公开(公告)号：US5548195A

公开(公告)日：1996-08-20

申请号：US362676

申请日：1994-12-22

申请人： Samuel K. Doran

发明人： Samuel K. Doran

IPC分类号： G05B19/23 ,  G05D11/08

CPC分类号： G05B19/231 ,  G05B2219/37275 ,  G05B2219/41195 ,  Y10T74/20213

摘要： A stage positioning apparatus including a stage and a servo control system. The servo control system includes a compensation circuit. The compensation circuit determines the cosine of the angle between the off-axis drive bar and the direction of travel. A voltage, proportional to the cosine, is multiplied by the on-axis drive error signal to develop an off-axis compensation voltage. Each drive's new error signal is compensated by its respective off-axis compensation voltage.

摘要翻译： 一种舞台定位装置，包括舞台和伺服控制系统。 伺服控制系统包括补偿电路。 补偿电路确定离轴驱动条与行进方向之间的角度的余弦值。 与余弦成比例的电压乘以轴上驱动误差信号以产生离轴补偿电压。 每个驱动器的新的误差信号由其各自的离轴补偿电压补偿。

公开(公告)号：US5408758A

公开(公告)日：1995-04-25

申请号：US25023

申请日：1993-03-02

申请人： Takashi Mizutani ,  Hiroshi Haino

发明人： Takashi Mizutani ,  Hiroshi Haino

IPC分类号： B25J9/10 ,  G01B21/00 ,  G01D1/16 ,  G05B19/404 ,  G05D3/12 ,  G01B5/03

CPC分类号： G05B19/404 ,  G01D1/16 ,  G05B2219/37275 ,  G05B2219/49194 ,  G05B2219/50063

摘要： A system for compensating for spatial errors of a movable machinery having a three-dimensional spatial mechanism includes a command generator for generating a commanded coordinate value in the space of command; a position controller for operating in response to the commanded coordinates value as an input; a position detector for detecting the operating position set by the position controller on the space of motion as a coordinate value of the space of command; and a spatial error compensating unit for compensating for spatial errors between the space of command and the space of motion contained in the output coordinate value of the position detector, outputting a compensated coordinate value as a measured value and correcting the commanded coordinate value by use of the compensated coordinate value, and the spatial error compensation and the motion control on the compensated space of command can be realized by use of only one system of function generator.

摘要翻译： 用于补偿具有三维空间机构的可移动机械的空间误差的系统包括用于在命令空间中产生命令坐标值的命令发生器; 位置控制器，用于响应于所命令的坐标值作为输入进行操作; 位置检测器，用于检测位置控制器在运动空间上设置的操作位置作为指令空间的坐标值; 以及空间误差补偿单元，用于补偿包含在位置检测器的输出坐标值中的命令空间和运动空间之间的空间误差，输出补偿后的坐标值作为测量值，并通过使用 补偿坐标值，空间误差补偿和补偿指令空间的运动控制可以通过仅使用一个函数发生器系统来实现。

公开(公告)号：US5059090A

公开(公告)日：1991-10-22

申请号：US466089

申请日：1990-01-16

申请人： Norman Bobroff ,  Rodney A. Kendall

发明人： Norman Bobroff ,  Rodney A. Kendall

IPC分类号： H01L21/68 ,  B23Q1/48 ,  B23Q5/22 ,  B23Q5/34

CPC分类号： B23Q1/4866 ,  G05B2219/33337 ,  G05B2219/37275 ,  G05B2219/41352 ,  G05B2219/49278 ,  G05B2219/49288 ,  Y10S414/13

摘要： A two-dimensional positioning mechanism, comprising a moveable platform, a first translating device connected to the platform to move the platform in a first direction, and a second translating device connected to the platform to move the platform in a second direction orthogonal to the first direction. The first translating device includes first and second links, each of which is pivotally connected to the platform, and a first linear actuator pivotally connected to the first and second links to move those links in the first direction. The first and second links, the moveable platform and the linear actuator form a pivotal parallelogram structure to maintain the orientation of the platform substantially constant during movement thereof. Preferably, the positioning mechanism further includes a control system connected to the first and second translating devices to control those translating devices to move the platform from a first position to a second position. This control system preferably also controls the translating devices to move the platform on a predetermined path as the platform moves from one position to the next.

