Contouring Systems Patents (Class 318/570)
  • Patent number: 10884390
    Abstract: Milling errors are to be prevented by repairing in particular NC parts programs by evaluating spatial information for smoothing a cutting or milling path section instead of evaluating only information along an individual cutting or milling path section. Relationships between adjacent cutting or milling path sections are thus taken into consideration in a smoothing process.
    Type: Grant
    Filed: June 5, 2015
    Date of Patent: January 5, 2021
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Jochen Bretschneider, Thomas Pitz
  • Patent number: 10780600
    Abstract: A method for automatically cutting off a material passage part while reducing manufacturing cost and cycle time. This method includes preparing a cutting device capable of moving in an automatic control coordinate system, placing the molded article without fixing the molded article, detecting a shape of the molded article by a sensor, acquiring a position of the material passage part in the coordinate system, determining a position of a cut spot in the material passage part as a target position in the coordinate system, moving the cutting device in the coordinate system and disposing the cutting device on a work position for cutting the cut spot, and cutting the cut spot by the cutting device arranged on the work position.
    Type: Grant
    Filed: October 5, 2017
    Date of Patent: September 22, 2020
    Assignee: Fanuc Corporation
    Inventors: Nobuto Takeda, Hiroshi Oowatari
  • Patent number: 10716638
    Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: July 21, 2020
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Nobuyasu Shimomura
  • Patent number: 10684604
    Abstract: A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.
    Type: Grant
    Filed: January 15, 2019
    Date of Patent: June 16, 2020
    Assignee: FANUC Corporation
    Inventors: Kouichi Noda, Soichiro Ide
  • Patent number: 10545483
    Abstract: A production system includes a production machine and a control device for generating a control command for the production machine based on production data. The control device includes an analysis apparatus to decide based on a prespecified quality criterion, whether an activated functionality, which is integrated in the control device, or an alternative functionality, which is provided in a database outside the control device or in unactivated form in the control device, is used to translate the production data into the specific control command, so that the control command which is output by the control device is replaced by a control command more suitable to satisfy the prespecified quality criterion. The control device is configured to save a control file for the alternative functionality, to provide the control file for a translation, and to provide the alternative functionality for a prespecified period and/or for a predetermined number of useful cycles.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: January 28, 2020
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventor: Björn Rosenbaum
  • Patent number: 10394214
    Abstract: A numerical controller analyzes a program with a command program analysis unit, and determines a macro call or a sub program call with a macro call or sub program call determination unit. When a program stop determination unit determines that the program is to be stopped, the program stop determination unit commands a program stop requesting unit to output a program stop request to the command program analysis unit and an interpolation processing unit, thereby stopping the program.
    Type: Grant
    Filed: October 8, 2014
    Date of Patent: August 27, 2019
    Assignee: FANUC Corporation
    Inventor: Noriaki Hatanaka
  • Patent number: 10234849
    Abstract: A numerical controller first creates a shortest path which does not interfere with an interfering object and shortens a movement distance from a start point to a cutting start position, and then, creates one or more alternative paths having a smaller number of break points than the shortest path when determining a movement path of a tool from the start point to the cutting start position. Then, each of a movement time along the shortest path and a movement time along the alternative path is calculated, and the alternative path having the shorter movement time than the shortest path is determined as the movement path.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: March 19, 2019
    Assignee: Fanuc Corporation
    Inventors: Zhaojia Liu, Yorikazu Fukui
  • Patent number: 10133260
    Abstract: A method for cutter path planning is disclosed. The method includes: obtaining a first and a second programmed path of a workpiece, computing for a corresponding first cutter path based on the first programmed path and a radius of the cutter, and computing for a corresponding second cutter path based on the second programmed path and the radius of the cutter; and computing for a transition path connecting an end point of the first cutter path and a start point of the second cutter path based on the first and second cutter paths, wherein the distance from any one point on the transition path to either the first or second programmed path would be greater than or equal to the radius of the cutter. An apparatus for cutter path planning, a method and an apparatus for workpiece machining are also disclosed.
    Type: Grant
    Filed: December 5, 2014
    Date of Patent: November 20, 2018
    Assignee: SHENZHEN A&E INTELLIGENT TECHNOLOGY INSTITUTE CO., LTD.
    Inventor: Xiaoying Chen
  • Patent number: 10103659
    Abstract: A stepper control circuit includes numerical controlled oscillators configured to provide step signals for multiple axes of stepper motor movement. The numerical controlled oscillators are configured to be operated at a same frequency provided by a synchronized clock signal.
