公开(公告)号：WO1985002692A1

公开(公告)日：1985-06-20

申请号：PCT/JP1984000589

申请日：1984-12-14

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TANAKA, Kunio ,  MATSUMURA, Teruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B2219/36263 ,  G05B2219/36288 ,  G05B2219/36296 ,  G05B2219/36333 ,  Y02P90/265

Abstract: Machining step determination method for automatic programming, in which NC data for a lathe is automatically programmed. Machining steps are previously stored in a memory in the machining sequence. After a blank configuration (BP) and a part configuration (PF) have been input, the stored machining steps are read out of the memory in sequence. Every time a machining step is read out, a judgement is made as to whether or not the machining step is needed to obtain the final part, on the basis of the blank configuration and the part configuration. If the machining step is not needed, the subsequent machining step is read out of the memory and is subjected to a similar judgement. On the other hand, if the machining step is needed, cutting ranges (A1, A2, A3) and cutting directions for that machining step are determined, and the subsequent machining step is then read out of the memory and is subjected to similar processing, to prepare NC data.

公开(公告)号：WO1985002571A1

公开(公告)日：1985-06-20

申请号：PCT/JP1984000591

申请日：1984-12-14

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi

Inventor： FANUC LTD

IPC: B23Q15/00

CPC classification number: G05B19/41 ,  G05B2219/49381 ,  G05B2219/49392

Abstract: Method of machining an area (AR) surrounded by a predetermined outline curve (OLC) by a unidirectional cutting operation. The method includes: a step of effecting cutting along the i th cutting path (PTi); a step of moving a tool (TL) by cutting feed along the outline curve (OLC) up to a machining end point (Qi-1) of the (i-1) th cutting passage along which the previous cutting operation has been conducted; a step of moving the tool (TL) by quick feed from the point (Qi-1) to the machining start point (Pi) of a cutting path (PTi) and positioning the tool (TL) at the point (Pi); a step of moving the tool (TL) by cutting feed along the outline curve (OLC) from the machining start point (Pi) of the cutting path (PTi) to the machining start point (Pi+1) of the next cutting path (PTi+1); a step of moving the tool (TL) by cutting feed along the cutting path (PTi+1), thereby executing cutting along the cutting path (PTi+1); and a step of repeating these steps, thereby effecting an area machining operation.

Abstract translation: 一种在单向切割操作中加工由预定轮廓曲线（OLC）包围的表面（AR）的方法。 该方法包括沿着第i个切割路径（PTi）切割; 将具有沿着轮廓曲线（OLC）的切割移动的工具（TL）移动到第（i-1）切口的加工终点（Qi-1） 进行初步切割操作; 以快速将刀具（TL）从点（Qi-1）移动到切割路径（PTi）的加工起点（Pi）并定位工具（TL） 在（Pi）点; 通过沿着轮廓曲线（OLC）从切割路径（PTi）的加工开始点（Pi）到加工开始点的切割移动来移动工具（TL） （P i + 1）的后续加工路径（P i + 1）; 通过沿着切割路径（PTi + 1）的切割移动来移动工具（TL），从而沿着切割路径（PTi + 1）进行切割; 重复这些步骤，以执行表面加工操作。

公开(公告)号：WO1985001909A1

公开(公告)日：1985-05-09

申请号：PCT/JP1984000523

申请日：1984-10-30

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio

Inventor： FANUC LTD

IPC: B23Q15/013

CPC classification number: G05B19/41 ,  G05B2219/49381 ,  G05B2219/49385

Abstract: A curved surface machining method in which a curved surface is machined by a undirectional cutting operation and, more particularly, to a curved surface machining method including the steps of: automatically preparing a pickfeed path along which a tool (TL) does not interfere with a workpiece at the time of pickfeed; pick-feeding the tool along the path; and effecting cutting. The pickfeed path is obtained by the use of a predetermined tool relief amount l from a cutting path end point Pe, a clearance plane (CPL), the coordinate values of the cutting end point Pe, and the coordinate values of the cutting start point Ps of a subsequent cutting path. More specifically, the following coordinate values are obtained: the coordinate values of a point Pa which is spaced from the cutting path end point Pe in the direction of the central axis of the tool by the tool relief amount l; the coordinate values of the foot Pb of a perpendicular extending from the point Pa to the clearance plane (CPL); the coordinate values of a point Pd which is spaced from the cutting start point Ps of a subsequent cutting path (PT2) in the direction of the central axis of the tool by the tool relief amount l; and the coordinate values of the foot Pc of a perpendicular extending from the point Pd to the clearance plane. Thus, the pickfeed path is determined by the path Pe -> Pa -> Pb -> Pc -> Pd -> Ps.

