公开(公告)号：US5224032A

公开(公告)日：1993-06-29

申请号：US549407

申请日：1990-07-06

申请人： Heinz Worn ,  Dietmar Schmid

发明人： Heinz Worn ,  Dietmar Schmid

IPC分类号： G05B19/4061 ,  G05B19/416 ,  G05B19/42

CPC分类号： G05B19/4207 ,  G05B19/4061 ,  G05B19/4163 ,  G05B2219/36417 ,  G05B2219/36437 ,  G05B2219/41167 ,  G05B2219/42063 ,  G05B2219/42123 ,  G05B2219/49143 ,  G05B2219/49147 ,  G05B2219/49362

摘要： The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.

摘要翻译： 本发明涉及用于控制包括位置控制单元和/或速度控制单元和/或功率控制单元的程控机器，尤其是工业机器人上的轴的移动的过程和系统。 在操作期间从外部作用在轴上的负载由一个或多个传感器测量。 负载信号在位置控制方差增加的意义上被再生地反馈并发送到位置和/或速度控制单元的求和点。 为了增加或减少轴的机械灵活性，提供可控制的放大或衰减装置。 传感器可以具有不同的设计，对应于待测量的载荷。 它们优选地直接与轴相关联。

公开(公告)号：US20110218668A1

公开(公告)日：2011-09-08

申请号：US13039080

申请日：2011-03-02

申请人： Giuseppe Morfino

发明人： Giuseppe Morfino

IPC分类号： G05B19/404 ,  G05B19/406

CPC分类号： G05B19/4163 ,  G05B19/401 ,  G05B19/404 ,  G05B2219/35159 ,  G05B2219/36503 ,  G05B2219/49061 ,  G05B2219/49066 ,  G05B2219/49069 ,  G05B2219/49186 ,  G05B2219/49362

摘要： A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, comprising the steps of: (a) moving the tool over the surface in a predetermined direction and/or with a predetermined velocity and/or along a predetermined path, (b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter, (c) determining, by the sensor unit, a response value indicating a response of the tool to treating the surface and/or to being pressed to the surface, and (d) determining a new direction and/or a new velocity and/or a new path and/or a new value for the treatment parameter based on the response value.

摘要翻译： 一种用于在表面上移动CNC机床的工具的方法，其中所述CNC机器设置有传感器单元，所述方法包括以下步骤：（a）沿预定方向和/或以预定速度在所述表面上移动所述工具 和/或沿着预定路径，（b）根据治疗参数的预定值由所述工具处理所述表面，（c）由所述传感器单元确定指示所述工具对所述治疗参数的响应的响应值 表面和/或被压到表面，以及（d）基于响应值确定治疗参数的新方向和/或新速度和/或新路径和/或新值。

公开(公告)号：US07540924B2

公开(公告)日：2009-06-02

申请号：US11125528

申请日：2005-05-10

申请人： Man Ho Ahn ,  Joon Young Kim

发明人： Man Ho Ahn ,  Joon Young Kim

IPC分类号： B05C11/10

CPC分类号： B05C5/0216 ,  B05C11/1018 ,  G05B2219/45238 ,  G05B2219/49362

摘要： Disclosed is a sealant dispenser for more precisely dispensing a sealant onto a substrate, and a control method thereof. The sealant dispenser includes a stage on which a substrate is mounted; a nozzle for dispensing a sealant while making a relative motion with the substrate; a syringe coupled to the nozzle, for storing the sealant; and a distance sensor installed on both sides of a lower portion of the syringe, for measuring a vertical distance between a principal plane of the substrate and an outlet of the nozzle. According to the principles of the present invention, because the nozzle and the syringe have substantially the same central axis, the response speed of the sealant to be dispensed is increased and the start point and the end point of paste pattern are more precisely dispensed. Also, by minimizing the distance between the nozzle and a measuring point provided by the distance sensor, it becomes possible to dispense the sealant at higher precision.

摘要翻译： 公开了一种用于更精确地将密封剂分配到基底上的密封剂分配器及其控制方法。 密封剂分配器包括其上安装有基底的台阶; 用于在与基底进行相对运动的同时分配密封剂的喷嘴; 连接到喷嘴的注射器，用于储存密封剂; 以及安装在所述注射器下部两侧的距离传感器，用于测量所述基底的主平面与所述喷嘴的出口之间的垂直距离。 根据本发明的原理，由于喷嘴和注射器具有基本上相同的中心轴，所以要分配的密封剂的响应速度增加，并且更精确地分配糊状图案的起始点和终点。 此外，通过使喷嘴与由距离传感器提供的测量点之间的距离最小化，可以以更高的精度分配密封剂。

