公开(公告)号：US3913429A

公开(公告)日：1975-10-21

申请号：US43637474

申请日：1974-01-24

申请人： HITACHI SEIKI KK

发明人： UCHIDA YOSHIRO ,  MATSUMURA YUTAKA ,  NONAKA TADASHI ,  HIROTA KINYA ,  TAKASHITA JIRO ,  ISHIDA HISASHI

IPC分类号： B23B7/00 ,  B23B13/12 ,  B23B23/00 ,  B23Q16/00 ,  G05B19/19 ,  B23B3/00 ,  B23Q39/00

CPC分类号： B23B7/00 ,  B23B13/121 ,  B23B23/00 ,  B23Q16/001 ,  G05B19/195 ,  G05B2219/49153 ,  Y10T82/2502 ,  Y10T483/1717

摘要： A numerically-controlled lathe with program-controlled tool heads comprising a slide which is controlled by a numerical control unit according to tape commands in movement in parallel with and at a right angle to an axis of a spindle of a headstock, a single or plural number of No. 1 tool heads which are mounted on said slide and provided with a plural number of cutting tools to be used to cut an outside diameter and inside diameter of a workpiece being mounted on said spindle, a movable head which is located away from said slide in reference to the headstock and is controlled by a presetting means of a presetting type program control different from said numerical control unit with respect to a movement in parallel with the axis of the spindle and No. 2 tool head which is mounted on said movable head and is provided with a cutting tool to be used to cut the inside or outside diameter of said workpiece, wherein a signal generated from said numerical control unit which controls the No. 1 tool head is received by the presetting type program control unit which controls the No. 2 tool head and a signal generated from the presetting means of the presetting type program control unit is received by said numerical control unit to make the presetting type program control unit different from said numerical control unit and the numerical control unit according to tape commands mutually restrict and control, in the numerically-controlled lathe with program-controlled tool heads including said Nos. 1 and 2 tool heads capable of simultaneous cutting.

摘要翻译： 具有程控刀头的数控车床包括滑块，该滑块由数字控制单元根据与主轴箱的主轴平行并成直角运动的磁带指令控制，单个或多个 1号刀头的数量安装在所述滑块上并且设置有多个切割工具，用于切割安装在所述主轴上的工件的外径和内径，移动头位于远离 所述滑动件相对于所述主轴箱，并且由与所述数控单元不同的预设型程序控制的预设装置相对于与所述主轴和所述主轴安装在所述主轴上的第二工具头的轴线平行地运动来控制 可移动头部，并且设置有用于切割所述工件的内径或外径的切削工具，其中从所述数控单元产生的信号控制1号 工具头由控制2号刀头的预置型程序控制单元接收，并且由预置型程序控制单元的预置装置产生的信号由所述数字控制单元接收，以使预置型程序控制单元不同 在具有程序控制的工具头的数控车床中，根据磁带命令相互限制和控制的数字控制单元和数字控制单元，其包括能够同时切割的所述No.1和2工具头。

公开(公告)号：US20150134102A1

公开(公告)日：2015-05-14

申请号：US14486393

申请日：2014-09-15

申请人： Liebherr-Verzahntechnik GmbH

发明人： Florian Schuon

IPC分类号： G05B19/18 ,  B23Q11/00

CPC分类号： G05B19/186 ,  B23Q11/0089 ,  G05B19/4061 ,  G05B19/4069 ,  G05B2219/36198 ,  G05B2219/37237 ,  G05B2219/39082 ,  G05B2219/49153

摘要： The invention relates to a method of controlling a gear cutting machine having at least one tool for cutting gears into a workpiece clamped in a workpiece mount, wherein the machine control carries out a three-dimensional collision monitoring during the gear cutting machining.