公开(公告)号：WO1985001683A1

公开(公告)日：1985-04-25

申请号：PCT/JP1984000484

申请日：1984-10-12

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi ,  ONISHI, Yasushi

Inventor： FANUC LTD

IPC: B23C03/00

CPC classification number: G05B19/41 ,  G05B2219/34101 ,  G05B2219/49226 ,  G05B2219/49381 ,  G05B2219/50336 ,  Y10T409/300896 ,  Y10T409/30112 ,  Y10T409/303808

Abstract: An area machining method for machining an area defined by an outline curve. To machine the inside of an area defined by an outline curve (OLC) consisting of a multiplicity of straight lines (S1, S2, ... S6) and a circular arc (A1), the method includes: a step of approximating a circular arc portion (A1') of an offset curve (OFC) which is a predetermined amount offset from the outline curve by straight lines; a step of dividing the area defined by the offset curve which is approximated by the straight lines into a plurality of convex polygons (PG1 to PG3); a step of calculating the centroid (Wi) of each of the convex polygons and respective middle points (M1, M2) of boundary lines (B1, B2) between two convex polygons adjacent to each other, and generating a base line (BL) formed by successively connecting together the centroids and the middle points; a step of dividing into a predetermined number of sections each of the straight lines (L1 to L14) which respectively connect the centroids (Wi) of the convex polygons and the apexes (P1 to P10) of the convex polygons and each of the straight lines (BL1 to BL4) which respectively connect the middle points (M1, M2) and corresponding endpoints (P1, P4; P4, P7) of the boundary lines halved by the respective middle points; a step of moving a tool along a plurality of closed paths (CPT1, CPT2 ... ) obtained by connecting together partition points (Pa1, Pa2 ... Pa18; Pb1, Pb2 ... Pb18) corresponding to the straight lines (L1 to L14, BL1 to BL4) such that the closed paths surround the base line (BL), and moving the tool along the base line (BL); and moving the tool along the offset curve (OFC).

Abstract translation: 用于加工由轮廓曲线限定的表面的表面加工方法。 用于加工由多条直线（S1，S2，... S6）和圆弧（A1）组成的轮廓曲线（OLC）所限定的区域的内部的方法 ）是通过近似定义由轮廓曲线以预定的偏移量由直线偏移的曲线（OFC）的圆弧部分（A1'）; 将由直线近似的偏移曲线定义的区域划分成多个凸多边形（PG1至PG3）; 形成在计算每个凸多边形和各自的中心点（M1，M2）的两个相邻的凸多边形之间的边界线（B1，B2）的质心（WI），产生一个基准线（BL） 连续连接重心和中点; 被分成预定数量的部分各直线的（L1至L14）分别连接所述凸多边形的凸多边形和顶点（P1至P10）的重力（W）的中心，并且各直线的（BL1至 BL4）分别连接的中点（M1，M2）和所述相应的端部的点（P1，P4，P4，P7）的边界线由各自的中点分为两半; 对应于该线;沿多个通过连接分离点（PB1，PB2 ... PB18 PA1，PA2 ... PA18）中获得的封闭路径工具（CPT1，CPT2 ...）的移动 直线（L1至L14，BL1至BL4），以便闭合路径围绕基线（BL），沿着基线（BL）移动工具; 最后沿着偏移曲线（OFC）移动工具。

公开(公告)号：WO1985001682A1

公开(公告)日：1985-04-25

申请号：PCT/JP1984000483

申请日：1984-10-12

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi ,  ONISHI, Yasushi

Inventor： FANUC LTD

IPC: B23C03/00

CPC classification number: G05B19/182 ,  G05B2219/49381 ,  G05B2219/50109 ,  Y10T408/17 ,  Y10T408/175 ,  Y10T409/300896

Abstract: An approaching method in an area machining includes the steps of: previously providing an angle made by a work plane (WPL) and a straight line (SL) which connects together an approaching start point (PA) and a cutting start point (Pi) and a distance dz between the approaching start point (PA) and the cutting start point (Pi) in the direction perpendicular to the work plane; calculating coordinate values representing the approaching start point (PA) by the use of the angle and the distance dz such that a projected straight line (SL') obtained by projecting the straight line (SL) on the work plane (WPL) extends in the normal direction of an outline curve (OLC) at the cutting start point (Pi); positioning a tool (TL) at the approaching start point (PA) at a rapid traverse; moving the tool to the cutting start point (Pi) at a feed rate for cutting; and starting cutting.