公开(公告)号：US5067086A

公开(公告)日：1991-11-19

申请号：US397460

申请日：1989-08-21

申请人： Etsuo Yamazaki ,  Nobuaki Iehisa

发明人： Etsuo Yamazaki ,  Nobuaki Iehisa

IPC分类号： B23K26/00 ,  B23K26/04 ,  B23K26/08 ,  G05B19/18 ,  G05B19/19 ,  G05B19/404 ,  G05B19/41 ,  G05B19/42 ,  G05B19/425

CPC分类号： B23K26/046 ,  B23K26/048 ,  B23K26/08 ,  B23K26/0884 ,  G05B19/41 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/37425 ,  G05B2219/45165 ,  G05B2219/49362

摘要： A three-dimensional shape machining laser device for performing three-dimensional machining. The device comprises a teaching box (20) for teaching NC commands, a sensor (43) for detecting the distance between the distal end of a nozzle and a work, a control apparatus (10) which includes command storage apparatus for storing the NC commands, NC command execution apparatus for executing the NC commands, tracing apparatus for controlling the gap between the nozzle and the work to a predetermined value, interrupt control apparatus for interrupting the execution of an NC command program, correction value calculation apparatus for calculating correction command values used for correcting coordinate values, and correction apparatus for correcting command values in accordance with the correction command values, etc. Tracer control is performed during execution of the NC commands, and when an amount of deviation from a path according to the NC commands exceeds a predetermined value, correction values are inserted to correct the path. Alternatively, the NC commands are executed without performing the tracer control. When an amount of deviation of the gap exceeds a predetermined value, correction values are inserted to correct the path. Teaching data can therefore be easily checked for accuracy and corrected, whereby reliable teaching data can be obtained.

公开(公告)号：US4897586A

公开(公告)日：1990-01-30

申请号：US330488

申请日：1989-03-30

申请人： Shuichi Nakata ,  Katsumi Yamamoto ,  Toshio Aono ,  Shinichi Sugita

发明人： Shuichi Nakata ,  Katsumi Yamamoto ,  Toshio Aono ,  Shinichi Sugita

IPC分类号： B23Q15/013 ,  B24B9/00 ,  B24B17/10 ,  B24B49/16 ,  B25J9/16 ,  B25J9/18 ,  G05B19/42

CPC分类号： G05B19/42 ,  G05B2219/34167 ,  G05B2219/45151 ,  G05B2219/49362 ,  G05B2219/49398

摘要： An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.

摘要翻译： 一种用于工业机器人的电气控制装置，其臂被致动以通过附接到其上的加工工具进行工件的加工。 控制装置包括：力传感器，被布置成检测作用在工具上的反作用力;存储器，用于在教学线的多个分割部分中的工件的每个加工过程期间存储由传感器检测到的最大反作用力;存储器，用于 将存储的最大反作用力与表示作用在工具上的反作用力的极限的设定值进行比较，并且当存储的最大力超过设定值时从其产生信号。 所述控制装置被配置为以使得所述加工工具沿着所述教导线移动的方式操作所述机器人，以在所述分割部分中依次进行所述工件的加工，并且进一步布置以确定所述比较器是否产生 当刀具到达分割部分的每个终点处时产生一个控制信号，当施加来自比较器的信号时，每当这些刀具到达时，就响应控制信号操作机器人，使得机床 返回到每个起始部分的起始点，以在同一部分重复去毛刺。

公开(公告)号：US4817848A

公开(公告)日：1989-04-04

申请号：US193450

申请日：1988-05-12

申请人： John B. Gabaldon

发明人： John B. Gabaldon

IPC分类号： H01L21/607 ,  B23K20/10 ,  G05B19/23 ,  G05D3/12 ,  H01L21/60

CPC分类号： H01L24/78 ,  B23K20/106 ,  G05B19/235 ,  G05B2219/45033 ,  G05B2219/49362 ,  H01L2224/78 ,  H01L2224/78301 ,  H01L2924/00014 ,  H01L2924/01005 ,  H01L2924/01019 ,  H01L2924/01033 ,  H01L2924/01039 ,  H01L2924/12041 ,  H01L2924/14

摘要： An automatic ultrasonic wire bonder employs a compliant motion servo (17, 119, 239, 200) on its Z axis drive to maintain a known, constant and steady force applied by the bonding tool (13) to the wire. The tool is resiliently mounted to a carriage (15) that is driven by a force control servo (17, 119, 238, 200). During bonding, the tool is pressed against the wire, and effects of variations in tool tip Z axis position caused by vibration, wire deformation during bonding and other factors of the equipment are minimized by a servo that precisely controls and maintains a fixed position of the carriage relative to the wire to thereby maintain a preselected force between the bonding tool tip and the wire.