公开(公告)号：US4999555A

公开(公告)日：1991-03-12

申请号：US362407

申请日：1989-05-30

申请人： Etsuo Yamazaki ,  Hiroo Nagata

发明人： Etsuo Yamazaki ,  Hiroo Nagata

IPC分类号： B23Q35/12 ,  B23Q15/00 ,  G05B19/408 ,  G05B19/42

CPC分类号： G05B19/4207 ,  G05B2219/37275 ,  G05B2219/37425 ,  G05B2219/37495

摘要： A digitizing method in which a distance from a model surface is measured and stored at regular intervals of time or distance to obtain digital profile data of the model. A specified profile for correction is provided on a part of the model, and by using the specified mode, correction data such as a distance correction coefficient is obtained before carrying out the digitizing. Digitizing data obtained by carrying out the digitizing is corrected by the correction data. The correction data is obtained based on the material and surface condition of the actual model, and therefore, the digitizing data can be accurately corrected.

公开(公告)号：US4956789A

公开(公告)日：1990-09-11

申请号：US192135

申请日：1988-05-10

申请人： Yoosuke Hamada ,  Hiromu Hirai ,  Isao Kobayashi

发明人： Yoosuke Hamada ,  Hiromu Hirai ,  Isao Kobayashi

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/37275 ,  G05B2219/37351 ,  G05B2219/41117 ,  G05B2219/41218 ,  G05B2219/41367 ,  G05B2219/41374 ,  G05B2219/42162 ,  G05B2219/45026

摘要： When a move command (data indicating to move a movable unit from one position to a target position) is issued, a movable unit is displaced in response to the move command. A target trajectory which is an aggregation of target positions varying with time is determined such that a residual vibration of a structure at and after the stop of displacement of the movable unit is minimized. Target positions at various times during the displacement of the movable unit are generated based on the target trajectory. The target positions at various times are supplied to a control unit which feeds back an actual position of the movable unit and produces a drive signal which makes a difference from the target position zero. The drive signal is supplied to an actuator so that a drive force is transmitted from the actuator to the movable unit which follows a change in the target position. As a result, the movable unit is moved to the target position and the vibration at and after the stop of movement is suppressed.

摘要翻译： 当发出移动指令（指示将可移动单元从一个位置移动到目标位置的数据）时，可移动单元响应于移动命令而移位。 确定作为时间变化的目标位置的聚集的目标轨迹，使得可移动单元的位移停止和停止之后的结构的残余振动最小化。 基于目标轨迹产生在移动单元的位移期间的不同时刻的目标位置。 不同时刻的目标位置被提供给控制单元，该控制单元反馈可移动单元的实际位置并产生与目标位置零差异的驱动信号。 驱动信号被提供给致动器，使得驱动力从致动器传递到跟随目标位置的改变的可移动单元。 结果，可移动单元移动到目标位置，并且抑制了停止移动时和之后的振动。

公开(公告)号：US4919967A

公开(公告)日：1990-04-24

申请号：US213351

申请日：1988-06-30

申请人： Heinz Handke ,  Thomas Zink ,  Vasilios Sougioltzis

发明人： Heinz Handke ,  Thomas Zink ,  Vasilios Sougioltzis

IPC分类号： B05B12/08 ,  B05B12/12 ,  B05B13/04 ,  B05D1/02 ,  G05B19/418

CPC分类号： B05B12/122 ,  B05B13/0431 ,  B05B13/0452 ,  G05B19/4182 ,  G05B2219/36503 ,  G05B2219/37275 ,  G05B2219/37525 ,  G05B2219/45013 ,  Y02P90/083 ,  Y02P90/14

摘要： Coating defects are overcome which occur in the prior art as a result of positional tolerance variations between an automatic spraying device and a part, as the part, e.g., an automobile body, is transported along a conveying system into the spray booth of a coating station during a series coating operation using lacquering robots to apply paint. The distance between at least one fixed reference point on the coating apparatus and a reference point on the automobile body is measured during a preparatory coating operation and stored in the processing program of an operation controlling computer as a standard reference distance value. The reference distance is remeasured for each automobile body during subsequent series coating operations and then compared to the standard reference distance value. The processing program then corrects the movements of the lacquering robots as a function of the calculated deviation to elimate the coating defects arising out of positional tolerance variations.