    Type: Grant
    Filed: December 6, 2016
    Date of Patent: October 16, 2018
    Assignee: MICROCHIP TECHNOLOGY INCORPORATED
    Inventor: Keith Curtis
  • Patent number: 10094652
    Abstract: A laser projection method including the steps of: irradiating, from a laser projection unit, a workpiece that is a measurement object, with a laser while controlling a plurality of mirror angles; imaging the workpiece with a stereo camera, extracting a contour of the workpiece, and calculating a three-dimensional coordinate; calculating a positional relationship between the laser projection unit and the workpiece by comparing the calculated three-dimensional coordinate of the workpiece contour with the minor angle; and performing coordinate transformation of CAD data information and drawing CAD data from the laser projection unit to the workpiece, based on the positional relationship between the laser projection unit and the workpiece. The machining method including the steps of: selecting a component of a tool; assembling the component; imaging the tool assembled; and determining whether or not a desired tool has been assembled.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: October 9, 2018
    Assignee: Mitsubishi Hitachi Power Systems, Ltd.
    Inventors: Hiroyuki Nakano, Nobuhisa Seya, Daisuke Igarashi, Kazuhiro Igarashi, Youhei Maekawa, Katsuto Numayama
  • Patent number: 9971357
    Abstract: A parallel platform tracking control apparatus and method using a visual device as a sensor are disclosed. The apparatus comprises a parallel platform body, a CCD camera (11), a lens (6), a camera light source (9), a computer (11), a Dspace semi-physical simulation controller, an ultrasonic motor driver and the like. The parallel platform comprises an ultrasonic linear motor (1), a linear grating encoder (5), a driven rod (2), a moving platform (3), a stationary platform (4) and the like. The CCD camera photographs the moving platform in a perpendicular and opposite manner, and the photographed images are subjected to an image processing algorithm to measure the position of the corresponding marker on the moving platform, which is not only applicable to measurement, but also implements real-time feedback of the termination position of the moving platform, such that a full closed-loop system is constituted. In this way, the parallel platform is precisely positioned.
    Type: Grant
    Filed: December 23, 2015
    Date of Patent: May 15, 2018
    Assignee: SOUTH CHINA UNIVERSITY OF TECHNOLOGY
    Inventors: Xianmin Zhang, Jiasi Mo, Zhicheng Qiu, Junyang Wei, Hai Li
  • Patent number: 9829879
    Abstract: A tool path is generated with procedures that include: one of the processing points (Pi) on a multiple rows of tool paths (PA) obtained by connecting multiple prescribed processing points sequentially with straight lines is set as a revision processing point (Pt), points on the multiple rows of tool paths are set as distance calculation points (Pu), and the distance (L) from the revision processing point (Pt) to each of the distance calculation points (Pu) is calculated; the distance calculation points (Pu?) for which the distance (L) is within a prescribed value (?L) are extracted; the mean values of the position data for the distance calculation points (Pu?) and the position data for the revision processing point (Pt) are calculated; and the position data is revised by means of the mean values, and a new tool path (PA?) is created.
    Type: Grant
    Filed: October 26, 2010
    Date of Patent: November 28, 2017
    Assignee: Makino Milling Machine, Co., Ltd.
    Inventors: Masashi Tanuma, Mitsunari Oda, Takashi Komori, Takahiro Yoshimura
  • Patent number: 9659111
    Abstract: A method for designing a product processing apparatus. The method includes: providing a design of a product processing apparatus; providing a representation of the product processing apparatus; providing a representation of a product; providing a representation of a product package; simulating the interactions of any combination of the product, apparatus, and package as a set of transformations utilizing the product, apparatus, and/or package representations; creating a surrogate model for at least one transformation of the set utilizing the simulation results; evaluating the performance of the apparatus utilizing the set of surrogate models of the transformations; and altering the design of the apparatus according to the evaluation.
    Type: Grant
    Filed: March 21, 2014
    Date of Patent: May 23, 2017
    Assignee: The Procter & Gamble Company
    Inventors: Joseph Craig Lester, William R Myers
  • Patent number: 9644942
    Abstract: A laser projection method including the steps of: irradiating, from a laser projection unit, a workpiece that is a measurement object, with a laser while controlling a plurality of mirror angles; imaging the workpiece with a stereo camera, extracting a contour of the workpiece, and calculating a three-dimensional coordinate; calculating a positional relationship between the laser projection unit and the workpiece by comparing the calculated three-dimensional coordinate of the workpiece contour with the minor angle; and performing coordinate transformation of CAD data information and drawing CAD data from the laser projection unit to the workpiece, based on the positional relationship between the laser projection unit and the workpiece. The machining method including the steps of: selecting a component of a tool; assembling the component; imaging the tool assembled; and determining whether or not a desired tool has been assembled.