摘要翻译： 本发明涉及一种控制齿轮切割机的方法，该齿轮切割机具有至少一个用于将齿轮切割成夹在工件安装件中的工件的工具，其中机器控制在齿轮切削加工期间执行三维碰撞监测。

公开(公告)号：US20070233290A1

公开(公告)日：2007-10-04

申请号：US11597314

申请日：2005-05-18

申请人： Jurgen Olomski

发明人： Jurgen Olomski

IPC分类号： G05B19/42

CPC分类号： G05B19/4061 ,  B25J9/1664 ,  G05B2219/39362 ,  G05B2219/45244 ,  G05B2219/49153

摘要： A control device for controlling the movement of a machine determines a base position set value according to a given base track in space. By limitation of a base element of a machine therewith, the above is hence positionally moved along a base track. The control device further determines a corresponding current supplementary end position in space using the base position set value. The control device also determines a supplementary position set value from a given fixed supplementary start position in space and the current supplementary end position. By limitation of a supplementary element of the machine thereto, the above is thus displaced along an current supplementary track from the supplementary start position, to the current supplementary end position.

摘要翻译： 用于控制机器的移动的控制装置根据空间中的给定基准轨迹来确定基本位置设定值。 通过限制机器的基座元件，因此上述因此沿着基座轨迹位置移动。 控制装置使用基准位置设定值进一步确定空间中的对应的当前辅助结束位置。 控制装置还从空间中的给定固定辅助起始位置和当前辅助结束位置确定辅助位置设定值。 通过对机器的补充元件的限制，上述因素沿着当前辅助轨道从辅助起始位置移动到当前辅助结束位置。

公开(公告)号：US4131836A

公开(公告)日：1978-12-26

申请号：US829519

申请日：1977-08-31

申请人： Shiro Noda

发明人： Shiro Noda

IPC分类号： B23Q11/00 ,  B23Q1/68 ,  G05B19/19 ,  G05B19/4061 ,  G05B23/02

CPC分类号： G05B19/4061 ,  G05B19/195 ,  G05B2219/41249 ,  G05B2219/49153

摘要： A machine tool having a plurality of independently and parallelly movable tool posts includes a system for preventing the interference between the tool posts, by means of that the information on the contour position of the tool post represented is added to the information on the position of a reference point set in for each tool post, and the results of addition are compared and calculated.

摘要翻译： 具有多个独立并且可平行移动的工具柱的机床包括用于防止工具柱之间的干涉的系统，借助于所表示的工具柱的轮廓位置的信息被添加到关于位置的信息 对每个刀架设置参考点，并对加法结果进行比较和计算。

公开(公告)号：US09983561B2

公开(公告)日：2018-05-29

申请号：US14486393

申请日：2014-09-15

申请人： Liebherr-Verzahntechnik GmbH

发明人： Florian Schuon

IPC分类号： B23Q11/00 ,  G05B19/18 ,  G05B19/4061 ,  G05B19/4069

CPC分类号： G05B19/186 ,  B23Q11/0089 ,  G05B19/4061 ,  G05B19/4069 ,  G05B2219/36198 ,  G05B2219/37237 ,  G05B2219/39082 ,  G05B2219/49153

摘要： The invention relates to a method of controlling a gear cutting machine having at least one tool for cutting gears into a workpiece clamped in a workpiece mount, wherein the machine control carries out a three-dimensional collision monitoring during the gear cutting machining.

公开(公告)号：US07826928B2

公开(公告)日：2010-11-02

申请号：US11597314

申请日：2005-05-18

申请人： Jürgen Olomski

发明人： Jürgen Olomski

IPC分类号： G05B19/18 ,  G05B19/4061

CPC分类号： G05B19/4061 ,  B25J9/1664 ,  G05B2219/39362 ,  G05B2219/45244 ,  G05B2219/49153

摘要： A control device for controlling the movement of a machine determines a base position set value according to a given base track in space. By limitation of a base element of a machine therewith, the above is hence positionally moved along a base track. The control device further determines a corresponding current supplementary end position in space using the base position set value. The control device also determines a supplementary position set value from a given fixed supplementary start position in space and the current supplementary end position. By limitation of a supplementary element of the machine thereto, the above is thus displaced along an current supplementary track from the supplementary start position, to the current supplementary end position.