摘要翻译： 由于自动喷涂装置和部件之间的位置公差变化的结果，现有技术中发生的涂层缺陷被克服，因为例如汽车主体沿着输送系统被输送到涂装站的喷涂室 在使用涂漆机器人涂漆的系列涂装操作中。 在预备涂覆操作期间测量涂覆设备上的至少一个固定参考点与汽车车身上的参考点之间的距离，并将其作为标准参考距离值存储在操作控制计算机的处理程序中。 在随后的串联涂覆操作期间，为每个汽车车身重新测量参考距离，然后与标准参考距离值进行比较。 然后，处理程序根据计算出的偏差校正涂漆机器人的运动，以校正由位置公差变化引起的涂层缺陷。

公开(公告)号：US4669359A

公开(公告)日：1987-06-02

申请号：US719218

申请日：1985-04-02

申请人： Kazuo Shiba

发明人： Kazuo Shiba

IPC分类号： B23Q5/42 ,  G05B19/39 ,  F15B13/16 ,  G05B11/18

CPC分类号： G05B19/39 ,  G05B2219/37275 ,  G05B2219/49271 ,  Y10T82/2549

摘要： A system for positioning a movable body for a processing machine. A lead screw is rotatably and axially shiftably supported and engaged with the movable body. The lead screw is rotated by a motor to move the movable body. A hydrostatic thrust bearing is provided for preventing axial movement of the lead screw. The lead screw is finely moved in the axial direction by controlling the pressure difference of oil supplied to the thrust bearing to position the movable body.

摘要翻译： 一种用于定位用于加工机器的可移动体的系统。 导螺杆被可旋转地和轴向地可移动地支撑并与可动体接合。 导螺杆由马达旋转以移动可移动体。 提供静压推力轴承用于防止丝杠的轴向移动。 通过控制供给到推力轴承的油的压力差来定位移动体，导螺杆在轴向上精细地移动。

公开(公告)号：US4602540A

公开(公告)日：1986-07-29

申请号：US701811

申请日：1985-02-19

申请人： Masatoshi Murofushi ,  Isamu Tanimoto ,  Toshio Sagara

发明人： Masatoshi Murofushi ,  Isamu Tanimoto ,  Toshio Sagara

IPC分类号： G05B19/39 ,  B23B25/06 ,  B23B21/00

CPC分类号： G05B19/39 ,  G05B2219/34161 ,  G05B2219/37275 ,  G05B2219/37405 ,  G05B2219/42075 ,  G05B2219/50313 ,  Y10T82/2502

摘要： A precision machining system for machining a workpiece into a desired surface with two tool driving units. A first drive unit moves the tool along at least two axes to shape the workpiece similar to a desired surface. A second drive unit moves the tool along one of the axes in a very finely controlled manner. A measuring unit measures the tool position with an accuracy higher than that to which the first drive unit can respond. A signal producing unit is responsive to the measuring unit for producing a control signal for controlling the operation of the second drive unit while the first drive unit is operating.