    Type: Grant
    Filed: November 13, 2013
    Date of Patent: May 9, 2017
    Assignee: Mitsubishi Hitachi Power Systems, Ltd.
    Inventors: Hiroyuki Nakano, Nobuhisa Seya, Daisuke Igarashi, Kazuhiro Igarashi, Youhei Maekawa, Katsuto Numayama
  • Patent number: 9636827
    Abstract: A robot system includes a robot that operates to move a machining tool relative to a workpiece, an actuator that changes a position of the machining tool, and a control device that controls the robot. The control device includes a robot control unit that operates the robot along a predetermined motion trajectory, a force detection unit that detects force acting between the machining tool and the workpiece, a position detection unit that detects a current position of the machining tool, a force control unit that obtains a target position of the machining tool such that a detection value of the force detection unit approaches a predetermined value, and a position correction unit that calculates a position correction amount of a motion trajectory of the robot and a position correction amount of the actuator in response to the target position of the machining tool.
    Type: Grant
    Filed: September 23, 2015
    Date of Patent: May 2, 2017
    Assignee: FANUC CORPORATION
    Inventor: Takashi Sato
  • Patent number: 9317029
    Abstract: A numerically controlled machine tool, and method for control thereof, to display virtual two-dimensional future positions to be adopted by a workpiece and by the machine tool in a pre-set predictive time window. The system and method calculate target coordinate values defining positions of the tool along axes of the machine tool on the basis of a machining program. While machining is in progress, a processor receives the calculated target coordinate values to generate and display image data on the basis of the target coordinate values and of stored mathematical models of the machine, of the workpiece, and of the tool.
    Type: Grant
    Filed: July 30, 2012
    Date of Patent: April 19, 2016
    Assignee: FIDIA S.p.A.
    Inventors: Giuseppe Morfino, Carla Francese, Mario Vesco, Edoardo Ghezzo
  • Patent number: 9304504
    Abstract: The servo controller of the present invention includes a first axis speed feedback obtaining unit, a second axis speed feedback obtaining unit configured to obtain an amount of speed feedback for a second axis synchronizing with a first axis, a speed conversion unit configured to convert an amount of speed feedback for the first axis by using a conversion coefficient, a speed difference calculating unit configured to calculate a speed difference between the converted amount of speed feedback for the first axis and the amount of speed feedback for the second axis, a torque correction calculating unit configured to calculate a torque correction value by using the speed difference, a second axis torque command correcting unit using the torque correction value, a torque correction value converting unit using the conversion coefficient, and a first axis torque command correcting unit using the converted torque correction value.
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: April 5, 2016
    Assignee: FANUC CORPORATION
    Inventor: Naoto Sonoda
  • Patent number: 9041337
    Abstract: Systems and methods are provided for generating a constraint-based, time-optimal motion profile for controlling the trajectory of a point-to-point move in a motion control system. A profile generator can calculate an ST-curve motion profile that includes a jerk reference that varies continuously over time for at least one of the motion profile segments, thereby producing a smooth, time-optimal trajectory. The profile generator can create the motion profile to conform to a set of motion constraints provided by the user. The profile generator also supports calculation of time-optimal motion profiles having segments that align to the sample time of the motion control system. In some embodiments, the profile generator can efficiently generate the motion profile by performing reference calculations only for those segments that will be used in the final motion profile for a given point-to-point move.
    Type: Grant
    Filed: May 18, 2012
    Date of Patent: May 26, 2015
    Assignee: LINESTREAM TECHNOLOGIES
    Inventor: Gang Tian
  • Patent number: 8988032
    Abstract: A numerical controller capable of visually and accurately analyzing a change of the tool trajectory before and after changing a processing condition, whereby a parameter of a drive axis can be properly adjusted. The numerical controller comprises a numeric controlling part which controls each drive axis based on a predetermined position command; a position data obtaining part which obtains position data of each drive axis controlled by the numerical controlling part; a tool coordinate calculating part which calculates a coordinate of a tool center point based on position feedback or obtained position data of each drive axis and information of a mechanical structure of a machine tool; a tool trajectory storing part which stores the calculated coordinate of the tool center point as a feedback trajectory; and a displaying part which displays the stored feedback trajectory on a display.
