公开(公告)号：US09268323B2

公开(公告)日：2016-02-23

申请号：US13737017

申请日：2013-01-09

申请人： FANUC Corporation

发明人： Toshiaki Otsuki

IPC分类号： G05B19/19 ,  G05B19/4103

CPC分类号： G05B19/19 ,  G05B19/4103 ,  G05B2219/34096 ,  G05B2219/34138

摘要： Provided is a numerical controller having a machining curve creating function. A command point sequence is divided into a plurality of segments and a segment curve corresponding to each segment command point sequence is created. The segment curve is created so that a distance of the segment curve from the segment command point sequence is within a permissible value set in advance, and the maximum number of command points are included between a starting point and an ending point of the segment command point sequence. This process of segment curve creation is repetitively executed from the starting point to the ending point of the command point sequence to create a machining curve. Subsequently, the machining curve is interpolated and drive axes of a machine tool are moved to the interpolated positions on the machining curve.

摘要翻译： 提供了具有加工曲线创建功能的数值控制器。 命令点序列被分成多个段，并且创建与每个段命令点序列相对应的段曲线。 创建段曲线，使得段曲线与段命令点序列的距离在预先设置的允许值内，并且命令点的最大数目包括在段命令点的起始点和终点之间 序列。 该段曲线创建过程从命令点序列的起始点到终点重复执行，以创建加工曲线。 随后，加工曲线被内插，机床的驱动轴移动到加工曲线上的内插位置。

公开(公告)号：US5148372A

公开(公告)日：1992-09-15

申请号：US254351

申请日：1988-10-06

申请人： Roberto Maiocco ,  Luciano Basadonna ,  Renato De Alessi

发明人： Roberto Maiocco ,  Luciano Basadonna ,  Renato De Alessi

IPC分类号： G05B19/42

CPC分类号： G05B19/4207 ,  G05B2219/34096 ,  G05B2219/34145 ,  G05B2219/34148 ,  G05B2219/36438 ,  G05B2219/37207 ,  Y02P90/265

摘要： An interactive graphics system for the mathematical representation of physical models, comprising at least one measuring machine bidirectionally connected to a central unit to which are connected a video screen and a keyboard and including processor means adapted to receive from the measuring machine information on at least initial identification points of the model, to control the automatic detection of information on additional points of the model by means of the same measuring machine, and to process this point information to produce the mathematical representation of the model.

公开(公告)号：US07605347B2

公开(公告)日：2009-10-20

申请号：US10544637

申请日：2004-02-05

申请人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

发明人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

IPC分类号： B23K9/12

CPC分类号： B25J9/1684 ,  B23K9/032 ,  B23K9/0956 ,  B23K9/127 ,  B23K9/1272 ,  B23K9/1274 ,  B25J9/1694 ,  B25J19/022 ,  G05B19/42 ,  G05B2219/34096 ,  G05B2219/36407 ,  G05B2219/36415 ,  G05B2219/36462 ,  G05B2219/45104 ,  G05B2219/4705 ,  G05B2219/49218

摘要： The control system includes a welding robot which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.

摘要翻译： 控制系统包括焊接机器人，该焊接机器人沿着用于焊接工件的工件移动焊炬。 机器人控制器控制焊接机器人的驱动。 激光传感器头通过焊炬检测焊接期间的工作形状变化，并且个人计算机基于激光传感器头的检测结果，根据形状变化获取焊接机器人的指令信息。 基于由个人计算机获得的指示信息，机器人控制器通过控制工作机器人的驱动来移动焊炬。

公开(公告)号：US4979224A

公开(公告)日：1990-12-18

申请号：US249803

申请日：1988-09-27

申请人： Roberto Maiocco ,  Luciano Basadonna

发明人： Roberto Maiocco ,  Luciano Basadonna

IPC分类号： G05B19/42

CPC分类号： G05B19/4207 ,  G05B2219/34096 ,  G05B2219/34145 ,  G05B2219/34148 ,  G05B2219/36438 ,  G05B2219/37207 ,  Y02P90/265

摘要： An interactive graphics system for modelling physical articles, includes a measurement device connected bi-directionally with a central unit to which a video screen and a keyboard are connected, as well as processing media which are suitable for receiving from the measurement device, at least, data on initial model identification points, and for controlling the automatic collection of addition data regarding the model by means of the same measurement equipment in order to provide such data for processing for use in deriving the model.

