公开(公告)号：US07886629B2

公开(公告)日：2011-02-15

申请号：US10332262

申请日：2001-06-23

申请人： Franco Sartorio

发明人： Franco Sartorio

IPC分类号： G05G11/00 ,  B23Q1/62

CPC分类号： B23Q1/012 ,  B23Q1/445 ,  B25J9/1615 ,  G05B19/39 ,  G05B2219/40289 ,  G05B2219/40293 ,  G05B2219/41457 ,  G05B2219/42225 ,  G05B2219/49284 ,  Y10T74/20354

摘要： A machine tool comprises a first travelling assembly (10) which carries in its turn a second travelling assembly (22). The first assembly (10) is adapted to position the second assembly (22) in a relatively wide space (S1) and with movements at relatively low speeds and accelerations. The second assembly (22) carries in its turn a tool which is provided with actuators for positioning the tool in a relatively narrow space (S2) and with movements at relatively high speeds and accelerations. The machine includes means for controlling the movements of the two assemblies (10, 22) which are so arranged to obtain s global movement of the tool without solutions of continuity in all the space of movement (S1) of the first assembly (10). The invention also relates to a manipulator device which can be used independently or be installed as a second assembly (22) on a travelling structure of a machine tool.

摘要翻译： 一种机床包括第一行进组件（10），该第一行进组件依次承载第二行进组件（22）。 第一组件（10）适于将第二组件（22）定位在相对宽的空间（S1）中并且以相对较低的速度和加速度的运动。 第二组件（22）又带有一个工具，该工具设置有用于将工具定位在相对狭窄的空间（S2）中并具有相对较高速度和加速度的运动的致动器。 机器包括用于控制两个组件（10,22）的运动的装置，其被布置成获得工具的全局运动，而没有在第一组件（10）的所有运动空间（S1）中具有连续性的解决方案。 本发明还涉及一种可以独立使用或作为第二组件（22）安装在机床的行进结构上的机械手装置。

公开(公告)号：US20140156052A1

公开(公告)日：2014-06-05

申请号：US14235932

申请日：2012-07-27

申请人： Nobutaka Nishibashi

发明人： Nobutaka Nishibashi

IPC分类号： G05B19/41

CPC分类号： G05B19/41 ,  G05B19/4103 ,  G05B2219/40247 ,  G05B2219/49284

摘要： A numerical control device includes a pulse interpolation unit. The pulse interpolation unit obtains an intervening variable at each time point based on an intervening variable time function, obtains a position coordinate of a post-interpolation tool path in the workpiece coordinate system and a position coordinate of a post-interpolation second transfer axis path on a second transfer axis which correspond to the obtained intervening variable at each time point, and obtains a position coordinate on each transfer axis corresponding to the position coordinate of the post-interpolation tool path in the workpiece coordinate system at each time point based on a specific relational expression using the obtained position coordinate on the second transfer axis as a constraint and representing a correlation between a position coordinate of a tool in the workpiece coordinate system and a position coordinate on each transfer axis.

摘要翻译： 数字控制装置包括脉冲内插单元。 脉冲插补单元基于中间的可变时间函数在每个时间点获得中间变量，获得工件坐标系中的插入后刀具路径的位置坐标和插补后第二转印轴路径的位置坐标 第二转印轴，其对应于在每个时间点获得的中间变量，并且在每个时间点根据具体的每个时间点获得与工件坐标系中的插入后工具路径的位置坐标相对应的每个转印轴上的位置坐标 使用在第二传送轴上获得的位置坐标作为约束并且表示工件坐标系中的工具的位置坐标与每个传送轴上的位置坐标之间的相关性的关系表达式。

公开(公告)号：US3449754A

公开(公告)日：1969-06-10

申请号：US3449754D

申请日：1967-05-29

申请人： CONTRAVES AG

发明人： STUTZ THEO

IPC分类号： B23Q1/60 ,  B23Q1/62 ,  G01D9/40 ,  G05B19/39 ,  G05D3/14 ,  G01D9/26

CPC分类号： G05D3/1436 ,  B23Q1/601 ,  B23Q1/621 ,  G01D9/40 ,  G05B19/39 ,  G05B2219/41355 ,  G05B2219/49284 ,  G05D3/14

公开(公告)号：US20100146802A1

公开(公告)日：2010-06-17

申请号：US12643332

申请日：2009-12-21

申请人： Andreas Ehlerding

发明人： Andreas Ehlerding

IPC分类号： G01B5/008

CPC分类号： G05B19/402 ,  B23Q1/445 ,  G05B19/404 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/49284 ,  G05B2219/50019

摘要： A method for the optimized movement co-ordination of measuring machines or machine tools having redundant axles having at translatory action, wherein the longer partial axles in each case permit a relatively slowly accelerated partial movement over a relatively large measuring or processing space and the shorter partial axles in each case essentially carry out the movement components of a total movement at a substantially altogether constant measuring or processing speed, which require an acceleration beyond a maximum set or stipulated for the respective longer partial axles, wherein, when approaching positions that in an undivided movement would otherwise not be attainable, the base axles correspondingly decelerate and can even come to a complete standstill, wherein by simultaneous displacement of the neutral starting point of the additional axles, the respective movement component of the base axles missing from the total movement is compensated.

