公开(公告)号：WO2010033805A3

公开(公告)日：2010-09-23

申请号：PCT/US2009057482

申请日：2009-09-18

Applicant: TESSERA NORTH AMERICA INC ,  KELLER DAVID ,  BROCATO BRETT

Inventor： KELLER DAVID ,  BROCATO BRETT

IPC: G05B19/18 ,  B23B5/36 ,  B23Q15/013 ,  B24B13/04 ,  B29D11/00

CPC classification number: G02B3/0031 ,  B23D7/08 ,  B23Q5/28 ,  B23Q15/013 ,  B24B13/046 ,  B29D11/00932 ,  G02B5/1819 ,  G05B19/182 ,  G05B2219/43129 ,  G05B2219/45247 ,  G05B2219/50353 ,  Y10T409/303752 ,  Y10T409/30868

Abstract: Embodiments of systems, methods, and computer-readable media for machining materials are disclosed. For example, one embodiment of the present invention includes a method for machining a feature on a work piece (100) along a curving tool path having the steps of controlling a relative translational movement between a tool table and the work piece (100) along the curving tool path and controlling a corresponding angle of rotation of the tool table with respect to the work piece (100) to maintain a substantially constant angle between the tool table and the corresponding relative translational movement between the tool table and the work piece (100) along the curving tool path. In another embodiment, a computer-readable media includes code for a carrying out such a method.

Abstract translation: 公开了用于加工材料的系统，方法和计算机可读介质的实施例。 例如，本发明的一个实施例包括一种用于沿着弯曲工具路径加工工件（100）上的特征的方法，该方法具有以下步骤：沿着工具台和工件（100）之间的相对平移运动 弯曲工具路径并且相对于工件（100）控制工具台的相应的旋转角度，以保持工具台与工具台和工件（100）之间的对应的相对平移运动之间的大致恒定的角度， 沿弯曲工具路径。 在另一个实施例中，计算机可读介质包括用于执行这种方法的代码。

公开(公告)号：WO2008053601A1

公开(公告)日：2008-05-08

申请号：PCT/JP2007/001200

申请日：2007-11-01

Applicant: 株式会社ソディック ,  大戸裕 ,  南川真輝

Inventor： 大戸裕 ,  南川真輝

IPC: G05B19/4093 ,  B23Q15/00 ,  G05B19/416

CPC classification number: G05B19/4163 ,  G05B2219/35012 ,  G05B2219/43129 ,  Y02P90/265

Abstract: 加工制御装置（３）は、工具軌跡を曲率が大きいほど小さい長さを有する複数の部分軌跡に分割する部分軌跡算出手段（３５）と、工具を送り速度に従った速度で各部分軌跡上を移動させてワークを加工するときの該部分軌跡上の各軸位置と所定の時間間隔で求めた各軸速度の時間変化とを軸制御データ（Ａ）として求める軸制御データ算出手段（３６）を備える。工作機械（４）の駆動部（４５）は、軸制御データ（Ａ）に従って所定の時間間隔で各軸速度を変えながら工具を前記部分軌跡上で移動させる。

Abstract translation: 提供了一种工作控制装置（3），其包括部分轨迹计算装置（35），用于将工具轨迹分割成具有较大曲率的较小长度的多个局部轨迹;以及轴控制数据计算装置（36），用于将 轴向控制数据（A），当通过根据进给速度以速度移动部件轨迹上的工具加工工件时的部分轨迹上的各个轴向位置以及各个轴向速度的时间变化 以预定的时间间隔确定。 根据轴向控制数据（A），机床（4）的驱动单元（45）在部分轨迹上移动工具，同时根据轴向控制数据以预定的时间间隔改变各个轴向速度（ 一个）。