摘要翻译： 一种用于对物理物品进行建模的交互式图形系统，包括与视频屏幕和键盘连接的中央单元双向连接的测量装置，以及适于从测量装置接收的处理介质，至少， 关于初始模型识别点的数据，并且用于通过相同的测量设备来控制关于模型的附加数据的自动收集，以便提供用于处理的数据以用于导出模型。

公开(公告)号：US20130218323A1

公开(公告)日：2013-08-22

申请号：US13737017

申请日：2013-01-09

申请人： FANUC CORPORATION

发明人： Toshiaki OTSUKI

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B19/4103 ,  G05B2219/34096 ,  G05B2219/34138

摘要： Provided is a numerical controller having a machining curve creating function. A command point sequence is divided into a plurality of segments and a segment curve corresponding to each segment command point sequence is created. The segment curve is created so that a distance of the segment curve from the segment command point sequence is within a permissible value set in advance, and the maximum number of command points are included between a starting point and an ending point of the segment command point sequence. This process of segment curve creation is repetitively executed from the starting point to the ending point of the command point sequence to create a machining curve. Subsequently, the machining curve is interpolated and drive axes of a machine tool are moved to the interpolated positions on the machining curve.

摘要翻译： 提供了具有加工曲线创建功能的数值控制器。 命令点序列被分成多个段，并且创建与每个段命令点序列相对应的段曲线。 创建段曲线，使得段曲线与段命令点序列的距离在预先设置的允许值内，并且命令点的最大数目包括在段命令点的起始点和终点之间 序列。 该段曲线创建过程从命令点序列的起始点到终点重复执行，以创建加工曲线。 随后，加工曲线被内插，机床的驱动轴移动到加工曲线上的内插位置。

公开(公告)号：US07792603B2

公开(公告)日：2010-09-07

申请号：US11832047

申请日：2007-08-01

申请人： Katsuya Hioki

发明人： Katsuya Hioki

IPC分类号： G06F19/00 ,  G06F17/50

CPC分类号： G05B19/4103 ,  G05B2219/34096 ,  G05B2219/34153

摘要： An approximate curve generation method according to the present invention generates an approximate curve as smooth as an original curve from point group data obtained by approximating a curve shape, and includes: an approximate polygon shape range determining step of sectioning point group data for each line segment of an approximate polygon shape which is generated when the point group data approximating the curve shape are obtained, and sorting the point group data close to a section boundary as valid point group data, and the point group data inside the valid point group data as invalid point group data; and an approximate curve generating step of regarding only the valid point group data, and generating an approximate curve passing through or close to the regarded valid point group data as an approximate curve to be finally obtained.

摘要翻译： 根据本发明的近似曲线生成方法，通过近似曲线形状的点组数据生成与原始曲线一样平滑的近似曲线，并且包括：近似多边形形状范围确定步骤，用于对每个线段划分点组数据 获取近似曲线形状的点组数据时产生的近似多边形形状，并将接近区间边界的点组数据分类为有效点组数据，将有效点组数据内的点组数据设为无效 点组数据; 以及近似曲线生成步骤，仅关于有效点组数据，并且生成通过或接近所考虑的有效点组数据的近似曲线作为最终获得的近似曲线。

公开(公告)号：US20080033699A1

公开(公告)日：2008-02-07

申请号：US11832047

申请日：2007-08-01

申请人： Katsuya Hioki

发明人： Katsuya Hioki

IPC分类号： G06F17/50 ,  G06F17/10

CPC分类号： G05B19/4103 ,  G05B2219/34096 ,  G05B2219/34153

摘要： An approximate curve generation method according to the present invention generates an approximate curve as smooth as an original curve from point group data obtained by approximating a curve shape, and includes: an approximate polygon shape range determining step of sectioning point group data for each line segment of an approximate polygon shape which is generated when the point group data approximating the curve shape are obtained, and sorting the point group data close to a section boundary as valid point group data, and the point group data inside the valid point group data as invalid point group data; and an approximate curve generating step of regarding only the valid point group data, and generating an approximate curve passing through or close to the regarded valid point group data as an approximate curve to be finally obtained.

摘要翻译： 根据本发明的近似曲线生成方法，通过近似曲线形状的点组数据生成与原始曲线一样平滑的近似曲线，并且包括：近似多边形形状范围确定步骤，用于对每个线段划分点组数据 获取近似曲线形状的点组数据时产生的近似多边形形状，并将接近区间边界的点组数据分类为有效点组数据，将有效点组数据内的点组数据设为无效 点组数据; 以及近似曲线生成步骤，仅关于有效点组数据，并且生成通过或接近所考虑的有效点组数据的近似曲线作为最终获得的近似曲线。

公开(公告)号：US20070145027A1

公开(公告)日：2007-06-28

申请号：US10544637

申请日：2004-02-05

申请人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

发明人： Akinobu Izawa ,  Tetsuo Era ,  Koji Ueda ,  Takeshi Yamagami

IPC分类号： B23K9/12

CPC分类号： B25J9/1684 ,  B23K9/032 ,  B23K9/0956 ,  B23K9/127 ,  B23K9/1272 ,  B23K9/1274 ,  B25J9/1694 ,  B25J19/022 ,  G05B19/42 ,  G05B2219/34096 ,  G05B2219/36407 ,  G05B2219/36415 ,  G05B2219/36462 ,  G05B2219/45104 ,  G05B2219/4705 ,  G05B2219/49218

摘要： The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).