公开(公告)号：WO1985001131A1

公开(公告)日：1985-03-14

申请号：PCT/JP1984000427

申请日：1984-09-06

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  SEKI, Masaki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40935 ,  G05B19/4086 ,  G05B2219/33263 ,  G05B2219/34174 ,  G05B2219/35554 ,  G05B2219/36333 ,  G05B2219/49395 ,  Y02P90/265

Abstract: Method of preparing NC data for an NC program which is required to instruct a machine to effect machining of work into the same configuration. At least one pattern (FIG) is registered which is defined by an independent coordinate system (Xp - Yp). To machine a work into the registered pattern, shift amounts (SX1, SY1, SR1) between a machine coordinate system (Xm - Ym) and the coordinate system (Xp - Yp) by which the registered pattern is defined, together with the pattern defining name of the registered pattern, are input in order to effect coordinate transformation, thereby preparing NC data corresponding to the machine coordinate system. To machine a work into an inverted pattern (FIG') which is a mirror image of the registered pattern, inversion instructions are input together with shift amounts (SX2, SY2, SR2), and coordinate transformation is effected, thereby preparing NC data corresponding to the inverted pattern.

Abstract translation: 准备NC程序的NC数据的方法，该NC程序是指示机器将工件加工成相同配置所需要的。 登记由独立坐标系（Xp-Yp）定义的至少一个图案（图）。 为了将工件加工到注册图案中，在定义了注册图案的机床坐标系（Xm-Ym）和坐标系（Xp-Yp）之间移动量（SX1，SY1，SR1）与定义的模式 输入注册图案的名称，以进行坐标变换，从而准备与机器坐标系对应的NC数据。 为了将工件加工为作为注册图案的镜像的反转图案（图'），反转指令与移位量（SX2，SY2，SR2）一起输入，并进行坐标变换，从而准备对应于 倒置图案。

公开(公告)号：WO1984004980A1

公开(公告)日：1984-12-20

申请号：PCT/JP1984000284

申请日：1984-06-04

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  SEKI, Masaki

Inventor： FANUC LTD

IPC: G05B19/42

CPC classification number: G05B19/40932 ,  G05B2219/33263 ,  G05B2219/45083 ,  Y02P90/265

Abstract: A programming method for use in preparing a robot command program comprises a step of setting work station coordinate systems (Xw-Yw, Xm-Ym) for work stations (102, 103) by an instruction operation, a step of inputting operational positions (P1, P2, P3...; P1', P2', ...) for a robot (101) in the work station coordinate systems, a step of specifying transformation equations for transforming positional data in the work station coordinate systems into positional data in a robot coordinate system (Xr-Yr), a step of transforming robot operation positional data into positional data in the robot coordinate system by the use of the specified transformation equations, and a step of preparing a robot command program using the positional data obtained by these transformations.

Abstract translation: 一种用于准备机器人命令程序的编程方法，包括通过指令操作设定工作站（102,103）的工作站坐标系（Xw-Yw，Xm-Ym）的步骤，输入操作位置（P1 ，P2 ...，P1'，P2'，...），将工作站坐标系中的位置数据变换为位置数据的变换方程 在机器人坐标系（Xr-Yr）中，通过使用规定的变换方程将机器人操作位置数据变换为机器人坐标系中的位置数据的步骤，以及使用获得的位置数据准备机器人命令程序的步骤 通过这些转变。

公开(公告)号：WO1984004979A1

公开(公告)日：1984-12-20

申请号：PCT/JP1984000285

申请日：1984-06-05

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MATSUMURA Teruyuki ,  TANAKA, Kunio

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/409 ,  G05B2219/35501 ,  G05B2219/36161

Abstract: The disclosed color display method is for a system provided with an automatic programming unit (101) which has a color display function, and an NC unit (102) without a color display function. In this color display method, the relationships between display items and display colors each corresponding to items in the NC mode are prestored in a memory (105c) of a control unit (105). When a display request key on a control panel (104), corresponding to a given item, is pressed when in NC mode, the control unit (105) informs the NC unit (102) of the name of the item whose display is requested, and inputs to a color display device (106) data on the color corresponding to the item requested. The NC unit inputs to the color display device item data corresponding to that item name. The color display device displays the item data in the color specified by color data which is input thereto.