    Type: Grant
    Filed: August 2, 2012
    Date of Patent: March 24, 2015
    Assignee: FANUC Corporation
    Inventors: Yasusuke Iwashita, Hajime Ogawa
  • Patent number: 8803465
    Abstract: A motion command is constructed based on an optimized acceleration pulse designed to control the spectral content of the commanded acceleration. By way of judicious design of the pulse shape, the majority of the energy in the command is contained in a narrow baseband and rolls off rapidly in frequencies outside that band. Additionally, the command can be constructed to suppress selected frequency content in one or more attenuation bands outside the baseband. The resulting motion command permits rapid motion control, while avoiding the excitation of unwanted resonant response in the system while remaining tolerant of system uncertainty.
    Type: Grant
    Filed: April 6, 2012
    Date of Patent: August 12, 2014
    Assignee: Exelis Inc.
    Inventors: David A. Smith, Patrick J. Argento
  • Publication number: 20140084839
    Abstract: The multi-axis motor driving apparatus includes an integrated controller that is configured to discriminate between a drive axis that uses the motor subjected to semi-closed control based on the motor control command and a detection position detected by the encoder and a drive axis that uses the motor subjected to full-closed control based on the motor control command, the detection position detected by encoder and a detection position detected by the linear scale, based on a change amount of the detection position of the encoder or the detection position of the linear scale obtained when the motor subjected to full-closed control is driven.
    Type: Application
    Filed: December 2, 2013
    Publication date: March 27, 2014
    Applicant: Kabushiki Kaisha Yaskawa Denki
    Inventor: Isamu MATSUMURA
  • Publication number: 20130307459
    Abstract: Systems and methods are provided for generating a constraint-based, time-optimal motion profile for controlling the trajectory of a point-to-point move in a motion control system. A profile generator can calculate an ST-curve motion profile that includes a jerk reference that varies continuously over time for at least one of the motion profile segments, thereby producing a smooth, time-optimal trajectory. The profile generator can create the motion profile to conform to a set of motion constraints provided by the user. The profile generator also supports calculation of time-optimal motion profiles having segments that align to the sample time of the motion control system. In some embodiments, the profile generator can efficiently generate the motion profile by performing reference calculations only for those segments that will be used in the final motion profile for a given point-to-point move.
    Type: Application
    Filed: May 18, 2012
    Publication date: November 21, 2013
    Applicant: LINESTREAM TECHNOLOGIES
    Inventor: Gang Tian
  • Patent number: 8547047
    Abstract: In a method and device for monitoring a movement-controlled machine, such as a manipulator, having an electronically commutated drive motor for which a commutation angle is provided based on its detected real position and a control variable, in particular a predetermined desired position, a limit value is determined for a rate of change in particular a time derivative of the real position of the drive motor, and the commutation angle is predetermined such that the rate of change of the commutation angle does not exceed a limit value.
    Type: Grant
    Filed: June 17, 2011
    Date of Patent: October 1, 2013
    Assignee: Kuka Laboratories GmbH
    Inventors: Uwe Bonin, Josef Hofmann
  • Patent number: 8531149
    Abstract: A control device which controls a servo motor of a machine tool in the event of power failure is provided.
    Type: Grant
    Filed: March 25, 2011
    Date of Patent: September 10, 2013
    Assignee: OKUMA Corporation
    Inventors: Akihito Kataoka, Mitsuaki Adachi
  • Patent number: 8506352
    Abstract: An eyeglass lens processing apparatus for processing a peripheral edge of an eyeglass lens, includes: a processing unit including a plurality of processing tools that process the peripheral edge of the eyeglass lens held by a lens chuck shaft; a calibrating lens; a mode selector that selects a calibration mode; a memory that stores calibration processing data for processing the calibrating lens to a predetermined shape; a detecting unit that includes a tracing stylus that contacts a surface of the calibrating lens which is processed by the processing unit based on the calibration processing data to detect the shape of the processed calibrating lens in the calibration mode; and a calculating unit that obtain calibration data by comparing a detected result by the detecting unit with the calibration processing data in the calibration mode.
    Type: Grant
    Filed: September 29, 2010
    Date of Patent: August 13, 2013
    Assignee: Nidek Co., Ltd.
    Inventors: Kyoji Takeichi, Ryoji Shibata, Motoshi Tanaka, Katsuhiro Natsume, Yuya Nakako
  • Publication number: 20130169208
    Abstract: A path display apparatus includes a first position command acquiring unit that acquires first position command for motors, a first position feedback acquiring unit that acquires first position feedback of each of the motors, a correction data acquiring unit that acquires correction data generated for each of the motors, a second position command calculating unit that subtracts the correction data from the first position command to calculate a second position command, a second position feedback calculating unit that subtracts the correction data from the first position feedback to calculate second position feedback, a command path display unit that displays a command path of the tip point of the tool, based on the second position command; and a feedback path display unit that displays a feedback path of the tip point of the tool, based on the second position feedback.