摘要翻译： 用于控制机器的移动的控制装置根据空间中的给定基准轨迹来确定基本位置设定值。 通过限制机器的基座元件，因此上述因此沿着基座轨迹位置移动。 控制装置使用基准位置设定值进一步确定空间中的对应当前辅助结束位置。 控制装置还从空间中的给定固定辅助起始位置和当前辅助结束位置确定辅助位置设定值。 通过对机器的补充元件的限制，上述因素沿着当前辅助轨道从辅助起始位置移动到当前辅助结束位置。

公开(公告)号：US5247608A

公开(公告)日：1993-09-21

申请号：US677906

申请日：1991-04-01

申请人： John P. Flemming ,  Glenn C. Van Orden

发明人： John P. Flemming ,  Glenn C. Van Orden

IPC分类号： B25J9/16 ,  B25J9/18

CPC分类号： B25J9/1676 ,  G05B2219/49143 ,  G05B2219/49153

摘要： Dynamic control of the motion of a plurality of robots (12a and 12b) is accomplished by checking for interference if each robot were to traverse an incremental portion of its programmed path segment, the incremental portion being at least as long as the distance required for the robot to stop. Should there be no interference, each robot is allowed to traverse the incremental path length portion. Otherwise, the robot having the highest priority is enabled to reverse its incremental path segment portion while the other robots which would otherwise interfere are ordered to take evasive action, either to stop if moving, or to move away if stopped. Periodic checks are made for an interference condition at a sufficiently rapid rate so that each non-interfering robot can traverse successive incremental path segment portions in a smooth manner.

摘要翻译： 多个机器人（12a和12b）的运动的动态控制通过检查每个机器人是否穿过其编程路径段的增量部分的干扰来实现，增量部分至少等于 机器人停止。 如果没有干扰，则允许每个机器人横穿增量路径长度部分。 否则，具有最高优先级的机器人能够反转其增量路径段部分，而否则会干扰的其他机器人被命令采取回避动作，要么停止，要么停止，要么停止移动。 以足够快的速率对干扰状况进行周期性检查，以便每个非干扰机器人可以以平滑的方式遍历连续的增量路径段部分。

公开(公告)号：US4644237A

公开(公告)日：1987-02-17

申请号：US788262

申请日：1985-10-17

申请人： James E. Frushour ,  Michael L. Mahar ,  Christopher J. Majka ,  John E. Swenson

发明人： James E. Frushour ,  Michael L. Mahar ,  Christopher J. Majka ,  John E. Swenson

IPC分类号： B25J9/16 ,  B25J13/00 ,  B25J19/06 ,  G05B19/19 ,  G05B19/4063 ,  G05D1/02

CPC分类号： B25J9/1676 ,  G05B2219/40306 ,  G05B2219/49141 ,  G05B2219/49153 ,  Y10S367/909

摘要： A collision avoidance system for a two arm robot is direction sensitive. When the separation between the arms is sensed as equal to or smaller than a predetermined distance, the trailing arm is slowed to avoid a collision. The separation sensor generates a first "slow" signal when the separation is a first predetermined distance, a second "slow" signal when the separation is a second predetermined distance, smaller than the first, and a "stop" signal when the separation is a third predetermined distance, smaller than the second. The polarity of the drive signals for the arms determine their direction, and polarity sensitive comparators determine the direction of each arm. When the first "slow" signal is present and one arm is moving in the direction of the other arm, a speed reducing resistor is inserted in the circuit for the drive signal for the one arm to reduce its speed. When the second "slow" signal is also present, a second speed reducing resistor is inserted in the drive signal circuit for the one arm, further reducing the velocity. A "stop" signal causes a controller to stop both arms.

