公开(公告)号：US09939800B2

公开(公告)日：2018-04-10

申请号：US14700231

申请日：2015-04-30

申请人： BAE Systems Plc

发明人： Jonathan Michael Carberry ,  Austin James Cook ,  David McMillan ,  Aron Derecichei ,  Craig Ashmore

IPC分类号： G06F19/00 ,  G05B19/31 ,  B25J9/16 ,  G05B19/4061 ,  G05B19/4065 ,  G05B19/4067 ,  G05B19/402

CPC分类号： G05B19/31 ,  B25J9/1676 ,  G05B19/402 ,  G05B19/4061 ,  G05B19/4065 ,  G05B19/4067 ,  G05B2219/49146 ,  G05B2219/49372 ,  G05B2219/50109 ,  G05B2219/50111

摘要： Disclosed is a method and apparatus for machining a workpiece (2). The method comprises specifying a path along which a cutting tool (6) is moved during machining the workpiece (2), the path comprising segments (26); defining, for each segment (26), an exit point on that segment (26); defining, for each segment (26), an exit path (38) from the exit point of that segment (26) to a point remote from the workpiece (2); performing a machining process including moving the cutting tool (6) along the tool path and machining the workpiece (2); and, during the machining process, when one or more criteria are satisfied: interrupting the machining process and, without machining the workpiece (2), moving the cutting tool (6) to the exit point of the current segment (26) and then along the exit path (38) of the current segment (26).

公开(公告)号：US06397111B1

公开(公告)日：2002-05-28

申请号：US08668718

申请日：1996-06-24

申请人： Tomomitsu Niwa

发明人： Tomomitsu Niwa

IPC分类号： G05B1101

CPC分类号： G05B19/4062 ,  G05B19/406 ,  G05B19/4067 ,  G05B19/4155 ,  G05B2219/50104 ,  G05B2219/50111

摘要： A numerically controlled machine tool which allows the automatic generation of a restoring program for carrying out processing required for the resumption of an NC machining program to resume the execution of the NC machining program after the execution of the NC machining program has been stopped and interrupt processing has been performed. Specifically, even for nesting programs, when the machining program is re-executed from where it had stopped after the execution of the machining program has stopped and the operator has performed optional interrupt processing, the stop-time and re-execution-time machine statuses are compared to automatically generate the restoring program so that the machine status may be returned to the stop-time status, whereby the operator can perform the resumption processing of the machining program without any restrictions.

摘要翻译： 一种数控机床，其允许自动生成用于执行NC加工程序恢复所需的处理的恢复程序，以在NC加工程序执行之后停止执行NC加工程序，并且中断处理 已经执行。 具体来说，即使对于嵌套程序，当加工程序执行停止并且操作者执行了可选的中断处理之后，当从其停止的位置重新执行加工程序时，停止时间和重新执行时机器状态 进行比较以自动生成恢复程序，使得机器状态可以返回到停止时间状态，由此操作者可以在没有任何限制的情况下执行加工程序的恢复处理。

公开(公告)号：US06360143B1

公开(公告)日：2002-03-19

申请号：US09844462

申请日：2001-04-27

申请人： Akihiro Yanagita

发明人： Akihiro Yanagita

IPC分类号： G06F1900

CPC分类号： B25J9/1692 ,  G05B2219/39013 ,  G05B2219/39017 ,  G05B2219/40248 ,  G05B2219/50111

摘要： A method of controlling a dispensing system, having a robot that moves along a motion segment and applies a material to a workpiece, automatically determines a backup distance for the robot after an error has occurred during the dispensing of a first portion of the material. The backup distance is based on an operational speed of the robot. The robot is relocated to a backup position based on this backup distance to ensure that the robot reaches the operational speed at least by a time that the robot reaches a re-application position. The re-application position is at or near where the application of the first portion of the material ended. Therefore, gaps, overlaps, and puddles in the material on the workpiece are prevented.