摘要翻译： 一种用于具有平移作用的具有冗余轴的测量机器或机床的优化运动协调的方法，其中每种情况下较长的部分轴允许在相对大的测量或处理空间上相对缓慢地加速的部分运动，并且较短的部分 在每种情况下的轴基本上以完全恒定的测量或处理速度基本上执行总运动的运动分量，其需要超过对于相应的较长部分轴设定或规定的最大值的加速度，其中当接近未分割的位置时 否则将不能实现运动，基座轴相应地减速并且甚至可以完全停止，其中通过同时移动附加轴的中性起点，补偿从总运动中缺失的基座的相应运动部件 。

公开(公告)号：US20040025761A1

公开(公告)日：2004-02-12

申请号：US10332262

申请日：2003-02-11

发明人： Franco Sartorio

IPC分类号： A47B011/00

CPC分类号： B23Q1/012 ,  B23Q1/445 ,  B25J9/1615 ,  G05B19/39 ,  G05B2219/40289 ,  G05B2219/40293 ,  G05B2219/41457 ,  G05B2219/42225 ,  G05B2219/49284 ,  Y10T74/20354

摘要： A machine tool comprises a first travelling assembly (10) which carries in its turn a second travelling assembly (22). The first assembly (10) is adapted to position the second assembly (22) in a relatively wide space (S1) and with movements at relatively low speeds and accelerations. The second assembly (22) carries in its turn a tool which is provided with actuators for positioning the tool in a relatively narrow space (S2) and with movements at relatively high speeds and accelerations. The machine includes means for controlling the movements of the two assemblies (10, 22) which are so arranged to obtain s global movement of the tool without solutions of continuity in all the space of movement (S1) of the first assembly (10). The invention also relates to a manipulator device which can be used independently or be installed as a second assembly (22) on a travelling structure Or a machine tool.

摘要翻译： 一种机床包括第一行进组件（10），该第一行进组件依次承载第二行进组件（22）。 第一组件（10）适于将第二组件（22）定位在相对宽的空间（S1）中并且以相对较低的速度和加速度的运动。 第二组件（22）又带有一个工具，该工具设置有用于将工具定位在相对狭窄的空间（S2）中并具有相对较高速度和加速度的运动的致动器。 机器包括用于控制两个组件（10,22）的运动的装置，其被布置成获得工具的全局运动，而没有在第一组件（10）的所有运动空间（S1）中具有连续性的解决方案。 本发明还涉及一种可以独立使用或作为第二组件（22）安装在行进结构或机床上的机械手装置。

公开(公告)号：US5120034A

公开(公告)日：1992-06-09

申请号：US594520

申请日：1990-10-04

申请人： Gerard Van Engelen ,  Adrianus G. Bouwer

发明人： Gerard Van Engelen ,  Adrianus G. Bouwer

IPC分类号： H01L21/30 ,  B23Q1/00 ,  B23Q1/38 ,  B23Q1/62 ,  B23Q5/28 ,  B23Q16/00 ,  G03F7/20 ,  G05B19/39 ,  H01L21/027

CPC分类号： G03F7/70716 ,  B23Q1/621 ,  G05B19/39 ,  G05B2219/37275 ,  G05B2219/49271 ,  G05B2219/49276 ,  G05B2219/49284

摘要： A positioning device includes a table (101, 213) guided by a carriage (15, 199), the carriage (15, 199) being displaceable in two coordinate directions (X, Y) with respect to the base (3) and the table (101, 213) being displaceable with respect to the carriage (15, 199) in the same coordinate directions (X, Y) solely by Lorentz forces, while in a third coordinate direction (Z) the position of the table (101, 213) is determined by a static gas bearing. The two-step positioning device is particularly suitable for use in opto-lithographic devices.

公开(公告)号：US10036965B2

公开(公告)日：2018-07-31

申请号：US14224316

申请日：2014-03-25

申请人： CANON KABUSHIKI KAISHA

发明人： Masanori Yamada

IPC分类号： G03F7/20

CPC分类号： G03F7/70758 ,  G03F7/70725 ,  G05B2219/49284

摘要： A stage apparatus includes: a coarse moving stage; a fine moving stage located at an interval from the coarse moving stage in a first direction; an electromagnetic actuator including a first core located on one of the coarse moving stage and the fine moving stage and a second core located on the other of the coarse moving stage and the fine moving stage and configured to accelerate or decelerate the fine moving stage in a second direction perpendicular to the first direction; and a controller configured to correct a command value of a thrust of the electromagnetic actuator in the second direction in accordance with a relative position of the fine moving stage with respect to the coarse moving stage in the first direction.