    Type: Application
    Filed: December 5, 2012
    Publication date: July 4, 2013
    Applicant: FANUC CORPORATION
    Inventor: Fanuc Corporation
  • Patent number: 8432119
    Abstract: Disclosed are various systems and methods for assessing and improving the capability of a machine tool. The disclosure applies to machine tools having at least one slide configured to move along a motion axis. Various patterns of dynamic excitation commands are employed to drive the one or more slides, typically involving repetitive short distance displacements. A quantification of a measurable merit of machine tool response to the one or more patterns of dynamic excitation commands is typically derived for the machine tool. Examples of measurable merits of machine tool performance include workpiece surface finish, and the ability to generate chips of the desired length.
    Type: Grant
    Filed: April 14, 2010
    Date of Patent: April 30, 2013
    Assignee: Babcock & Wilcox Technical Services Y-12, LLC
    Inventors: William E. Barkman, Edwin F. Babelay, Jr., Kevin Scott Smith, Thomas S. Assaid, Justin T. McFarland, David A. Tursky, Bethany Woody, David Adams
  • Patent number: 8299743
    Abstract: A machine tool a tool includes a supporting member relatively movable to a workpiece along a predetermined axis, a servo motor configured to drive the tool supporting member to the workpiece along the predetermined axis, a sizing sensor configured to measure a profile of the workpiece and to output a size deviation of measured values from a target profile, and a position detector configured to detect at least one of a relative position of the tool supporting member to the workpiece and a rotational position angle of the servo motor. The a servo driver is configured to drive the servo motor, and has a first feedback control having an output based on the size deviation, and a second feedback control based on an output of the position detector. The servo drives the servo motor by combining the outputs of the first and second feedback controls.
    Type: Grant
    Filed: January 12, 2010
    Date of Patent: October 30, 2012
    Assignee: JTEKT Corporation
    Inventors: Satoshi Abeta, Toshihiro Yonezu
  • Publication number: 20120187890
    Abstract: A numerical controller controls a three-axis machine tool that machines a workpiece, mounted on a table, with at least three linear axes. The numerical controller includes a workpiece mounting error compensation unit that compensates a mounting error caused when the workpiece is mounted. The workpiece mounting error compensation unit performs an error compensation with respect to an instructed linear-axis position with amounting error which is set beforehand, in order to keep a position with respect to the workpiece at a tool center point position, based on the instructed linear-axis position of the three linear axes to obtain a compensated linear-axis position. The three linear axes are driven based on the obtained compensated linear-axis position.
    Type: Application
    Filed: September 23, 2011
    Publication date: July 26, 2012
    Applicant: FANUC Corporation
    Inventors: Toshiaki OTSUKI, Soichiro Ide, Osamu Hanaoka, Takafumi Sasaki
  • Patent number: 8203299
    Abstract: Machine (10) with an NC control unit (11) and at least one motor (12) which can be triggered by said control unit (11) and which forms an oscillatory system with its bearing and/or parts of the machine (10). The control unit (10) injects control variables (S1) into the motor (12) which trigger a desired motion of the motor (12). When necessary, the control unit (11) additionally injects predetermined signal variables (S2) into the motor (12) which trigger desired mechanical oscillations of the oscillatory system. The signal variables (S2) are predetermined in such a way that the mechanical oscillations are audible and/or tangible.
    Type: Grant
    Filed: December 18, 2008
    Date of Patent: June 19, 2012
    Assignee: Klingelnberg AG
    Inventor: Martin Zagromski
  • Patent number: 8190287
    Abstract: Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
    Type: Grant
    Filed: June 3, 2010
    Date of Patent: May 29, 2012
    Assignee: Fanuc Ltd.
    Inventors: Yasusuke Iwashita, Tadashi Okita, Junichi Tezuka, Kazuyuki Sugiyama
  • Publication number: 20120056572
    Abstract: Intelligent servomotor controller, including integrated servomotor controller having motor with rotor in first housing; rotor position encoder producing measured position of rotor; microprocessor within second housing mating to first housing, electrically connected to rotor position encoder, serial communications port connecting to another integrated servomotor controller communicating desired rotor position command using serial digital data, microprocessor having software receiving desired position commands through communications port, computing error between desired position command and encoder-transmitted measured rotor reducing error signals to zero. Microprocessor is a position based servo system within second housing and rotor within first housing to desired position defined by communication with another integrated servo element. Microprocessor produces actuation signal to direct PID filter connected to microprocessor, PID filter providing drive amplifier servo control of supplying current to the motor.