公开(公告)号：WO1984004718A1

公开(公告)日：1984-12-06

申请号：PCT/JP1984000056

申请日：1984-02-20

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MATSUI, Mitsuo ,  MATSUURA, Hitoshi

Inventor： FANUC LTD

IPC: B23Q35/00

CPC classification number: B23Q35/123 ,  Y10T409/300896 ,  Y10T409/30196

Abstract: A profiling control method is employed in a master-slave type of profiling system provided with first and second profiling apparatuses in which control units (TCC1, TCC2) generate speed commands (Vx, Vy, Vz) for each of the axes by employing detection signals generated from tracer heads (TC1, TC2); and motors (XM1, YM1, ZM1; XM2, YM2, ZM2) provided for each of the axes are driven in accordance with the corresponding speed commands to machine workpieces (WK1, WK2) following the profile of a model (MDL). In this system, a model (MDL1) is traced by the tracer head (TC1) of the first profiling apparatus, and the second profiling apparatus is given movement commands in accordance with the tracing effected by the tracer head (TC1), in order to perform profiling machining. In this profiling control method, the first profiling apparatus (TCC1, TCM1) outputs digital speed commands (Vx, Vy, Vz) to control the motors (XM1, YM1, ZM1) for each of the axes. The first profiling apparatus also monitors the current position of a movable part, and sends to the second profiling apparatus (TCC2, TCM2) the movement of the movable part along each axis within each predetermined period of time as digital movement commands. A pulse distributor (PDC2) in the second profiling apparatus performs a pulse distribution calculation from the movement command data input from the first profiling apparatus, to control the motors (XM2, YM2, ZM2) for each of the axes on the second profiling apparatus side.

Abstract translation: 廓线控制方法是在伺服类型的分析系统中使用的，设置有第一和第二仿形装置，其中，所述控制单元（TCC1，TCC 2）产生速度指令（Vx的， （TC1，TC2）产生的检测信号，对每个轴进行测量。 发动机（XM1，YM1，ZM1; XM2，YM2，BA2）提供用于每个轴被驱动按照相应的速度指令用于加工之后的模型的轮廓的工件（WK1，WK2）（MDL） 。 在该系统中，一个模型（MDL1）由第一分析装置的示踪剂头（TC1）跟踪，并且所述第二分析装置接收基于由所述示踪剂头（TC 1）执行跟踪的运动命令，以 执行仿形加工。 在该仿形控制方法中的第一分析设备（TCC1，TCM1），用于控制各轴的电动机（XM1，YM1，ZM1）产生数字指令速度（V x，VY，1/2）。 所述第一分析装置还控制的可动部的实际位置和期间在CNC的形式的每个预定时间段发送第二仿形装置（TCC 2，TCM2）沿每个轴的可动部分的运动 的运动。 在第二分析装置A脉冲分配器（PDC2）基于由所述第一分析装置，用于控制电机（XM2，YM2，BA2），用于输入的运动控制数据的脉冲分布计算 第二轮廓测定装置侧的每个轴。

公开(公告)号：WO1984004611A1

公开(公告)日：1984-11-22

申请号：PCT/JP1984000052

申请日：1984-02-20

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi

Inventor： FANUC LTD

IPC: G06F03/02

CPC classification number: G06F3/0489 ,  G05B19/40932 ,  Y02P90/265

Abstract: A method of inputting a plurality of data (Xe, Ye, R, Xc, Yc) required for a predetermined processing, the method comprising the steps of: previously storing the input order of the plurality of data; displaying the names of the plurality of data on a CRT screen (104b) in the input order; feeding the data in the input order, as well as feeding a symbol (,) as a punctuation mark between the adjacent data; feeding a symbol (NL) representing the end of the data input after all the data are fed; and discriminating the fed data from each other by distinguishing the symbol as the data punctuation mark from the other symbols and by employing the data input order.