the corresponding one of the control parameter sets.

摘要翻译： 公开了一种调谐控制参数的装置和方法。 该装置包括参数数据库，用户接口，处理单元和控制单元。 参数数据库存储几个控制参数集，分别对应于几个总加工点分为几个数据组。 用户界面用于选择总加工点之一，并将所选择的总加工点分配到至少一个加工项以生成点分布数据。 用户界面进一步用于输入胚胎数据。 处理单元从参数数据库中选择对应于点分布数据的控制参数集和胚胎数据。 控制单元根据对应的一个控制参数组来控制机床。