    Type: Application
    Filed: March 7, 2011
    Publication date: March 8, 2012
    Applicant: Animatics Corporation
    Inventors: Robert A. Bigler, Scott A. Morrill, Carl R. Vogt, Keith R. Webster
  • Patent number: 8018192
    Abstract: A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.
    Type: Grant
    Filed: June 24, 2010
    Date of Patent: September 13, 2011
    Assignee: FANUC Ltd
    Inventors: Yasusuke Iwashita, Tadashi Okita, Junichi Tezuka, Kazuyuki Sugiyama
  • Patent number: 8014898
    Abstract: A robot controller (7) controlling a robot (1) used combined with a machine tool (5, 6) provided with a communication unit (9) connecting the robot controller to a machine tool, a detection unit (52) detecting through the communication unit a type and number of machine tools, and a setting unit (55) setting the robot controller based on the type and number of machine tools detected by the detection unit. Due to this, machine tool and robot startup work can be simply and easily performed without requiring skill or increasing the startup man-hours. The setting unit selects one setting file from among a plurality of setting files for the robot controller, stored in the robot controller, based on the type and number of machine tools detected by the detection unit.
    Type: Grant
    Filed: January 21, 2010
    Date of Patent: September 6, 2011
    Assignee: Fanuc Ltd
    Inventors: Hiroji Nishi, Yoshitaka Ikeda
  • Patent number: 7957832
    Abstract: A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.).
    Type: Grant
    Filed: March 25, 2009
    Date of Patent: June 7, 2011
    Assignee: Teknic, Inc.
    Inventor: Francis Joseph Testa
  • Patent number: 7928682
    Abstract: A numerical controller capable of performing axis reconfiguration of control axes in at least two paths without need for the paths to wait. A program block is read and it is determined whether or not the read block includes an axis detachment command. If the block includes the axis detachment command block, an action axis attribute of an control axis designated by the axis detachment command is altered to a non-action axis attribute. Further, if the read block includes an axis allocation command, it is determined whether or not an control axis designated by the axis allocation command becomes a non-action axis, and when the control axis has the non-action axis attribute, the non-action axis attribute of the control axis is altered to a designated path's action axis attribute. Thus, the axis reconfiguration processing in one path can be performed separately from axis reconfiguration processing in another path.
    Type: Grant
    Filed: December 23, 2009
    Date of Patent: April 19, 2011
    Assignee: Fanuc Ltd
    Inventors: Makoto Haga, Masahiko Hosokawa
  • Patent number: 7909551
    Abstract: An apparatus and method for shaving the inside of barrels. The invention relates to reconditioning used wine barrels by shaving the inside surface to a predetermined depth, ready for re-crozering, toasting, and re-use. Conventional shaving methods typically involve routing the internal surface by hand, but this technique is problematic in that it is a very slow process, the quality of the wood is often adversely affected, and there is no way of ensuring that the surface will be shaved to the same depth across the entire surface. The resultant internal dimensions of the barrel are not reflective, relatively, of the original barrel surface. The invention includes a scanning device to scan the internal dimensions of the barrel, and a cutting device to shave the internal surface to a predetermined depth relative to the scanned internal dimensions and where the scanning device and the cutting device may be supported by different robotic arms.
    Type: Grant
    Filed: July 6, 2010
    Date of Patent: March 22, 2011
    Assignee: Southern Cross Cooperage Pty Ltd
    Inventor: Breck Waterman
  • Publication number: 20100324735
    Abstract: The present invention relates to a method and a device for the machining of an object using a tool, in which the tool (2) or the object (18) is guided using a handling apparatus, which has multiple movement axes for the coarse positioning of the tool (2) or object (18), which form a kinematic chain. In the method, an additional actuator (3), which has a higher positioning precision in at least one dimension or axis than the other movement axes, is inserted between a terminal link (1) of the kinematic chain and the tool (2) or object (18). A relative movement of the tool (2) or terminal link (1) of the kinematic chain to the object (18) is detected using at least one sensor (5) and a deviation from a target movement path is compensated for using the additional actuator (3). The method and the associated device allow the use of robots or other handling apparatuses having lower path precision for applications which require a high precision during the guiding of the tool.
