公开(公告)号：US08180478B2

公开(公告)日：2012-05-15

申请号：US12737324

申请日：2009-08-07

申请人： Roland Haas ,  Klaus Dirnberger

发明人： Roland Haas ,  Klaus Dirnberger

IPC分类号： G06F19/00

CPC分类号： B23Q7/047 ,  G05B19/4067 ,  G05B2219/50103 ,  G05B2219/50108

摘要： The invention relates to a method for activating a workpiece manipulator (4) of a machine tool (1), comprising a control device which prescribes machining paths (6) for a workpiece by means of a computing unit, which machining paths are travelled by the workpiece manipulator (4) from a machine starting position (A), wherein the workpiece (5) which can be moved by the workpiece manipulator (4) in a multi-axially translatory and preferably also rotating manner is passed to a plurality of tools (3) one after the other for the step-by-step machining. In order to provide advantageous conditions it is proposed that in the case of termination of machining the workpiece manipulator (4) is made to move with the workpiece (5) back over the path of movement (7) assigned to the respective machining step into a position (8) prior to this machining step, in which the workpiece manipulator is optionally stopped or from which the workpiece manipulator is moved into the machine starting position (A).

摘要翻译： 本发明涉及一种用于激活机床（1）的工件操纵器（4）的方法，包括一个控制装置，该控制装置通过计算单元为工件规定了加工路径（6），该加工路径由 工件操作器（4）从机械起始位置（A）移动，其中可以通过工件操纵器（4）以多轴向平移并且优选地也旋转的方式移动的工件（5）被传递到多个工具（ 3）一个接一个地进行逐步加工。 为了提供有利条件，提出在终止加工的情况下，使工件操纵器（4）与工件（5）一起移动回分配给相应加工步骤的运动路径（7），进入到 在该加工步骤之前的位置（8），其中工件操纵器可选地停止，或者工件操纵器从其移动到机器起始位置（A）。

公开(公告)号：US20050209730A1

公开(公告)日：2005-09-22

申请号：US11134570

申请日：2005-05-19

申请人： Peter Grund ,  Rolf Kuppinger ,  Karl Frommer

发明人： Peter Grund ,  Rolf Kuppinger ,  Karl Frommer

IPC分类号： G05B19/4067 ,  G06F19/00

CPC分类号： G05B19/4067 ,  G05B2219/50108 ,  G05B2219/50111 ,  Y10T82/2541 ,  Y10T483/10

摘要： A machine tool comprises a tool carrier moveable relative to a workpiece to be machined. A controller controls the relative movement of the tool carrier and the workpiece by means of a control program. If an unplanned event occurs during the operational movement of the machine, the relative movement of the tool and the workpiece is stopped, and a restart from a starting position is carried out later. The starting position is in this case approached along a trajectory, and the trajectory is determined automatically as a function of the machining operation in which the unplanned event occurred.

摘要翻译： 机床包括可相对于待加工的工件移动的工具架。 控制器通过控制程序控制刀架和工件的相对移动。 如果在机器的操作运动期间发生计划外事件，则停止工具和工件的相对移动，并且稍后从起始位置重新启动。 在这种情况下，起始位置沿轨迹接近，并且轨迹是根据计划外事件发生的加工操作自动确定的。

公开(公告)号：US20020074966A1

公开(公告)日：2002-06-20

申请号：US09938762

申请日：2001-08-24

发明人： Markus Schuermann

IPC分类号： G05B019/18

CPC分类号： G05B19/4061 ,  G05B2219/50108 ,  G05B2219/50177 ,  G05B2219/50206

摘要： For automatically freeing an axis which, after running over a safe end position (Enull), is monitored to ascertain when it is at a standstill (3), monitoring for overshooting the safe end positions (Enull, Enull) is switched off and a freeing range (4) is defined by a limit value (G1), in the traversing direction of the axis which led to the overshooting of the safe end position (Enull), with the value of the greater limit (S1) in absolute terms of the monitored standstill range (3), and by a limit value (G2), in the other traversing direction of the axis, with the value of the corresponding safe end position (E1). After deactivating the monitoring for a standstill of the axis, the axis can then be moved automatically back into the normal traversing range (1) within the safe end positions (Enull, Enull), while monitoring for overshooting of this freeing range (4).