公开(公告)号：US20140297019A1

公开(公告)日：2014-10-02

申请号：US14224316

申请日：2014-03-25

申请人： Canon Kabushiki Kaisha

发明人： Masanori YAMADA

IPC分类号： G05B19/402

CPC分类号： G03F7/70758 ,  G03F7/70725 ,  G05B2219/49284

摘要： A stage apparatus includes: a coarse moving stage; a fine moving stage located at an interval from the coarse moving stage in a first direction; an electromagnetic actuator including a first core located on one of the coarse moving stage and the fine moving stage and a second core located on the other of the coarse moving stage and the fine moving stage and configured to accelerate or decelerate the fine moving stage in a second direction perpendicular to the first direction; and a controller configured to correct a command value of a thrust of the electromagnetic actuator in the second direction in accordance with a relative position of the fine moving stage with respect to the coarse moving stage in the first direction.

摘要翻译： 舞台装置包括：粗动阶段; 位于与所述粗移动台的间隔处于第一方向的细移动台; 一种电磁致动器，包括位于粗动台和细移动台之一上的第一芯和位于粗移动台和微移动台中另一个上的第二芯，并且构造成在微动移动台 第二方向垂直于第一方向; 以及控制器，其被配置为根据所述细微移动台相对于所述粗移动台在所述第一方向上的相对位置来校正所述电磁致动器在所述第二方向上的推力的指令值。

公开(公告)号：US08260443B2

公开(公告)日：2012-09-04

申请号：US12643332

申请日：2009-12-21

申请人： Andreas Ehlerding

发明人： Andreas Ehlerding

IPC分类号： G05B19/18 ,  G05B19/29 ,  G06F19/00 ,  G01B5/004 ,  B25J9/16 ,  B25J9/10 ,  B23K26/02

CPC分类号： G05B19/402 ,  B23Q1/445 ,  G05B19/404 ,  G05B2219/41457 ,  G05B2219/42209 ,  G05B2219/49284 ,  G05B2219/50019

摘要： A method for the optimized movement co-ordination of measuring machines or machine tools having redundant axles having at translatory action, wherein the longer partial axles in each case permit a relatively slowly accelerated partial movement over a relatively large measuring or processing space and the shorter partial axles in each case essentially carry out the movement components of a total movement at a substantially altogether constant measuring or processing speed, which require an acceleration beyond a maximum set or stipulated for the respective longer partial axles, wherein, when approaching positions that in an undivided movement would otherwise not be attainable, the base axles correspondingly decelerate and can even come to a complete standstill, wherein by simultaneous displacement of the neutral starting point of the additional axles, the respective movement component of the base axles missing from the total movement is compensated.

摘要翻译： 一种用于具有平移作用的具有冗余轴的测量机器或机床的优化运动协调的方法，其中每种情况下较长的部分轴允许在相对大的测量或处理空间上相对缓慢地加速的部分运动，并且较短的部分 在每种情况下的轴基本上以完全恒定的测量或处理速度基本上执行总运动的运动分量，其需要超过对于相应的较长部分轴设定或规定的最大值的加速度，其中当接近未分割的位置时 否则将不能实现运动，基座轴相应地减速并且甚至可以完全停止，其中通过同时移动附加轴的中性起点，补偿从总运动中缺失的基座的相应运动部件 。

公开(公告)号：US5005452A

公开(公告)日：1991-04-09

申请号：US391929

申请日：1989-08-10

申请人： David B. Wood, III

发明人： David B. Wood, III

IPC分类号： B23B3/32 ,  B23Q15/16 ,  G05B19/404

CPC分类号： G05B19/404 ,  B23Q15/16 ,  B23Q2039/002 ,  G05B2219/41047 ,  G05B2219/45124 ,  G05B2219/49165 ,  G05B2219/49284 ,  G05B2219/49292 ,  Y10T82/2531 ,  Y10T82/2533 ,  Y10T82/2541 ,  Y10T82/2543 ,  Y10T82/2549

摘要： There is provided a high-production machining device having first and second spindles rotatably mounted on a headstock. A carriage is slidably mounted on the machine bed, and in a preferred embodiment a first drive assembly is provided for sliding the carriage across the upper face of the bed along a transverse axis thereof. First and second slides are slidably mounted on the carriage for movement in a direction normal to the transverse axis, with the first and second slides each adapted to carry a machine tool and each being attached to a common second drive assembly for moving the slides in that normal direction. A linear sensor monitors the positions of the first and second slides relative one another, and an independent compensating assembly is provided for adjusting the position of one of the slides relative the other in the normal direction, whereby positions of the first and second slides in the normal direction can be effectively independently controlled. In a preferred embodiment, the machining device further includes an independent adjustment device for moving one of the spindles relative the other in a direction parallel to the transverse axis, whereby the positions of the first and second slides in the transverse direction can be effectively independently controlled.