    Type: Application
    Filed: October 18, 2007
    Publication date: December 23, 2010
    Applicants: FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DERANGEWAND, RHEINISCH-WESTFAELISCHE TECHNISCHE
    Inventors: Boris Regaard, Stefan Kaierle
  • Patent number: 7847506
    Abstract: In a machine tool controller (1): a position control unit (12) controls, based on an operational signal input from without during manual operation, a moving body's move-to point and moving speed; a memory (13) stores data modeling the moving body and any potentially interfering machine-tool structure; a travel-area checking unit (17) defines in the modeled structure speed-control regions obtained by displacing the structure's contour, generates, based on the defined speed control regions and on current moving-body position, data modeling the moving body as moved into its current position, to check whether the moving body will travel within a speed control region, and if so, sends to the position control unit a speed limit predefined for that speed control region. The position control unit controls the moving body to travel at speed limit if the operational-signal-directed moving speed exceeds the speed limit.
    Type: Grant
    Filed: July 5, 2007
    Date of Patent: December 7, 2010
    Assignee: Mori Seiki Co., Ltd.
    Inventor: Tetsuo Ogawa
  • Patent number: 7847505
    Abstract: An externally configurable soft starter system comprises a motor controller including solid state switches for controlling application of power to a motor. A control circuit controls operation of the solid state switches. The control circuit comprises a programmed processor for commanding operation of the solid state switches and a memory connected to the programmed processor storing parameters relating to operation of the solid state switches. An interface circuit is operatively connected to the programmed processor. An external device includes a memory for storing parameters relating to operation of the solid state switches and an interface for communication with the motor controller. A configuration program is operatively implemented in the programmed processor and the external configuration device for transferring a configuration database file between the controller memory and the external device memory.
    Type: Grant
    Filed: February 25, 2004
    Date of Patent: December 7, 2010
    Assignee: Siemens Industry, Inc.
    Inventors: Scott Mayhew, Scott Wakefield, Daniel Zuzuly
  • Publication number: 20100231157
    Abstract: A numerical controller capable of performing axis reconfiguration of control axes in at least two paths without need for the paths to wait. A program block is read and it is determined whether or not the read block includes an axis detachment command. If the block includes the axis detachment command block, an action axis attribute of an control axis designated by the axis detachment command is altered to a non-action axis attribute. Further, if the read block includes an axis allocation command, it is determined whether or not an control axis designated by the axis allocation command becomes a non-action axis, and when the control axis has the non-action axis attribute, the non-action axis attribute of the control axis is altered to a designated path's action axis attribute. Thus, the axis reconfiguration processing in one path can be performed separately from axis reconfiguration processing in another path.
    Type: Application
    Filed: December 23, 2009
    Publication date: September 16, 2010
    Applicant: FANUC LTD
    Inventors: Makoto HAGA, Masahiko Hosokawa
  • Patent number: 7771146
    Abstract: The present invention relates to an apparatus and method for shaving the inside of barrels. In particular, the present invention relates to reconditioning used wine barrels by shaving the inside surface to a predetermined depth, ready for re-crozering, toasting, and re-use. Conventional shaving methods typically involve routing the internal surface by hand, but this technique is problematic in that it is a very slow process, the quality of the wood is often adversely affected, and there is no way of ensuring that the surface will be shaved to the same depth across the entire surface. Therefore, the resultant internal dimensions of the barrel are not reflective, relatively, of the original barrel surface. The apparatus of the present invention includes a scanning device adapted to scan the internal dimensions of the barrel, and a cutting device adapted to shave the internal surface to a predetermined depth relative to the scanned internal dimensions.
    Type: Grant
    Filed: November 14, 2008
    Date of Patent: August 10, 2010
    Assignee: Southern Cross Cooperage Pty Ltd
    Inventor: Breck Waterman
  • Publication number: 20100188035
    Abstract: It is an object of the present invention to provide a machine tool and a machining method thereof which can execute to machine the workpiece more precisely. The machine tool comprises a tool supporting member 21 relatively movable to a workpiece W along a predetermined axis and supporting a tool 40, a servo motor 32 driving the tool supporting member 21 to the workpiece W along the predetermined axis, a sizing sensor 50 measuring a profile of the workpiece W machined by the tool 40 and outputting a size deviation of measured values from a target profile, and a servo driver 33 driving the servo motor 32 in a feedback control based on the size deviation being output from the sizing sensor 50.
    Type: Application
    Filed: January 12, 2010
    Publication date: July 29, 2010
    Applicant: JTEKT CORPORATION
    Inventors: Satoshi ABETA, Toshihiro Yonezu
  • Patent number: 7613540
    Abstract: A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.).