摘要翻译： 一种控制分配系统的方法，其具有沿着运动段移动并将材料施加到工件的机器人，在分配材料的第一部分期间在发生错误之后自动确定机器人的备用距离。 备用距离是基于机器人的操作速度。 机器人基于该备份距离重新定位到备用位置，以确保机器人至少在机器人达到重新施加位置的时候达到操作速度。 重新施加位置处于或接近材料的第一部分的施加结束的地方。 因此，防止工件上的材料中的间隙，重叠和水坑。

公开(公告)号：US20130282177A1

公开(公告)日：2013-10-24

申请号：US13863907

申请日：2013-04-16

申请人： KUKA ROBOTER GMBH

发明人： Guenther Wiedemann ,  Andreas Hagenauer ,  Manfred Huettenhofer ,  Martin Weiss

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B19/4067 ,  G05B19/4155 ,  G05B2219/40511 ,  G05B2219/40518 ,  G05B2219/40519 ,  G05B2219/50103 ,  G05B2219/50111

摘要： According to a method according to the invention for designating and/or controlling a manipulator process for a manipulator configuration (1, 2, 3) having at least one manipulator, in particular, an industrial robot, wherein the manipulator process exhibits a given oriented manipulator track for the manipulator configuration, at least one action by the manipulator configuration can be designated, or shall be executed, respectively, in particular, differently, in relation to a reverse movement running counter to the oriented manipulator track, and/or a return movement running in the same direction as the oriented manipulator track.

摘要翻译： 根据根据本发明的用于指定和/或控制具有至少一个操纵器（尤其是工业机器人）的操纵器构造（1,2,3）的操纵器过程的方法，其中所述操纵器过程表现出给定的定向操纵器 对于操纵器构造的轨迹，可以分别指定或者将执行至少一个通过操纵器配置的动作，特别地，相对于与定向操纵器轨迹相反的反向运动，和/或返回运动 以与定向操纵器轨道相同的方向运行。

公开(公告)号：US5563797A

公开(公告)日：1996-10-08

申请号：US342696

申请日：1994-11-21

申请人： Takayuki Koyasu

发明人： Takayuki Koyasu

IPC分类号： B23H7/02 ,  B23H7/06 ,  G05B19/4067 ,  G06F19/00 ,  G06G7/64 ,  G06G7/66

CPC分类号： G05B19/4067 ,  G05B2219/37092 ,  G05B2219/45043 ,  G05B2219/50111

摘要： In a wire-cut discharge machine, a workpiece fixedly mounted on a movable table is returned from the present position to a machining start position so that auxiliary objects, such as clasps for holding the workpiece, and structural objects, such as the nozzle of the wire-cut discharge device, do not interfere with each other. Relative coordinate values between the machining start position and the present position are calculated and the calculated results are displayed on a display device. The workpiece is moved in an X-direction and is then moved in a Y-direction toward the machining start position based on moving data corresponding to the calculated results.

摘要翻译： 在线切割放电机中，固定安装在可移动台上的工件从当前位置返回到加工开始位置，使得诸如用于保持工件的卡扣等辅助物体和诸如喷嘴的结构物体 线切割放电装置，不要互相干扰。 计算加工开始位置与当前位置之间的相对坐标值，并将计算结果显示在显示装置上。 工件沿X方向移动，然后基于与计算结果相对应的移动数据沿Y方向朝向加工开始位置移动。

公开(公告)号：US4055787A

公开(公告)日：1977-10-25

申请号：US599591

申请日：1975-07-28

申请人： Bruce R. Beadle ,  Eugene A. Olig

发明人： Bruce R. Beadle ,  Eugene A. Olig

IPC分类号： B23Q15/00 ,  G05B19/18 ,  G05B19/37 ,  G05B19/4067 ,  G05B7/00

CPC分类号： G05B19/18 ,  G05B19/371 ,  G05B2219/34163 ,  G05B2219/49394 ,  G05B2219/50111

摘要： A numerical control contouring system in which successive path segments are executed according to successive blocks of command signals making up a path program, the system being interruptable at any time by a feedhold signal to stop the controlled movable member at a random point on the path. The system is characterized by the improvement of preventing the system from resuming normal operation unless and until the member is returned to the path stopping point after it has been, for any reason, displaced therefrom under manual control or the like. In one embodiment, the axis component displacements of the member from the stopping point are represented by signals created and displayed, and the operator's restart pushbutton switch is rendered ineffective until the displayed displacement signals are reduced to zero. In another embodiment, the axis component displacement signals are utilized to create a non-program block of command signals, and means responsive to a restart signal first cause the member to be moved back to the path stopping point before the system is automatically restored to normal operation. In a third embodiment, after each movement of the controlled member following its arrival at the stopping point, the axis components for that movement are signaled and stored, and means responsive to a restart signal first utilize such stored signals to execute such movements in reverse order and senses to return the member to the path stopping point, and next restore normal operation of the system so that movement along the path is resumed.