摘要翻译： 该控制系统包括焊接机器人（10），其沿焊接工件（W）的工件（W）移动焊炬（16），用于控制焊接机器人（10）的驱动的机器人控制器（40） 用于检测通过焊炬（16）进行焊接时的工件（W）的形状变化的激光传感器头（17）和用于根据形状获得焊接机器人（10）的指示信息的个人计算机（30） 基于激光传感器头（17）的检测结果来改变。 基于由个人计算机（30）获得的指示信息，机器人控制器（40）通过控制工作机器人的驱动来移动焊炬（16）。

公开(公告)号：US20140195037A1

公开(公告)日：2014-07-10

申请号：US14235839

申请日：2012-07-27

申请人： Nobutaka Nishibashi

发明人： Nobutaka Nishibashi

IPC分类号： G05B19/4093 ,  G05B19/416

CPC分类号： G05B19/40937 ,  G05B19/4103 ,  G05B19/416 ,  G05B2219/34096 ,  G05B2219/34098 ,  G05B2219/34175 ,  G05B2219/34176 ,  Y02P90/265

摘要： A numerical control device includes: a path local filter which locally interpolates an interpolation interval among a tool path so that a variation in a differential value at an interpolation object point becomes a continuous variation and a pulse interpolation unit which derives a reference time which proceeds per reference unit time which is shortened or extended corresponding to a deceleration instruction or an acceleration instruction according to a special command. The device obtains, from an intervening variable time function, an intervening variable at each time point at every reference unit time of the derived reference time, obtains a position coordinate on each transfer axis, with the position coordinate corresponding to the intervening variable at each obtained time point, obtains a transfer amount of a support in each transfer axis direction from the obtained position coordinate, and sets the transfer amount per reference unit time as a command pulse.

摘要翻译： 数值控制装置包括：路径局部滤波器，其在刀具路径之间局部插入插补间隔，使得插值对象点处的差分值的变化变为连续变化;以及脉冲插值单元，其导出基于每个 参考单位时间，其根据特定命令相应于减速指令或加速指令而缩短或延长。 该装置从导出的基准时间的每个参考单位时间的每个时间点获取中间变量时间函数中的中间变量，获得每个转移轴上的位置坐标，其中每个获得的位置坐标对应于中间变量 时间点，从所获得的位置坐标获得每个传送轴方向上的支撑的传送量，并将每个参考单位时间的传送量设置为指令脉冲。

公开(公告)号：US6167325A

公开(公告)日：2000-12-26

申请号：US952781

申请日：1997-11-26

申请人： Masao Kamiguchi ,  Susumu Maekawa

发明人： Masao Kamiguchi ,  Susumu Maekawa

IPC分类号： G05B19/4093 ,  G05B19/4103 ,  G05B19/414 ,  G05B19/4155 ,  G06F19/00 ,  G05B19/42

CPC分类号： G05B19/4155 ,  G05B19/4103 ,  G05B19/414 ,  G05B2219/33099 ,  G05B2219/34096 ,  G05B2219/35012 ,  G05B2219/35051 ,  G05B2219/36043 ,  G05B2219/36048 ,  G05B2219/41363 ,  G05B2219/50057 ,  Y02P90/265

摘要： Actual machining positions P1, P2, . . . corresponding to command positions S1, S2, S3 . . . of each block of NC data are obtained by trial machining. Positions that correspond symmetrically to the actual machining positions P1, P2, . . . with respect to the command positions S1, S2, S3 . . . of each block are obtained. Modified NC data are created with use of the symmetrical positions as modified command positions for each block. The modified NC data include correction values for modifying positional differences attributable to a delay in a servo system. Therefore, if machining is carried out in accordance with the modified NC data, the correction values and a follow-up delay attributable to the actual delay in the servo system cancel one another, so that a high-accuracy work shape can be obtained.

摘要翻译： PCT No.PCT / JP97 / 01089 Sec。 371日期：1997年11月26日 102（e）日期1997年11月26日PCT 1997年3月28日PCT公布。 第WO97 / 37291号公报 日期1997年10月9日实际加工位置P1，P2，。 。 。 对应于命令位置S1，S2，S3。 。 。 通过试验加工获得每个NC数据块。 与实际加工位置P1，P2对称的位置。 。 。 相对于命令位置S1，S2，S3。 。 。 获得每个块。 使用对称位置创建修改的NC数据作为每个块的修改命令位置。 经修改的NC数据包括用于修改归因于伺服系统中的延迟的位置差的校正值。 因此，如果根据修正的NC数据进行加工，则由伺服系统的实际延迟引起的校正值和追溯延迟彼此抵消，从而可以获得高精度的工作形状。