公开(公告)号：WO2010134532A1

公开(公告)日：2010-11-25

申请号：PCT/JP2010/058393

申请日：2010-05-18

Applicant: 株式会社ソディック ,  大戸裕

Inventor： 大戸裕

IPC: G05B19/416

CPC classification number: G05B19/416 ,  G05B2219/43129 ,  Y02P90/265

Abstract: 複数の軸を有し工具をワークに相対的に移動させる工作機械を制御する数値制御装置は、ワークを加工するための工具軌跡を生成する工具軌跡生成手段と、工具軌跡を曲率（ｋ）が大きいほど短い複数の部分軌跡（ｌ）に分割する部分軌跡算出手段と、部分軌跡ごとに、切削点付近の切削面の法線と工具の回転軸とのなす切削面角度（θ）を算出し、部分軌跡ごとに、切削面角度に基づいて設定送り速度（Ｆ）を補正した補正送り速度Ｆ（θ）を算出する補正送り速度算出手段と、工具が部分軌跡上を補正送り速度で移動できるように一定時間間隔（Δｔ）毎に各軸の速度データ（Ｖｘ、Ｘｙ、Ｖｚ）を求める軸制御データ算出手段と、速度データを工作機械を駆動する駆動手段に出力する出力手段を備える。補正送り速度は最低送り速度（ｖ０）を下回らない範囲で切削面角度に比例する。

Abstract translation: 数控装置控制具有多个轴的机床并相对于工件移动工具，并且包括：工具轨迹产生装置，用于产生用于处理工件的工具轨迹; 部分轨迹计算装置，用于当曲率（k）增加时将所述工具轨迹分割成多个较短的部分轨迹（l）; 校正进给速度计算装置，用于针对每个部分轨迹计算由切割点附近的切割表面的法线和刀具的旋转轴线形成的切割表面角度（θ），并且， 对于每个部分轨迹，通过基于切割表面角校正设定的进给速度（F）而获得的校正进给速度（F（ω））; 轴控制数据计算装置，用于以恒定时间间隔（Δt）获得每个轴的速度数据（Vx，Xy，Vz），使得工具可以以校正的进给速度在部分轨迹上移动; 以及输出装置，用于将速度数据输出到用于驱动机床的驱动装置。 在校正的进给速度不低于最小进给速度（vO）的条件下，校正的进给速度与切割表面角度成比例。

公开(公告)号：WO1988002884A1

公开(公告)日：1988-04-21

申请号：PCT/JP1987000774

申请日：1987-10-15

Applicant: FANUC LTD ,  SEKI, Masaki ,  TAKEGAHARA, Takashi ,  MATSUNAKA, Toru

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/408 ,  G05B19/40937 ,  G05B2219/37196 ,  G05B2219/43129 ,  G05B2219/45165 ,  Y02P90/265

Abstract: NC PERT programs for laser machining are prepared as follows. That is, a machining condition changing section at a corner of a part and a machining condition change definition sentence (11b) for specifying the machining condition in the section are prepared using an automatic programming language. Further, there are prepared a graphic definition sentence (11a) and a motion definition sentence (11c) depending upon the shape of the part giving attention to neither the machining condition changing section nor the machining condition. At the time of converting these definition sentences into NC PERT programs for laser machining that will be executed by an NC apparatus, the corner of the part is divided into two or more machining condition changing sections depending upon the machining condition change definition sentence (11b) so that machining conditions are obtained as set in each of the sections.

公开(公告)号：WO1998008149A1

公开(公告)日：1998-02-26

申请号：PCT/JP1997002946

申请日：1997-08-25

Applicant: FANUC LTD ,  KATO, Tetsuaki ,  NAGAYAMA, Atsuo

Inventor： FANUC LTD

IPC: G05B19/416

CPC classification number: G05B19/416 ,  G05B2219/43005 ,  G05B2219/43129

Abstract: At a corner part where a smooth motion is instructed, cos theta (wherein theta denotes a corner angle) is obtained (A3 - A5). Then a coefficient (k) is obtained (A6) by a following formula: (k) = 1 + 0.5(1 - cos theta ). A value T obtained by multiplying a positioning time constant T0 by the coefficient (k) (A7) is used as a deceleration time constant Tb and an acceleration time constant Ta (A9 and A11). At theta = 0 (straight line), (k) = 1 and then Ta = T0 and Tb = T0. In a reversing motion, theta = 180 DEG and (k) = 2. Then Ta = 2T0 and Tb = 2T0. Thus the time constants are adjusted and the acceleration/deceleration can be processed in a minimum time within the limit value of the output torque of a servomotor.

