公开(公告)号：US08478438B2

公开(公告)日：2013-07-02

申请号：US13119001

申请日：2008-09-16

申请人： Nobutaka Nishibashi

发明人： Nobutaka Nishibashi

IPC分类号： G06F19/00 ,  G05B19/10 ,  G05B19/408

CPC分类号： G05B19/4086 ,  G05B19/4103 ,  G05B19/414 ,  G05B19/416 ,  G05B2219/33269 ,  G05B2219/33271 ,  G05B2219/34202 ,  G05B2219/36231 ,  G05B2219/36504 ,  G05B2219/41405 ,  G05B2219/49121 ,  G05B2219/50162 ,  G05B2219/50165

摘要： A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

摘要翻译： 通过在NC程序中描述固定到加工对象（W）的坐标系（30）中的姿势变化的工具轨迹，固定地布置准备参考坐标系（20 ），其表示加工对象（W）的安装位置和在准备基准坐标系（20）中安装有工具（11）的主轴（91）的位置，并且包含 与主轴（91）的位置（q）和轴坐标（r）之间的相关性的转换函数组中的轴的构造相关的部分。 因此，基于加工对象的安装位置，工具形状和工具尺寸，读取NC程序，校正刀具轨迹和转换到主轴位置的轨迹的过程被完全普遍。

公开(公告)号：US20080091296A1

公开(公告)日：2008-04-17

申请号：US11869473

申请日：2007-10-09

申请人： Johann ZACEK ,  Ludwig Buchner

发明人： Johann ZACEK ,  Ludwig Buchner

IPC分类号： G05B19/404 ,  G06F19/00

CPC分类号： G05B19/4086 ,  G05B19/4103 ,  G05B2219/33271 ,  G05B2219/41176 ,  Y10T409/300896 ,  Y10T409/307672

摘要： In a method for positioning machine axes in machine tools, a numerical control converts setpoint positions of a tool, predefined in workpiece coordinates, into setpoint positions of machine axes based on a kinematic chain defined by a kinematic table. In this context, transformations of the coordinates are indicated in the kinematic table in a plurality of entries describing the kinematics of the machine tool, by specifying an axial direction and an associated transformation amount, respectively, per entry. For a machine axis having an error in a direction other than the respective axial direction, error transformation amounts dependent on the axial position are entered into the kinematic table.

摘要翻译： 在将机床轴定位在机床中的一种方法中，数值控制将工件坐标中预定义的刀具的设定点位置转换为基于运动表定义的运动链的机床轴的设定点位置。 在本文中，通过分别指定每个条目的轴向和关联的变换量，在描述机床的运动学的多个条目中的运动表中指示坐标的变换。 对于在各轴向以外的方向上具有误差的机床轴，将依赖于轴向位置的误差变换量输入到运动表中。

公开(公告)号：US20140257542A1

公开(公告)日：2014-09-11

申请号：US13791053

申请日：2013-03-08

申请人： PRATT & WHITNEY CANADA CORP.

发明人： Yuwen LI ,  Amr ELFIZY

IPC分类号： G05B9/02

CPC分类号： G05B19/4086 ,  G05B19/404 ,  G05B2219/33257 ,  G05B2219/33271 ,  G05B2219/50296

摘要： A system and method for error compensation in positioning a complex-shaped gas turbine engine part during manufacturing thereof with a machine. Theoretical measurements for a plurality of control points on the part are first retrieved. Actual measurements for the control points are then acquired in a coordinate system of the machine. If an error between the actual and theoretical measurements is beyond a tolerance, a transformation matrix is computed. The transformation matrix represents a transformation to be applied to the coordinate system to adjust a pose thereof for compensating the error. The transformation matrix may be computed and applied to the coordinate system iteratively until the actual measurements are brought within tolerance. A machining program may then be generated for manufacturing the part accordingly.

摘要翻译： 一种用于在用机器制造复杂形状的燃气涡轮发动机部件时对误差补偿进行定位的系统和方法。 首先检索部件上的多个控制点的理论测量。 然后在机器的坐标系中获取控制点的实际测量值。 如果实际和理论测量之间的误差超出公差，则计算变换矩阵。 变换矩阵表示要应用于坐标系以调整其姿势以用于补偿误差的变换。 可以计算转换矩阵并迭代地应用于坐标系，直到将实际测量值置于公差范围内。 然后可以产生加工程序以相应地制造该部件。

公开(公告)号：US20110166693A1

公开(公告)日：2011-07-07

申请号：US13119001

申请日：2008-09-16

申请人： Nobutaka Nishibashi

发明人： Nobutaka Nishibashi

IPC分类号： G05B19/19 ,  G05B19/404

CPC分类号： G05B19/4086 ,  G05B19/4103 ,  G05B19/414 ,  G05B19/416 ,  G05B2219/33269 ,  G05B2219/33271 ,  G05B2219/34202 ,  G05B2219/36231 ,  G05B2219/36504 ,  G05B2219/41405 ,  G05B2219/49121 ,  G05B2219/50162 ,  G05B2219/50165

摘要： A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

摘要翻译： 通过在NC程序中描述固定到加工对象（W）的坐标系（30）中的姿势变化的工具轨迹，固定地布置准备参考坐标系（20 ），其表示加工对象（W）的安装位置和在准备基准坐标系（20）中安装有工具（11）的主轴（91）的位置，并且包含 与主轴（91）的位置（q）和轴坐标（r）之间的相关性的转换函数组中的轴的构造相关的部分。 因此，基于加工对象的安装位置，工具形状和工具尺寸，读取NC程序，校正刀具轨迹和转换到主轴位置的轨迹的过程被完全普遍。