摘要翻译： 一种精密加工系统，用于通过两个刀具驱动单元将工件加工成所需的表面。 第一驱动单元沿着至少两个轴移动工具以使工件与期望的表面类似。 第二驱动单元以非常精细地控制的方式沿着其中一个轴移动工具。 测量单元以比第一驱动单元可以响应的精度更高的精度测量刀具位置。 信号产生单元响应于测量单元产生用于在第一驱动单元运行时控制第二驱动单元的操作的控制信号。

公开(公告)号：US3794814A

公开(公告)日：1974-02-26

申请号：US3794814D

申请日：1973-02-15

申请人： ATOMIC ENERGY COMMISSION

发明人： DAVIDSON T ,  LAY C ,  BURKHARDT J

IPC分类号： G05B19/4063 ,  H03K21/02 ,  G01B11/04 ,  G06G7/00 ,  H03K13/00

CPC分类号： H03K21/02 ,  G05B19/4063 ,  G05B2219/37275 ,  G05B2219/37619

摘要： A dynamic error monitoring system has been provided which measures the instantaneous value of a positionable machine member by direct, instantaneous and continuous comparison between movement command pulses of a discrete value with pulses of the same discrete value from an independent distance measuring device such as command pulses from a numerical control unit and pulses from an interferometer indicative of the positionable member movement from a reference position. Command pulses from the numerical control unit are compared with the laserinterferometer-derived pulses in a bidirectional counter following suitable scaling, steering, and anticoincidence testing. The net count output of the counter representing the dynamic error is converted to an analog signal that is displayed on a recorder. The system gives a continuous record of the dynamic machine tool position over the entire length of the positionable member travel as well as the static positioning error.

摘要翻译： 提供了一种动态误差监测系统，其通过直接，瞬时和连续的比较离散值的运动命令脉冲与来自独立距离测量装置的相同离散值的脉冲（例如命令脉冲）直接，瞬时和连续地比较可定位机器构件的瞬时值 来自数字控制单元和来自干涉仪的指示来自参考位置的可定位构件运动的脉冲。 来自数字控制单元的指令脉冲与合适的缩放，转向和反重合测试之后的双向计数器中的激光干涉仪衍生脉冲进行比较。 表示动态误差的计数器的净计数输出被转换为在记录器上显示的模拟信号。 该系统在可定位构件行程的整个长度上以及静态定位误差给出动态机床位置的连续记录。

公开(公告)号：US3783253A

公开(公告)日：1974-01-01

申请号：US3783253D

申请日：1971-08-13

申请人： DOALL CO

发明人： ANDERSON W ,  WALLACE R

IPC分类号： G05B19/414 ,  G05B19/425 ,  G06F15/46

CPC分类号： G05B19/414 ,  G05B19/425 ,  G05B2219/34149 ,  G05B2219/34239 ,  G05B2219/34388 ,  G05B2219/34466 ,  G05B2219/35436 ,  G05B2219/35439 ,  G05B2219/36152 ,  G05B2219/36383 ,  G05B2219/36574 ,  G05B2219/36589 ,  G05B2219/37275 ,  G05B2219/41309 ,  G05B2219/43158 ,  G05B2219/45214 ,  G05B2219/49164 ,  G05B2219/50048 ,  G05B2219/50289 ,  G05B2219/50291

摘要： A digital processing system is disclosed including manual controls to specify a process (step-by-step) and responsive means to execute the process and formulate an operating program of the process. The controls are related to the steps of the process and coding techniques are unnecessary. Signal generators provide digital signals responsive to the manual controls, which signals control a machine tool (in the disclosed embodiment) and are provided in a suitable form for recording. The system may be controlled to delay recording until the propriety of a step is verified by its performance. Means are included for predicting and accomplishing dimensions on the basis of various simple specifications, as for generating arcs and multiple dimension motions with allowance for tool diameter. On completion of a recorded program of operations, the system is operable under such control.

摘要翻译： 公开了一种数字处理系统，其包括手动控制以指定过程（逐步）和响应手段来执行该过程并且制定该过程的操作程序。 控制与过程的步骤相关，编码技术是不必要的。 信号发生器响应于手动控制器提供数字信号，该手动控制信号控制机床（在所公开的实施例中）并且以适当的形式提供用于记录。 可以控制系统以延迟记录，直到通过其性能验证步骤的适当性。 包括用于在各种简单规格的基础上预测和实现尺寸的手段，用于产生具有刀具直径允许的电弧和多维运动。 在完成记录的操作程序之后，系统可以在这种控制下操作。