摘要翻译： 双臂机器人的防撞系统方向敏感。 当臂之间的距离被感测为等于或小于预定距离时，拖臂减慢以避免碰撞。 当分离是第一预定距离时，分离传感器产生第一“慢”信号，当分离是第二预定距离小于第一预定距离时产生第二“慢”信号，当分离是第一预定距离时产生“停止”信号 第三预定距离，小于第二预定距离。 臂的驱动信号的极性决定其方向，极性敏感的比较器确定每个臂的方向。 当存在第一个“慢”信号并且一个臂沿着另一个臂的方向移动时，减速电阻器被插入到用于一个臂的驱动信号的电路中以降低其速度。 当第二个“慢”信号也存在时，第二减速电阻被插入到一个臂的驱动信号电路中，进一步降低速度。 “停止”信号使控制器停止两臂。

公开(公告)号：US20170003672A1

公开(公告)日：2017-01-05

申请号：US15196078

申请日：2016-06-29

申请人： FANUC Corporation

发明人： Yasuhito ISHIKAWA

IPC分类号： G05B19/402 ,  G05B15/02

CPC分类号： G05B19/4061 ,  G05B2219/49153

摘要： An object of the present invention is to provide a numerical controller that performs interference check based on a look-ahead position before a feedrate varies by taking the variation in the feedrate into consideration and controls the change of an override safely. To achieve this object, the numerical controller is configured such that, when calculating a coordinate value of a look-ahead position which a movable part subjected to interference check reaches after a look-ahead period elapses from a current position at a current time, the numerical controller calculates the look-ahead position assuming that the movable part moves at a predetermined feedrate of which the upper limit is the maximum feedrate.

摘要翻译： 本发明的目的是提供一种数值控制器，其在考虑进给速度的变化之前，在进给速度变化之前，基于前瞻位置执行干涉检查，并且安全地控制倍率的变化。 为了实现该目的，数值控制器被配置为使得当从当前时间的当前位置经过预先预定时间之后计算经受干扰检查的可移动部分到达的预先位置的坐标值时， 数值控制器根据可动部件以上限为最大进给速度的预定进给速度运动，计算出预先位置。

公开(公告)号：US06742422B1

公开(公告)日：2004-06-01

申请号：US10380104

申请日：2003-03-11

申请人： Hiroshi Shinohara ,  Yuji Miyazaki ,  Atsushi Aoyagi

发明人： Hiroshi Shinohara ,  Yuji Miyazaki ,  Atsushi Aoyagi

IPC分类号： B23B330

CPC分类号： G05B19/182 ,  B23Q39/04 ,  B23Q39/048 ,  G05B2219/49153 ,  G05B2219/50003 ,  G05B2219/50006 ,  G05B2219/50235 ,  Y10T82/10 ,  Y10T82/16016 ,  Y10T82/2502 ,  Y10T82/2524

摘要： There is provided a numerically controlled lathe capable of simultaneously performing various kinds of machining to a plurality of workpieces. An NC lathe according to the present invention has a first main shaft 121 and a second main shaft, a first tool rest 160 to which a tool T1 and/or a tool T2 used to machine workpieces W1 and W2 grasped by these main shafts are attached, and a second tool rest 180 to which a tool T3 and/or a tool T4 used to machine the workpieces W1 and W2 are attached. The first tool rest 160, the second tool rest 180 and the second head stock 130 can move in the direction of a Z axis and the direction of an X axis without restraint. A numerical control device 191 controls movement of the first tool rest 160, the second tool rest 180 and the second head stock 130 in the direction of the X axis and movement of the same in the direction of the Z axis. As a result, a plurality of types of machining can be simultaneously applied to the two workpieces by using at least three tools in the tools T1 to T4.

摘要翻译： 本发明提供了一种数控车床，能够同时对多个工件进行各种加工。根据本发明的NC车床具有第一主轴121和第二主轴，第一工具支架160，工具 T1和/或用于加工由这些主轴夹持的工件W1和W2的工具T2被安装在工具T3和/或用于加工工件W1和W2的工具T4的第二工具架180上。 第一刀架160，第二刀架180和第二头架130可以在Z轴的方向和X轴的方向上不受约束地移动。 数控装置191控制第一工具架160，第二工具架180和第二头架原料130在X轴方向上的运动，并且沿着Z轴的方向移动。 结果，通过在工具T1至T4中使用至少三个工具，可以将两种类型的加工同时施加到两个工件上。