公开(公告)号：US09815198B2

公开(公告)日：2017-11-14

申请号：US14807464

申请日：2015-07-23

申请人： X Development LLC

发明人： Benjamin M. Davis

IPC分类号： B25J9/16 ,  G05B19/408

CPC分类号： B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

摘要： Systems and methods are disclosed for determining work offset data for a robot in a work environment. In an embodiment, a robot operating in a work environment receives an indication to determine a work offset. The work offset describes the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot identifies the working plane. The robot is controlled to contact one or more points of the working plane. The robot determines respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot determines the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

公开(公告)号：US20170115653A1

公开(公告)日：2017-04-27

申请号：US14918908

申请日：2015-10-21

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Yuichi Taguchi

IPC分类号： G05B19/402

CPC分类号： G05B19/402 ,  G05B19/4069 ,  G05B2219/33271 ,  G05B2219/36071 ,  G05B2219/36252

摘要： A method for machining a workpiece by a numerical control (NC) machine constructs a model of a scene from one or multiple images including at least a part of the workpiece and a part of the NC machine and registers a model of the NC machine with the model of the scene to produce a first transformation between a coordinate system of the model of the scene and a coordinate system of the NC machine. The method also detects the workpiece in the model of the scene to produce a second transformation between the coordinate system of the model of the scene and a coordinate system of the workpiece and combines the first and the second transformations to register the coordinate system of the workpiece with the coordinate system of the NC machine. The registered workpiece is machined with a tool of the NC machine.

公开(公告)号：US09383742B2

公开(公告)日：2016-07-05

申请号：US13791053

申请日：2013-03-08

申请人： PRATT & WHITNEY CANADA CORP.

发明人： Yuwen Li ,  Amr Elfizy

IPC分类号： G05B9/02 ,  G05B19/408 ,  G05B19/404

CPC分类号： G05B19/4086 ,  G05B19/404 ,  G05B2219/33257 ,  G05B2219/33271 ,  G05B2219/50296

摘要： A system and method for error compensation in positioning a complex-shaped gas turbine engine part during manufacturing thereof with a machine. Theoretical measurements for a plurality of control points on the part are first retrieved. Actual measurements for the control points are then acquired in a coordinate system of the machine. If an error between the actual and theoretical measurements is beyond a tolerance, a transformation matrix is computed. The transformation matrix represents a transformation to be applied to the coordinate system to adjust a pose thereof for compensating the error. The transformation matrix may be computed and applied to the coordinate system iteratively until the actual measurements are brought within tolerance. A machining program may then be generated for manufacturing the part accordingly.

摘要翻译： 一种用于在用机器制造复杂形状的燃气涡轮发动机部件时对误差补偿进行定位的系统和方法。 首先检索部件上的多个控制点的理论测量。 然后在机器的坐标系中获取控制点的实际测量值。 如果实际和理论测量之间的误差超出公差，则计算变换矩阵。 变换矩阵表示要应用于坐标系以调整其姿势以用于补偿误差的变换。 可以计算转换矩阵并迭代地应用于坐标系，直到将实际测量值置于公差范围内。 然后可以产生加工程序以相应地制造该部件。

公开(公告)号：US20180029231A1

公开(公告)日：2018-02-01

申请号：US15729953

申请日：2017-10-11

申请人： X Development LLC

发明人： Benjamin M. Davis

IPC分类号： B25J9/16 ,  G05B19/408

CPC分类号： B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

摘要： Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

公开(公告)号：US20170021500A1

公开(公告)日：2017-01-26

申请号：US14807464

申请日：2015-07-23

申请人： Google Inc.

发明人： Benjamin M. Davis

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  B25J9/1697 ,  G05B19/4083 ,  G05B2219/33271 ,  G05B2219/36503 ,  G05B2219/39032

摘要： Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

摘要翻译： 公开了用于在工作环境中确定机器人的工件偏移数据的示例系统和方法。 在工作环境中操作的机器人可以接收用于确定工件偏移量的指示。 工件偏移可以描述工作环境的工作平面相对于机器人的基面的位置和角度方向。 响应于该指示，机器人可以识别工作平面。 机器人可以被控制以接触工作平面的一个或多个点。 机器人可以基于在各个接触时刻的机器人的相应位置来确定接触点相对于基面的相应点位置。 基于确定的接触点的相应点位置，机器人可以确定工作平面相对于基础平面的位置和角度取向。

公开(公告)号：US09261873B2

公开(公告)日：2016-02-16

申请号：US11869473

申请日：2007-10-09

申请人： Johann Zacek ,  Ludwig Buchner

发明人： Johann Zacek ,  Ludwig Buchner

IPC分类号： G05B19/41 ,  G05B19/4103 ,  G05B19/408

CPC分类号： G05B19/4086 ,  G05B19/4103 ,  G05B2219/33271 ,  G05B2219/41176 ,  Y10T409/300896 ,  Y10T409/307672

摘要： In a method for positioning machine axes in machine tools, a numerical control converts setpoint positions of a tool, predefined in workpiece coordinates, into setpoint positions of machine axes based on a kinematic chain defined by a kinematic table. In this context, transformations of the coordinates are indicated in the kinematic table in a plurality of entries describing the kinematics of the machine tool, by specifying an axial direction and an associated transformation amount, respectively, per entry. For a machine axis having an error in a direction other than the respective axial direction, error transformation amounts dependent on the axial position are entered into the kinematic table.

摘要翻译： 在将机床轴定位在机床中的一种方法中，数值控制将工件坐标中预定义的刀具的设定点位置转换为基于运动表定义的运动链的机床轴的设定点位置。 在本文中，通过分别指定每个条目的轴向和关联的变换量，在描述机床的运动学的多个条目中的运动表中指示坐标的变换。 对于在各轴向以外的方向上具有误差的机床轴，将依赖于轴向位置的误差变换量输入到运动表中。