摘要翻译： 自动超声波引线接合器在其Z轴驱动器上采用顺应运动伺服（17,119,239,200）以保持由焊接工具（13）施加到线的已知，恒定和稳定的力。 工具弹性地安装到由力控制伺服机构（17,119,238,200）驱动的滑架（15）上。 在接合期间，工具被压在线上，并且通过伺服来最小化由振动引起的刀尖Z轴位置的变化，接合期间的线变形以及设备的其他因素的影响，精确地控制和保持固定位置 从而在接合工具尖端和线之间保持预选力。

公开(公告)号：US4666352A

公开(公告)日：1987-05-19

申请号：US776801

申请日：1985-09-17

申请人： Takaaki Nagao ,  Yotaro Hatamura ,  Kozo Ono

发明人： Takaaki Nagao ,  Yotaro Hatamura ,  Kozo Ono

IPC分类号： B23Q15/007 ,  B23Q15/013 ,  B23Q17/09 ,  B24B49/16 ,  G05B19/18 ,  G05B19/41 ,  B23C9/00

CPC分类号： G05B19/41 ,  G05B19/182 ,  G05B2219/49362 ,  G05B2219/50072 ,  G05B2219/50353 ,  Y10T408/172 ,  Y10T409/304984 ,  Y10T409/306888 ,  Y10T409/30728

摘要： A profile working machine is equipped with a support for holding a work in place, a working tool for machining the work, and drive and control systems for controlling the relative displacements between the support and the working tool. The profile working machine is to machine the work into a desired profile. The profile working machine is additionally provided with a load sensor for detecting each force and moment to be developed between the working tool and the work, a first computing unit for computing a working point and a tangential plane extending through the working point and in contact with the working tool, on the basis of the force and moment detected by the load sensor, and a second computing unit for computing, based on the working point and the tangential plane computed by the first computing unit and the forces detected by the load sensor, the values of the relative displacements between the working tool and the support in order to keep the magnitude and the direction of a reaction force exerted on the working tool on predetermined values.

摘要翻译： 轮廓加工机配备有用于保持工件的支撑件，用于加工工件的加工工具，以及用于控制支撑件和工作工具之间的相对位移的驱动和控制系统。 轮廓加工机将工件加工成所需的轮廓。 型材加工机器另外设置有负载传感器，用于检测在作业工具和工件之间要显影的每个力和力矩;第一计算单元，用于计算工作点和延伸穿过工作点并与之接触的切向平面 所述加工工具基于由所述负载传感器检测到的力和力矩，以及第二计算单元，用于基于由所述第一计算单元计算的所述工作点和切平面以及由所述负载传感器检测到的力来计算， 工作工具和支撑件之间的相对位移的值，以便将施加在工作工具上的反作用力的大小和方向保持在预定值上。

公开(公告)号：US09519282B2

公开(公告)日：2016-12-13

申请号：US13039080

申请日：2011-03-02

申请人： Giuseppe Morfino

发明人： Giuseppe Morfino

IPC分类号： G05B19/416 ,  G05B19/401 ,  G05B19/404

CPC分类号： G05B19/4163 ,  G05B19/401 ,  G05B19/404 ,  G05B2219/35159 ,  G05B2219/36503 ,  G05B2219/49061 ,  G05B2219/49066 ,  G05B2219/49069 ,  G05B2219/49186 ,  G05B2219/49362

摘要： A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, comprising the steps of: (a) moving the tool over the surface in a predetermined direction and/or with a predetermined velocity and/or along a predetermined path, (b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter, (c) determining, by the sensor unit, a response value indicating a response of the tool to treating the surface and/or to being pressed to the surface, and (d) determining a new direction and/or a new velocity and/or a new path and/or a new value for the treatment parameter based on the response value.