Abstract translation: 在指示平滑运动的角部，获得cosθ（其中θ表示角角）（A3-A5）。 然后通过以下公式获得系数（k）（A6）：（k）= 1 + 0.5（1-cosθ）。 使用通过将定位时间常数T0乘以系数（k）（A7）而获得的值T作为减速时间常数Tb和加速时间常数Ta（A9和A11）。 在θ= 0（直线），（k）= 1，然后Ta = T0和Tb = T0。 在反转运动中，θ= 180°，（k）= 2。那么Ta = 2T0和Tb = 2T0。 因此，调整时间常数，并且可以在伺服电动机的输出转矩的极限值内的最小时间内处理加速/减速。

公开(公告)号：WO1991003778A1

公开(公告)日：1991-03-21

申请号：PCT/JP1990001028

申请日：1990-08-10

Applicant: FANUC LTD ,  SASAKI, Takao ,  FUJIBAYASHI, Kentaro ,  OTSUKI, Toshiaki ,  SAITO, Yasuhiro

Inventor： FANUC LTD

IPC: G05B19/407

CPC classification number: G05B19/416 ,  G05B2219/43009 ,  G05B2219/43058 ,  G05B2219/43062 ,  G05B2219/43129 ,  G05B2219/43199 ,  G05B2219/43203

Abstract: A feed speed control method of a numeric controller for controlling the feed speed of a tool moving along an instructed machining path in accordance with a machining program. The speed of each axis is determined (S2) and acceleration of each axis is determined (S3) from the change in the speed of preceding and succeeding blocks. When acceleration (ΔVx) is greater than an allowable acceleration/deceleration (ΔVxmax) (S4), a first ratio (K1) between the allowable acceleration and the acceleration described above is determined (S5) and the smallest first ratio among the first ratios of the axes is selected. The actual feed speed is determined by multiplying the instruction speed by the root of the smallest first ratio (S9). In this manner, shock of a machine in the block in which very small distribution distances continue can be reduced and an over-load to a servo-motor can be reduced.

公开(公告)号：WO1988001765A1

公开(公告)日：1988-03-10

申请号：PCT/JP1987000626

申请日：1987-08-26

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4093 ,  G05B19/40937 ,  G05B2219/34098 ,  G05B2219/35244 ,  G05B2219/36215 ,  G05B2219/43129 ,  G05B2219/43147 ,  G05B2219/45165 ,  G05B2219/50109 ,  Y02P90/265

Abstract: Whether the inside of a beam path is a part (PT) or the outside is the part at a corner (CN) is determined from an offset direction that indicates whether the laser beam (RB) be offset toward the right side or the left side in the direction of progress included in the motion definition sentence and from the bending direction at the corner in the beam path (bi, bi+1). When the inside of the corner is the part, an escape path (EP) that has been set in advance is inserted in the corner portion of the beam path to prepare an NC PERT programm for laser machining. When the outside of the corner is the part, an NC PERT program for laser machining is prepared so that similarly set machining conditions are obtained within a preset machining condition changing section (QP, PR).

公开(公告)号：WO2010033805A2

公开(公告)日：2010-03-25

申请号：PCT/US2009/057482

申请日：2009-09-18

Applicant: TESSERA NORTH AMERICA, INC. ,  KELLER, David ,  BROCATO, Brett

Inventor： KELLER, David ,  BROCATO, Brett

IPC: B24B7/24

CPC classification number: G02B3/0031 ,  B23D7/08 ,  B23Q5/28 ,  B23Q15/013 ,  B24B13/046 ,  B29D11/00932 ,  G02B5/1819 ,  G05B19/182 ,  G05B2219/43129 ,  G05B2219/45247 ,  G05B2219/50353 ,  Y10T409/303752 ,  Y10T409/30868

Abstract: Embodiments of systems, methods, and computer-readable media for machining materials are disclosed. For example, one embodiment of the present invention includes a method for machining a feature on a work piece along a curving tool path having the steps of controlling a relative translational movement between a tool table and the work piece along the curving tool path and controlling a corresponding angle of rotation of the tool table with respect to the work piece to maintain a substantially constant angle between the tool table and the corresponding relative translational movement between the tool table and the work piece along the curving tool path. In another embodiment, a computer-readable media includes code for a carrying out such a method.