摘要翻译： 一种数字控制轮廓系统，其中根据构成路径程序的命令信号的连续块来执行连续的路径段，该系统可随时通过进给保持信号中断，以在路径上的随机点停止受控的可移动构件。 该系统的特征在于防止系统恢复正常操作的改进，除非和直到在由于任何原因在某些原因在手动控制等之下而从其移位的情况下返回到路径停止点。 在一个实施例中，构件从停止点的轴元件位移由产生和显示的信号表示，并且操作者的重启按钮开关变得无效，直到显示的位移信号被减小为零。 在另一个实施例中，轴分量位移信号用于产生非编程命令信号块，并且响应重启信号的装置首先使得成员在系统自动恢复正常之前被移回到路径停止点 操作。 在第三实施例中，受控构件在其到达停止点之后的每次移动之后，用于该运动的轴分量被发信号并被存储，并且响应重启信号的装置首先利用这样存储的信号以相反的顺序执行这种运动 并且感觉将构件返回到路径停靠点，并且接下来恢复系统的正常操作，使得沿着路径的移动被恢复。

公开(公告)号：US3668653A

公开(公告)日：1972-06-06

申请号：US76950068

申请日：1968-10-22

申请人： SUNDSTRAD CORP

发明人： FAIR DONALD G ,  BAEVERSTAD HAROLD L ,  FISHER WILLIAM G

IPC分类号： B23Q5/00 ,  B23Q5/54 ,  B23Q15/00 ,  G05B19/18 ,  G05B19/37 ,  G05B19/408 ,  G05B19/4093 ,  G05B19/414 ,  G05B19/418 ,  G05B15/02 ,  G06F15/02 ,  G06F15/20

CPC分类号： G05B19/4181 ,  G05B19/371 ,  G05B19/408 ,  G05B2219/34163 ,  G05B2219/35293 ,  G05B2219/36078 ,  G05B2219/36243 ,  G05B2219/37092 ,  G05B2219/50111 ,  Y02P90/06

摘要： An on-line data processing machine controls the operation of one or more machine tools. A general purpose communications link allows each machine tool and/or the operator therefore to communicate with the data processing machine and either change the operations which the machine tool would otherwise perform under control of an existing stored program, or add new or partly new operations, which if desired can thereafter immediately be performed by the machine tool.

摘要翻译： 在线数据处理机器控制一个或多个机床的操作。 通用通信链路允许每个机床和/或操作者因此与数据处理机进行通信，并且改变机床在现有存储程序的控制下否则将执行的操作，或者添加新的或部分新的操作， 如果需要，其后可以立即由机床进行。

公开(公告)号：US20180181102A1

公开(公告)日：2018-06-28

申请号：US15902545

申请日：2018-02-22

申请人： BAE SYSTEMS Plc

发明人： Jonathan Michael Carberry ,  Austin James Cook ,  David McMillan ,  Aron Derecichei ,  Craig Ashmore

IPC分类号： G05B19/31 ,  G05B19/4065 ,  G05B19/4061 ,  B25J9/16 ,  G05B19/402 ,  G05B19/4067

CPC分类号： G05B19/31 ,  B25J9/1676 ,  G05B19/402 ,  G05B19/4061 ,  G05B19/4065 ,  G05B19/4067 ,  G05B2219/49146 ,  G05B2219/49372 ,  G05B2219/50109 ,  G05B2219/50111

摘要： Disclosed is a method and apparatus for machining a workpiece (2). The method comprises specifying a path along which a cutting tool (6) is moved during machining the workpiece (2), the path comprising segments (26); defining, for each segment (26), an exit point on that segment (26); defining, for each segment (26), an exit path (38) from the exit point of that segment (26) to a point remote from the workpiece (2); performing a machining process including moving the cutting tool (6) along the tool path and machining the workpiece (2); and, during the machining process, when one or more criteria are satisfied: interrupting the machining process and, without machining the workpiece (2), moving the cutting tool (6) to the exit point of the current segment (26) and then along the exit path (38) of the current segment (26).

