Abstract: A numerical control device includes: a path local filter which locally interpolates an interpolation interval among a tool path so that a variation in a differential value at an interpolation object point becomes a continuous variation and a pulse interpolation unit which derives a reference time which proceeds per reference unit time which is shortened or extended corresponding to a deceleration instruction or an acceleration instruction according to a special command. The device obtains, from an intervening variable time function, an intervening variable at each time point at every reference unit time of the derived reference time, obtains a position coordinate on each transfer axis, with the position coordinate corresponding to the intervening variable at each obtained time point, obtains a transfer amount of a support in each transfer axis direction from the obtained position coordinate, and sets the transfer amount per reference unit time as a command pulse.

Abstract: In a numerical control device, with respect to an intervening variable within a posture adjustment interval, the transfer command derivation unit obtains a position coordinate of a tip point on a tip path corresponding to the intervening variable and a position coordinate of a midair point on a midair path corresponding to the intervening variable, adjusts the obtained position coordinate of the midair point so that a variation in a direction of a projection tool axis vector becomes more gradual, and obtains a tool axis vector extending from the obtained tip point to the adjusted midair point, while with respect to an intervening variable outside of the posture adjustment interval, the transfer command derivation unit obtains a position coordinate of the tip point corresponding to the intervening variable and a tool axis vector extending from the tip point toward the midair point corresponding to the intervening variable.

Abstract: 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.

Abstract: A route computing method for adhering and laminating a prepreg tape is disclosed. In an exploring vector computing step, an exploring vector along the expected direction of adhesion of the prepreg tape on the plane of the prepreg tape is computed, the exploring vector serving as a scalar of a predetermined quantity of small amount. In a foot computing step, the foot of a perpendicular line leading from an end point of the computed exploring vector to the plane is computed. A new exploring vector is computed based on the starting point of the exploring vector and the foot of the perpendicular line until a predetermined termination condition is realized. In navigating steps, the exploring vector computing step is repeatedly executed based on the new exploring vector with the foot of the perpendicular line serving as the initial point of the next computing.

Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

Abstract: A numerical control device includes a primary distribution pulse calculator that calculates primary distribution pulses obtained by distributing movement amounts in first and second directions included in a movement command of a work or a tool for each of predetermined calculation cycles. A secondary distribution pulse calculator calculates, for each movement direction, secondary distribution pulses obtained by distributing the primary distribution pulses of each calculation cycle calculated by the primary distribution pulse calculator, before and after corresponding calculation cycles within ranges of distribution sections across the corresponding calculation cycles and having an acceleration-deceleration time constant of the corresponding movement direction as a section width, and then accumulating the primary distribution pulses for each calculation cycle.

Abstract: Disclosed is a numerical control apparatus including: a computing unit which calculates, based on a processing path, a moving distance of each support in a corresponding movement axis direction per set unit time; and a drive control unit which causes each driving device to transfer the support corresponding to that driving device in accordance with the moving distance of each support calculated by the computing unit. In response to input of a special command to a special command input device, the computing unit changes a length of the set unit time from a length in the state immediately before the input of the special command to a length corresponding to a velocity change instructed by the special command, and calculates, based on the processing path, the moving distance of each support in the corresponding movement axis direction per set unit time of which length has been changed.

Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

Abstract: A numerical control device includes a primary distribution pulse calculator that calculates primary distribution pulses obtained by distributing movement amounts in first and second directions included in a movement command of a work or a tool for each of predetermined calculation cycles. A secondary distribution pulse calculator calculates, for each movement direction, secondary distribution pulses obtained by distributing the primary distribution pulses of each calculation cycle calculated by the primary distribution pulse calculator, before and after corresponding calculation cycles within ranges of distribution sections across the corresponding calculation cycles and having an acceleration-deceleration time constant of the corresponding movement direction as a section width, and then accumulating the primary distribution pulses for each calculation cycle.

Abstract: A machine tool includes a table, a main spindle unit, a cross rail, a plurality of columns and a plurality of supportive transfer mechanisms. The plurality of columns vertically guide the cross rail, the columns being erected at positions on opposite sides of the table and on front and rear sides of the center of gravity of the main spindle unit on each side of the table. The supportive transfer mechanisms vertically move the cross rail while supporting the cross rail. The cross rail has a pair of supporting portions for supporting front and rear portions of the main spindle unit located frontward and rearward with respect to the center of gravity of the main spindle unit, respectively, and a plurality of through holes through which the columns are passed vertically.