Abstract translation: 公开了用于加工材料的系统，方法和计算机可读介质的实施例。 例如，本发明的一个实施例包括一种用于沿着弯曲工具路径加工工件上的特征的方法，该方法具有以下步骤：沿着弯曲工具路径控制工具台和工件之间的相对平移运动，并且控制 工具台相对于工件的相应的旋转角度，以在工具台之间保持基本上恒定的角度以及沿着弯曲工具路径在工具台和工件之间的对应的相对平移运动。 在另一个实施例中，计算机可读介质包括用于执行这种方法的代码。

公开(公告)号：WO1997005533A1

公开(公告)日：1997-02-13

申请号：PCT/JP1996002114

申请日：1996-07-26

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  TERADA, Tomoyuki ,  SAKAMOTO, Shinsuke

Inventor： FANUC LTD

IPC: G05B19/407

CPC classification number: G05B19/416 ,  G05B2219/34175 ,  G05B2219/43129 ,  G05B2219/45083 ,  Y02P90/265

Abstract: A robot controlling method which guarantees an accurate motion along the path by eliminating the influence of the motion in the preceding path section on a part toward the end of one path section. In a motion instruction, a path guarantee section of a path from "2" to "3" is designated in advance by specifying the length, time, or path guarantee ratio. A path plan EFGH of the motion in the path from "1" to "2" is so made that the motion section expressed by DHGK (D is the end point of the motion in the path from "1" to "2") is the path guarantee section designated in the motion instruction. Therefore, the motion in the path from "1" to "2" does not affect the motions after the point of time expressed by point D or K, and hence the motion along the path "2" to "3" in the path guarantee section is guaranteed.

Abstract translation: 一种机器人控制方法，其通过消除在前一路径部分中的运动对朝向一个路径部分的端部的部分的影响来保证沿着路径的精确运动。 在运动指令中，通过指定长度，时间或路径保证率来预先指定从“2”到“3”的路径的路径保证部分。 在从“1”到“2”的路径中的运动的路径计划EFGH被做成使得由DHGK表示的运动部分（D是从“1”到“2”的路径中的运动的终点）是 在运动指令中指定的路径保证部分。 因此，从“1”到“2”的路径中的运动不影响由点D或K表示的时间点之后的运动，因此在路径保证中沿着路径“2”到“3”的运动 部分保证。

公开(公告)号：WO1992006815A1

公开(公告)日：1992-04-30

申请号：PCT/JP1991001371

申请日：1991-10-05

Applicant: FANUC LTD ,  NAKATA, Yoshinori ,  YAMAZAKI, Etsuo ,  KARUBE, Norio ,  NAGAMINE, Tsuyoshi

Inventor： FANUC LTD

IPC: B23K26/00

CPC classification number: G05B19/4163 ,  B23K26/0838 ,  B23K26/382 ,  G05B2219/35249 ,  G05B2219/43129 ,  G05B2219/43147 ,  G05B2219/45165

Abstract: A method of working with a laser beam to cut a workpiece according to a working program comprising consecutive move instructions and laser beam output instructions. An angle of a passage along which the workpiece is worked is computed with the move instruction under execution and the subsequent one (S2, S3) read. The angle of the passage thus computed is compared with a preset angle (S4), and, when the angle of the passage for working is sharper than the preset one, move for working based on the move instruction under execution is decelerated and stopped (S5). At this time, a laser beam output instruction is shifted from cutting work conditions to drilling work conditions for performing drilling work. At the end of drilling work, move for working is again started on the basis of the subsequent move instruction and the laser beam output instruction at the time of re-start of move for working is changed from drilling work conditions to cutting work conditions according to move for working. In this way, a part of workpiece in acute angle can be worked sharply.