摘要翻译： 为了自动释放一个轴，在运行在安全的最终位置（E +）之后，被监控以确定何时停止（3），关闭超控安全终点位置（E +，E-）的监控被关闭 释放范围（4）由限制值（G1）定义在导致安全终点位置（E +）过冲的轴的运动方向上，绝对值的绝对值（S1） 在轴的另一个行进方向上与监视的停止范围（3）和极限值（G2）相对应的安全终点位置（E1）的值。 在停止对轴静止的监控之后，轴可随后自动返回到安全终点位置（E +，E-）内的正常运行范围（1），同时监视此释放范围的过冲（4） 。

公开(公告)号：US09604362B2

公开(公告)日：2017-03-28

申请号：US14092711

申请日：2013-11-27

申请人： Infineon Technologies AG

发明人： Michael Primessnig

IPC分类号： B25J9/16

CPC分类号： B25J9/1676 ,  G05B2219/40164 ,  G05B2219/40373 ,  G05B2219/50108

摘要： A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure.

公开(公告)号：US4799408A

公开(公告)日：1989-01-24

申请号：US896586

申请日：1986-08-18

申请人： Larisa A. Elman

发明人： Larisa A. Elman

IPC分类号： G05B19/4065 ,  B23B3/00

CPC分类号： G05B19/4065 ,  G05B2219/50108 ,  G05B2219/50276 ,  Y10T82/10 ,  Y10T82/2502

摘要： In the present invention, the breakage of a cutting tool is sensed during a cutting operation of stock on a lathe. A boundary is defined around the stock. The cutting tool is withdrawn stepwise along the same path taken up to the point of breakage. After each step, inquiry is made as to whether the tool has crossed the boundary. When it does, the tool is brought directly to a tool changing station without further stepwise withdrawal.

摘要翻译： 在本发明中，在车床上的坯料的切割操作期间感测到切割工具的断裂。 围绕股票定义边界。 切割工具沿着相同的路径逐步撤回，直到断裂点。 在每一步之后，询问工具是否越过边界。 如果没有进一步的逐步退出，工具直接被带到换刀台。

公开(公告)号：US20180059636A1

公开(公告)日：2018-03-01

申请号：US15678419

申请日：2017-08-16

申请人： FANUC CORPORATION

发明人： Akinobu Fukumoto

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/49157 ,  G05B2219/50108 ,  G05B2219/50112

摘要： Executable format data resulting from decoding of a positioning block (retraction block) prior to start of cutting and an end point coordinate position P1 for command for the retraction block are stored. When machining is interrupted and a request for retraction of a tool is input, a retracting operation 1 is performed to retract the tool from a machining interruption position P2 to the stored end point coordinate position P1 of the retraction block. Subsequently, the stored executable format data of the retraction block is executed, with a moving direction for the executable format data being reversed to move the tool. The tool performs a retracting operation 2 of moving in the opposite direction along a moving path for in the retraction block. The retracting operations 1, 2 allow the tool to be retracted while avoiding interfering with other members.

公开(公告)号：US20150148958A1

公开(公告)日：2015-05-28

申请号：US14092711

申请日：2013-11-27

申请人： Infineon Technologies AG

发明人： Michael Primessnig

IPC分类号： B25J9/16

CPC分类号： B25J9/1676 ,  G05B2219/40164 ,  G05B2219/40373 ,  G05B2219/50108

摘要： A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure.