公开(公告)号：US20160320766A1

公开(公告)日：2016-11-03

申请号：US14700231

申请日：2015-04-30

申请人： BAE SYSTEMS Plc

发明人： Jonathan Michael Carberry ,  Austin James Cook ,  David McMillan ,  Aron Derecichei

IPC分类号： G05B19/31 ,  G05B19/402

CPC分类号： G05B19/31 ,  B25J9/1676 ,  G05B19/402 ,  G05B19/4061 ,  G05B19/4065 ,  G05B19/4067 ,  G05B2219/49146 ,  G05B2219/49372 ,  G05B2219/50109 ,  G05B2219/50111

摘要： Disclosed is a method and apparatus for machining a workpiece (2). The method comprises specifying a path along which a cutting tool (6) is moved during machining the workpiece (2), the path comprising segments (26); defining, for each segment (26), an exit point on that segment (26); defining, for each segment (26), an exit path (38) from the exit point of that segment (26) to a point remote from the workpiece (2); performing a machining process including moving the cutting tool (6) along the tool path and machining the workpiece (2); and, during the machining process, when one or more criteria are satisfied: interrupting the machining process and, without machining the workpiece (2), moving the cutting tool (6) to the exit point of the current segment (26) and then along the exit path (38) of the current segment (26).

摘要翻译： 公开了一种用于加工工件（2）的方法和装置。 该方法包括指定在加工工件（2）期间切割工具（6）沿其移动的路径，所述路径包括段（26）; 为每个段（26）定义该段（26）上的出口点; 为每个段（26）限定从该段（26）的出口点到远离工件（2）的点的出口路径（38）; 执行加工过程，包括沿着刀具路径移动切削工具（6）并加工工件（2）; 并且在加工过程中，当满足一个或多个标准时：中断加工过程，并且在不加工工件（2）的情况下，将切割工具（6）移动到当前段（26）的出口点，然后沿着 当前段（26）的出口路径（38）。

公开(公告)号：US20160320765A1

公开(公告)日：2016-11-03

申请号：US14700257

申请日：2015-04-30

申请人： BAE SYSTEMS Plc

发明人： Jonathan Michael Carberry ,  Austin James Cook ,  David McMillan ,  Aron Derecichei

IPC分类号： G05B19/23 ,  G05B15/02

CPC分类号： G05B19/23 ,  B25J9/1676 ,  G05B15/02 ,  G05B19/4061 ,  G05B19/4065 ,  G05B19/4067 ,  G05B2219/36342 ,  G05B2219/49146 ,  G05B2219/50109 ,  G05B2219/50111

摘要： Disclosed is a method and apparatus for machining a workpiece (2). The method comprises: specifying a path along which a cutting tool (6) is to be moved during machining of the workpiece (2), the path comprising a plurality of segments (26); defining, for each segment (26), an entry point and an entry path (32) from a point remote from the workpiece (2) to that entry point; moving a first cutting tool (6) along the tool path from a first point to a second point and machining the workpiece (2); after the first cutting tool (6) has been moved to the second point, moving the first cutting tool (6) to a point remote from the workpiece (2); moving a second cutting tool (18) along the entry path (32) of the segment (26) that contains the second point, and then from the entry point to the second point.

摘要翻译： 公开了一种用于加工工件（2）的方法和装置。 该方法包括：指定在加工工件（2）期间移动切割工具（6）的路径，该路径包括多个段（26）; 对于每个段（26），从远离所述工件（2）的点到所述入口点的入口点和入口路径（32） 沿着所述刀具路径从第一点移动到第二点并且加工所述工件（2）; 在第一切割工具（6）已经移动到第二点之后，将第一切割工具（6）移动到远离工件（2）的点; 沿着包含第二点的段（26）的入口路径（32）移动第二切割工具（18），然后从入口点移动到第二点。