公开(公告)号：US20110276173A1

公开(公告)日：2011-11-10

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。

公开(公告)号：US07269473B2

公开(公告)日：2007-09-11

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 ,  G05B19/18

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：US20050090930A1

公开(公告)日：2005-04-28

申请号：US10968127

申请日：2004-10-20

申请人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Soichiro Ide ,  Takafumi Sasaki

IPC分类号： G05B19/19 ,  G05B19/4061 ,  G05B19/4068 ,  G06F19/00

CPC分类号： G05B19/4061 ,  G05B2219/49137 ,  G05B2219/49141

摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.

摘要翻译： 存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。 该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。 因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。 类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。 此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。 当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

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：US09063536B2

公开(公告)日：2015-06-23

申请号：US13243466

申请日：2011-09-23

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 ,  G05B19/408

CPC分类号： G05B19/4086

摘要： A numerical controller controls a three-axis machine tool that machines a workpiece, mounted on a table, with at least three linear axes. The numerical controller includes a workpiece mounting error compensation unit that compensates a mounting error caused when the workpiece is mounted. The workpiece mounting error compensation unit performs an error compensation with respect to an instructed linear-axis position with amounting error which is set beforehand, in order to keep a position with respect to the workpiece at a tool center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis position. The three linear axes are driven based on the obtained compensated linear-axis position.

摘要翻译： 一个数字控制器控制一个三轴机床，用于安装在工作台上的工件至少具有三个直线轴。 数值控制器包括工件安装误差补偿单元，用于补偿安装工件时引起的安装误差。 工件安装误差补偿单元相对于预先设定的量误差的指示的线性轴位置执行误差补偿，以便基于所指示的线性来保持相对于工件在刀具中心点位置的位置 三轴线的轴位置，以获得补偿的直线轴位置。 基于获得的补偿线性轴位置驱动三个直线轴。

公开(公告)号：US20120221141A1

公开(公告)日：2012-08-30

申请号：US13286443

申请日：2011-11-01

申请人： Toshiaki Otsuki ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Takafumi Sasaki

IPC分类号： G05B19/19

CPC分类号： G05B19/41 ,  G05B19/416

摘要： When a numerical controller executes a tool-center-point control in which a path of a tool center point with respect to a workpiece is instructed, and the workpiece is machined along the instructed path based on a speed instruction, the numerical controller sets the speed instruction so that the speed instruction is a synthesis speed with respect to a synthesis distance of a relative moving distance between the workpiece and a tool center point and a tool-direction changing distance due to a relative change in a tool direction with respect to the workpiece by a rotary axis. The numerical controller interpolates a position of a linear axis and a position of a rotary axis by the tool-center-point control according to the synthesis speed and drives the linear axis and the rotary axis to the position of the linear axis and the position of the rotary axis created by the interpolation.

摘要翻译： 当数字控制器执行其中指示了工具中心点的路径相对于工件的工具中心点控制，并且基于速度指令沿着指示路径加工工件时，数字控制器设定速度 指令，使得速度指令是相对于工件与刀具中心点之间的相对移动距离的合成距离和由于刀具方向相对于工件的相对变化而产生的刀具方向变化距离的合成速度 通过旋转轴。 数值控制器根据合成速度通过刀具中心点控制来插入线性轴的位置和旋转轴的位置，并将线性轴和旋转轴驱动到直线轴的位置和位置 由内插产生的旋转轴。

公开(公告)号：US07239938B2

公开(公告)日：2007-07-03

申请号：US10968127

申请日：2004-10-20

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： G05B19/4061 ,  G05B2219/49137 ,  G05B2219/49141

摘要： The shapes of machine parts for which the possibility of interference exists are defined as rectangular parallelepipeds and it is judged whether or not there is interference between a first rectangular parallelepiped of a first machine part and a second rectangular parallelepiped of a second machine part. The method involves rotating the first rectangular parallelepiped and second rectangular parallelepiped so that each side of the first rectangular parallelepiped lies parallel to each axis of the reference coordinate system. Interference is thus judged based on whether any vertex of the second rectangular parallelepiped exists within the first rectangular parallelepiped. Likewise, interference is judged depending on whether any vertex of the first rectangular parallelepiped exists within the second rectangular parallelepiped. Further, interference between the respective sides of the first rectangular parallelepiped and second rectangular parallelepiped is judged through division into the planes X-Y, Y-Z, and Z-X. When it is judged that interference exists in all planes, it is judged that there will be interference between the first rectangular parallelepiped and second rectangular parallelepiped.

摘要翻译： 存在干涉可能性的机器部件的形状被定义为长方体，并且判断在第一机器部件的第一长方体和第二机器部件的第二长方体之间是否存在干涉。 该方法涉及旋转第一长方体和第二长方体，使得第一长方体的每一侧平行于参考坐标系的每个轴。 因此，基于第一长方体中是否存在第二长方体的任何顶点来判断干涉。 类似地，根据第一长方体的任何顶点是否存在于第二长方体内来判断干涉。 此外，通过划分为平面X-Y，Y-Z和Z-X来判断第一长方体和第二长方体的各个侧面之间的干涉。 当判断在所有平面中存在干涉时，判断出在第一长方体和第二长方体之间存在干涉。

公开(公告)号：US08868228B2

公开(公告)日：2014-10-21

申请号：US13286443

申请日：2011-11-01

申请人： Toshiaki Otsuki ,  Takafumi Sasaki

发明人： Toshiaki Otsuki ,  Takafumi Sasaki

IPC分类号： G06F19/00 ,  G05B19/416 ,  G05B19/41

CPC分类号： G05B19/41 ,  G05B19/416

摘要： When a numerical controller executes a tool-center-point control in which a path of a tool center point with respect to a workpiece is instructed, and the workpiece is machined along the instructed path based on a speed instruction, the numerical controller sets the speed instruction so that the speed instruction is a synthesis speed with respect to a synthesis distance of a relative moving distance between the workpiece and a tool center point and a tool-direction changing distance due to a relative change in a tool direction with respect to the workpiece by a rotary axis. The numerical controller interpolates a position of a linear axis and a position of a rotary axis by the tool-center-point control according to the synthesis speed and drives the linear axis and the rotary axis to the position of the linear axis and the position of the rotary axis created by the interpolation.

摘要翻译： 当数字控制器执行其中指示了工具中心点的路径相对于工件的工具中心点控制，并且基于速度指令沿着指示路径加工工件时，数字控制器设定速度 指令，使得速度指令是相对于工件与刀具中心点之间的相对移动距离的合成距离和由于刀具方向相对于工件的相对变化而产生的刀具方向变化距离的合成速度 通过旋转轴。 数值控制器根据合成速度通过刀具中心点控制来插入线性轴的位置和旋转轴的位置，并将线性轴和旋转轴驱动到直线轴的位置和位置 由内插产生的旋转轴。

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：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。