摘要翻译： 公开了一种具有至少第一和第二移动轴的机器人的故障处理方法和装置。 在一个实施例中，该方法包括接收第一时间点的第一移动轴的第一位置信息和第一时间点的第二移动轴的第一位置信息，并将接收的第一位置信息存储为运动数据集 接收第二时间点的第一移动轴的第二位置信息和第二时间点的第二移动轴的第二位置信息，并将接收到的第二位置信息存储在运动数据组中，并且根据 到失败程序。

公开(公告)号：US06611121B2

公开(公告)日：2003-08-26

申请号：US09938762

申请日：2001-08-24

申请人： Markus Schuermann

发明人： Markus Schuermann

IPC分类号： G05B1918

CPC分类号： G05B19/4061 ,  G05B2219/50108 ,  G05B2219/50177 ,  G05B2219/50206

摘要： For automatically freeing an axis which, after running over a safe end position (E+), is monitored to ascertain when it is at a standstill (3), monitoring for overshooting the safe end positions (E+, E−) is switched off and a freeing range (4) is defined by a limit value (G1), in the traversing direction of the axis which led to the overshooting of the safe end position (E+), with the value of the greater limit (S1) in absolute terms of the monitored standstill range (3), and by a limit value (G2), in the other traversing direction of the axis, with the value of the corresponding safe end position (E1). After deactivating the monitoring for a standstill of the axis, the axis can then be moved automatically back into the normal traversing range (1) within the safe end positions (E+, E−), while monitoring for overshooting of this freeing range (4).

公开(公告)号：US20110098843A1

公开(公告)日：2011-04-28

申请号：US12737324

申请日：2009-08-07

申请人： Roland Haas ,  Klaus Dirnberger

发明人： Roland Haas ,  Klaus Dirnberger

IPC分类号： G06F19/00

CPC分类号： B23Q7/047 ,  G05B19/4067 ,  G05B2219/50103 ,  G05B2219/50108

摘要： The invention relates to a method for activating a workpiece manipulator (4) of a machine tool (1), comprising a control device which prescribes machining paths (6) for a workpiece by means of a computing unit, which machining paths are travelled by the workpiece manipulator (4) from a machine starting position (A), wherein the workpiece (5) which can be moved by the workpiece manipulator (4) in a multi-axially translatory and preferably also rotating manner is passed to a plurality of tools (3) one after the other for the step-by-step machining. In order to provide advantageous conditions it is proposed that in the case of termination of machining the workpiece manipulator (4) is made to move with the workpiece (5) back over the path of movement (7) assigned to the respective machining step into a position (8) prior to this machining step, in which the workpiece manipulator is optionally stopped or from which the workpiece manipulator is moved into the machine starting position (A).

摘要翻译： 本发明涉及一种用于激活机床（1）的工件操纵器（4）的方法，包括一个控制装置，该控制装置通过计算单元为工件规定了加工路径（6），该加工路径由 工件操作器（4）从机械起始位置（A）移动，其中可以通过工件操纵器（4）以多轴向平移并且优选地也旋转的方式移动的工件（5）被传递到多个工具（ 3）一个接一个地进行逐步加工。 为了提供有利条件，提出在终止加工的情况下，使工件操纵器（4）与工件（5）一起移动回分配给相应加工步骤的运动路径（7），进入到 在该加工步骤之前的位置（8），其中工件操纵器可选地停止，或者工件操纵器从其移动到机器起始位置（A）。

公开(公告)号：US07177720B2

公开(公告)日：2007-02-13

申请号：US11134570

申请日：2005-05-19

申请人： Peter Grund ,  Rolf Kuppinger ,  Karl Frommer

发明人： Peter Grund ,  Rolf Kuppinger ,  Karl Frommer

IPC分类号： G06F19/00

CPC分类号： G05B19/4067 ,  G05B2219/50108 ,  G05B2219/50111 ,  Y10T82/2541 ,  Y10T483/10

摘要： A machine tool comprises a tool carrier moveable relative to a workpiece to be machined. A controller controls the relative movement of the tool carrier and the workpiece by means of a control program. If an unplanned event occurs during the operational movement of the machine, the relative movement of the tool and the workpiece is stopped, and a restart from a starting position is carried out later. The starting position is in this case approached along a trajectory, and the trajectory is determined automatically as a function of the machining operation in which the unplanned event occurred.

摘要翻译： 机床包括可相对于待加工的工件移动的工具架。 控制器通过控制程序控制刀架和工件的相对移动。 如果在机器的操作运动期间发生计划外事件，则停止工具和工件的相对移动，并且稍后从起始位置重新启动。 在这种情况下，起始位置沿轨迹接近，并且轨迹是根据计划外事件发生的加工操作自动确定的。