摘要翻译： 一种用于在表面上移动CNC机床的工具的方法，其中所述CNC机器设置有传感器单元，所述方法包括以下步骤：（a）沿预定方向和/或以预定速度在所述表面上移动所述工具 和/或沿着预定路径，（b）根据治疗参数的预定值由所述工具处理所述表面，（c）由所述传感器单元确定指示所述工具对所述治疗参数的响应的响应值 表面和/或被压到表面，以及（d）基于响应值确定治疗参数的新方向和/或新速度和/或新路径和/或新值。

公开(公告)号：US07034249B2

公开(公告)日：2006-04-25

申请号：US10866335

申请日：2004-06-10

申请人： Jukka Gustafsson ,  Mikko Veikkolainen

发明人： Jukka Gustafsson ,  Mikko Veikkolainen

IPC分类号： B23K9/127

CPC分类号： B23K37/0461 ,  B23K9/0026 ,  B23K9/0256 ,  B23K9/032 ,  B23K9/1274 ,  B23K26/03 ,  B23K26/032 ,  B23K37/0235 ,  B23K37/0426 ,  B23K2101/24 ,  B25J9/1697 ,  B63B9/06 ,  G05B2219/37555 ,  G05B2219/37571 ,  G05B2219/45104 ,  G05B2219/49362

摘要： A welded structure is formed by arranging multiple pieces on a three-dimensional support base to provide an assembly in accordance with the structure to be welded and making a picture map of the assembly by photographing the assembly. Weld points are identified from the picture map and welding parameters are determined from the picture map. Control data specifying the weld points and welding parameters are supplied to welding equipment that is operable in a three-dimensional X-Y-Z coordinate system. The welding equipment is moved in the X-Y plane on the basis of the picture map and said control data. The welding equipment is moved along the Z-axis on the basis of Z-axis position data that are acquired by repeatedly measuring the Z-axis position of the support base.

摘要翻译： 通过在三维支撑基座上布置多个部件来形成焊接结构，以根据要焊接的结构提供组件，并通过拍摄组件来制作组件的图形图。 焊接点由图像图识别，焊接参数由图像图确定。 将焊接点和焊接参数的控制数据提供给可在三维X-Y-Z坐标系中操作的焊接设备。 焊接设备在X-Y平面上根据画面图和控制数据进行移动。 基于通过重复测量支撑基座的Z轴位置而获得的Z轴位置数据，焊接设备沿着Z轴移动。

公开(公告)号：US5299389A

公开(公告)日：1994-04-05

申请号：US956932

申请日：1992-10-02

申请人： Seishu Yonaha ,  Meitoku Chin ,  Kenichi Yatsuda

发明人： Seishu Yonaha ,  Meitoku Chin ,  Kenichi Yatsuda

IPC分类号： B25J9/16 ,  G05B19/416 ,  B24B49/00

CPC分类号： G05B19/4163 ,  B25J11/0065 ,  B25J9/1684 ,  G05B2219/37285 ,  G05B2219/37405 ,  G05B2219/45058 ,  G05B2219/49362 ,  G05B2219/50109 ,  G05B2219/50113

摘要： An automatic grinding apparatus includes a constant rotating grinder (24) having a motor (25) in which a load current increases or decreases due to the metal removal rate per unit hour, a travelling device for moving the grinder three-dimensionally along the grinding surface, a sliding device (20) for adjusting the distance between the grinder and an object (50, 51) to be found and a controller for controlling the sliding device to allow the load current of the grinding motor to be constant. An articulated robot or a cartesian coordinate robot is used for the travelling device. The automatic grinding apparatus starts the grinding motor at first, halting the travelling device at the initiation of grinding, permitting the grinder to approach the object to be ground after a time interval and starting the travelling device simultaneously or a little later after detecting that the grinding disk (26) contacts the object to be ground, due to the variation of the load current of the grinding motor. The apparatus restores respective relative positions of the grinder and the sliding device (20) to a certain position by regulating the operation time of an elevation motor (21) of the sliding device or by directly detecting the location of the slider of the sliding device before and after the grinding process. The automatic grinding apparatus is used for grinding a workpiece (50) such as for finishing welded metal and deburring or chamfering the work piece.

摘要翻译： 一种自动磨削装置，包括具有电动机（25）的恒定旋转研磨机（24），由于每单位时间的金属去除率，负载电流增加或减少，用于沿研磨面三维地移动研磨机的行进装置 ，用于调整研磨机与要找到的物体（50,51）之间的距离的滑动装置（20）和用于控制所述滑动装置以允许所述研磨电机的负载电流恒定的控制器。 行走装置使用铰接机器人或笛卡尔坐标机器人。 首先，自动研磨装置启动研磨电机，在开始研磨时使行走装置停止，使得研磨机能够在时间间隔后接近被研磨物体，并且在检测到研磨之后同时或稍后起动行进装置 由于磨削电机的负载电流的变化，盘（26）接触被研磨物体。 该装置通过调节滑动装置的升降马达（21）的操作时间或者通过直接检测滑动装置的滑块的位置，将研磨机和滑动装置（20）的各个相对位置恢复到特定位置 并在研磨过程之后。 自动研磨装置用于研磨工件（50），例如用于整理焊接金属和去毛刺或倒角工件。