    Type: Grant
    Filed: May 4, 2007
    Date of Patent: November 3, 2009
    Assignee: Teknic, Inc.
    Inventor: Francis Joseph Testa
  • Patent number: 7595602
    Abstract: An apparatus, machine tool, and method for adaptively controlling a feedrate of a machine tool are provided in which a plurality of maximum spindle power and/or radial load values, each corresponding to a spindle rotational speed, are received, stored and applied. Additionally, the current spindle power and/or the current radial load, along with the current spindle rotational speed may be received. The current spindle power and/or the current radial load may be compared to the maximum spindle power and/or radial load corresponding to the current spindle rotational speed, such that the feedrate may be reduced if the current spindle power and/or the current radial load exceed the corresponding maximum spindle power and/or radial load for the current spindle rotational speed or increased if the current spindle power and the current radial load are below the corresponding maximum spindle power and/or radial load for the current spindle rotational speed.
    Type: Grant
    Filed: December 27, 2007
    Date of Patent: September 29, 2009
    Assignee: The Boeing Company
    Inventor: Liangji Xu
  • Publication number: 20090160388
    Abstract: Machine (10) with an NC control unit (11) and at least one motor (12) which can be triggered by said control unit (11) and which forms an oscillatory system with its bearing and/or parts of the machine (10). The control unit (10) injects control variables (S1) into the motor (12) which trigger a desired motion of the motor (12). When necessary, the control unit (11) additionally injects predetermined signal variables (S2) into the motor (12) which trigger desired mechanical oscillations of the oscillatory system. The signal variables (S2) are predetermined in such a way that the mechanical oscillations are audible and/or tangible.
    Type: Application
    Filed: December 18, 2008
    Publication date: June 25, 2009
    Applicant: Klingelnberg AG
    Inventor: Martin Zagromski
  • Patent number: 7508152
    Abstract: An apparatus, machine tool, and method for adaptively controlling a feedrate of a machine tool are provided in which a plurality of maximum spindle power and/or radial load values, each corresponding to a spindle rotational speed, are received, stored and applied. Additionally, the current spindle power and/or the current radial load, along with the current spindle rotational speed may be received. The current spindle power and/or the current radial load may be compared to the maximum spindle power and/or radial load corresponding to the current spindle rotational speed, such that the feedrate may be reduced if the current spindle power and/or the current radial load exceed the corresponding maximum spindle power and/or radial load for the current spindle rotational speed or increased if the current spindle power and the current radial load are below the corresponding maximum spindle power and/or radial load for the current spindle rotational speed.
    Type: Grant
    Filed: August 29, 2005
    Date of Patent: March 24, 2009
    Assignee: The Boeing Company
    Inventor: Liangji Xu
  • Publication number: 20090058343
    Abstract: An apparatus for operating a machine having electric axes includes a power module for supplying axis drives with electrical energy, an axis regulating module for regulating parameters of the axis drives, and an axis control module for controlling axis drives among one another. The modules are all interconnected with one another and located inside the apparatus as integral components of the apparatus. Synchronization is established between the functions of the modules, so that related courses of motion of a machine that is to be triggered are executed as precisely as possible.
    Type: Application
    Filed: August 29, 2008
    Publication date: March 5, 2009
    Inventor: Gerhard Bund
  • Publication number: 20080309276
    Abstract: A rotating stage assembly performs high precision rotational angle and position error correction by continuous sensing and correcting motor stage assembly errors. It performs these corrections, to adjust for motor environmental and operational errors by sensing and correcting using five sensors placed to measure the adjustments of five corresponding actuators, which adjust the entire motor rotating stage and rotary motor assembly relative to a reference frame.
    Type: Application
    Filed: June 18, 2007
    Publication date: December 18, 2008
    Applicant: XRADIA, INC.
    Inventor: Ying Xu
  • Publication number: 20080309190
    Abstract: A MEMS (micro electro mechanical system) actuator with discretely controlled multiple motions comprises bottom layer, stepper plate, support, and motion plate. The multiple motion of the motion plate is generated by the electrostatically actuated stepper plates and geometrically predetermined supports. By introducing the MEMS actuator with discretely controlled multiple motions, simple motion control can be achieved by digital controlling and only single voltage is needed for motion control of the motion plate.
    Type: Application
    Filed: June 13, 2007
    Publication date: December 18, 2008
    Applicants: STEREO DISPLAY, INC., ANGSTROM, INC.
    Inventors: Jin Young Sohn, Gyoung Il Cho, Cheong Soo Seo