Abstract: A powered mechanism able to articulate about two orthogonal tilt axes, the powered mechanism having a sphere pivotally mounted in a ring or band and driven by a first pivotally mounted motor to articulate the sphere about the first axis, and a second pivotally mounted motor mounted to a fixed reference to drive the sphere about the second axis through ring or band.

Abstract: A machine tool includes a table, a main spindle unit, a cross rail, a plurality of columns and a plurality of supportive transfer mechanisms. The plurality of columns vertically guide the cross rail, the columns being erected at positions on opposite sides of the table and on front and rear sides of the center of gravity of the main spindle unit on each side of the table. The supportive transfer mechanisms vertically move the cross rail while supporting the cross rail. The cross rail has a pair of supporting portions for supporting front and rear portions of the main spindle unit located frontward and rearward with respect to the center of gravity of the main spindle unit, respectively, and a plurality of through holes through which the columns are passed vertically.

Abstract: A calibration method is provided for calibrating a parallel kinematic mechanism that has an end effecter. The method includes setting an adjustment tool attached to the end effecter in predetermined postures in a reference coordinate system by taking coordinates of the posture of the adjustment tool each time the adjustment tool is placed in the posture and recording coordinates of driver shafts manipulated by a numerical control device in accordance with the inverse kinematics each time the adjustment tool is placed in the posture. The method continues by calculating kinematic parameters necessary for the kinematics of the parallel kinematic mechanism based on the taken coordinates of the postures of the driver shafts and the recorded coordinates of the driver shafts. Accordingly, it is possible to obtain accurate posture information of the end effecter and relative coordinates of the driver shafts.

Abstract: A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A posture setter sets an adjustment tool on the end effecter in a known posture in a reference coordinate system defined outside the parallel kinematic mechanism based on a measurement method. A data acquirer acquires data in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool in the known posture, and defines a correlation between kinematic parameters for the parallel kinematic mechanism and the reference coordinate system. A calculator calculates the kinematic parameters based on the acquired data by using a relational expression describing forward kinematics of the parallel kinematic mechanism.

Abstract: A calibration method is provided for calibrating a parallel kinematic mechanism that has an end effecter. The method includes setting an adjustment tool attached to the end effecter in predetermined postures in a reference coordinate system by taking coordinates of the posture of the adjustment tool each time the adjustment tool is placed in the posture and recording coordinates of driver shafts manipulated by a numerical control device in accordance with the inverse kinematics each time the adjustment tool is placed in the posture. The method continues by calculating kinematic parameters necessary for the kinematics of the parallel kinematic mechanism based on the taken coordinates of the postures of the driver shafts and the recorded coordinates of the driver shafts. Accordingly, it is possible to obtain accurate posture information of the end effecter and relative coordinates of the driver shafts.

Abstract: A multiple lane ironing and doming apparatus for ironing and doming cup-shaped blanks into can bodies by pushing them through ironing dies by reciprocations of punches. The apparatus comprises: a plurality of punches vertically held and retained at their upper ends for vertical reciprocations; at least one ironing die unit arranged below and coaxially with each of said punches for ironing cup-shaped blanks into ironed can bodies; one doming unit arranged below the ironing die for doming the bottoms of the ironed can bodies into a predetermined configuration; stripping means for stripping the ironed and domed can bodies from the punches; and conveying means for discharging the stripped can bodies from below the punches.

Abstract: An apparatus for painting the outer circumferential surfaces of a plurality of cylindrical containers. The apparatus comprises a rotatable disc having a surface positioned in a vertical plane and a plurality of mandrels secured to the surface of the disc and projecting horizontally therefrom for supporting the containers. A rotatable painting roll is positioned adjacent the disc for applying paint to the containers. First and second rotatable paint storage rolls are provided, the second paint storage roll being above said painting roll and interposed between the painting roll and the first paint storage roll. The axes of the two paint storage rolls are parallel and in a horizontal plane, and the axes of the painting roll and the second storage roll are parallel and define a plane which is angularly displaced with respect to the horizontal and vertical planes.

Abstract: A thrusting force detecting device of a rotary machining tool includes a cylinder chamber formed within a ram for lowering and elevating a spindle of a cutting tool, a fluid chamber formed within the cylinder chamber and having a larger diameter than the cylinder chamber, a piston slidably and liquid-tightly fitted in the cylinder chamber and having a collar thereabout fitted in the fluid chamber, the collar dividing the fluid chamber into first and second chambers, the piston being rotatably mounted about the spindle in axially fixed relation thereto, means for supplying fluid pressure to the first and second chambers, and pressure sensitive means responsive to the pressure variation in the second chamber.