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1. 发明公开

CN1579717A 关节机器人无效
公开(公告)号：CN1579717A
公开(公告)日：2005-02-16
申请号：CN200410055704.5
申请日：2004-07-29
申请人：株式会社小山
发明人：德武英男 , 新村辰雄
IPC分类号： B25J9/10 , B25J9/22 , B25J13/00
CPC分类号： B25J9/1656 , G05B19/409 , G05B19/423 , G05B19/425 , G05B19/427 , G05B2219/35465 , G05B2219/36422 , G05B2219/36432 , G05B2219/36433 , G05B2219/37632 , G05B2219/40307 , G05B2219/43186 , G05B2219/45058
摘要：在关节机器人中，可以任选地选择教示机器人的移动轨迹的类型。关节机器人包括：用于手动选择移动轴以便沿所选轴移动臂部的开关；产生脉冲的手动脉冲发生器；用于控制电动机线性地将臂部的前端移动指定距离的第一控制器，其中指定距离对应于脉冲数量；包括用于沿所选轴移动臂部的选择开关的操作板；第二控制器，它用于在打开选择开关时自动控制电动机从而移动臂部；第三控制器，它用于在手动地移动臂部时停止电动机以便自由地移动臂部；以及用于选择教示活动的类型的开关。

2. 发明公开

EP0732637A2 Method and apparatus for controlling coordinate displacements of a platform 失效
公开(公告)号：EP0732637A2
公开(公告)日：1996-09-18
申请号：EP96107698.1
申请日：1992-04-30
申请人： Becton Dickinson and Company
发明人： Den Engelse, Peter , Flipse, Alexander
IPC分类号： G05B19/23 , G05B19/421
CPC分类号： G02B21/26 , G05B19/106 , G05B19/231 , G05B19/421 , G05B2219/35459 , G05B2219/35477 , G05B2219/36465 , G05B2219/37396 , G05B2219/43186 , G05B2219/45182 , G05B2219/45238
摘要： The field of the invention is a combination of a microscope and an interactive image analysis system comprising a camera and a computer work station. The purpose of the invention is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.

3. 发明申请

WO2018049450A2 STEUERVORRICHTUNG ZUM BETREIBEN EINER WERKZEUGMASCHINE, INSBESONDERE EINER FRÄS- ODER DREHMASCHINE, SOWIE ENTSPRECHENDE WERKZEUGMASCHINE 审中-公开
公开(公告)号：WO2018049450A2
公开(公告)日：2018-03-22
申请号：PCT/AT2017/060225
申请日：2017-09-11
申请人： KEBA AG
发明人： HACKL, Benjamin , WIMMER, Philipp
CPC分类号： G05B19/182 , B23Q1/0045 , G05B19/409 , G05B19/4155 , G05B19/4166 , G05B2219/23083 , G05B2219/23208 , G05B2219/37355 , G05B2219/39264 , G05B2219/43155 , G05B2219/43186 , Y02P90/265
摘要： Die Erfindung betrifft eine Steuervorrichtung (1) zum Betreiben einer Werkzeugmaschine, insbesondere einer Fräs- oder Drehmaschine, mit einem motorisch verfahr- und positionierbaren Werkzeugkopf. Die Steuervorrichtung (1) ist zur Abarbeitung eines zumindest teilweise frei programmierbaren Steuerprogrammes eingerichtet und für die Betriebsabläufe der Werkzeugmaschine bestimmend oder mitbestimmend. Die Steuervorrichtung (1) umfasst weiters eine Bedienerschnittstelle (2) zur manuell steuerbaren Beeinflussung der Betriebsabläufe der Werkzeugmaschine, wofür an der der Bedienerschnittstelle (2) zumindest ein Bedienelement (4) zur manuell steuerbaren Veränderung von Bewegungen des Werkzeugkopfes ausgebildet ist. Ferner ist ein mehrfunktional ausgeführtes Bedienelement (11) vorgesehen, welches in einem ersten Verwendungszustand zur manuellen Vorgabe oder Beeinflussung einer Vorschubgeschwindigkeit im Zuge einer Bearbeitungsphase des Werkzeugkopfes eingerichtet ist, und welches mehrfunktional ausgeführte Bedienelement (11) in einem zweiten Verwendungszustand zur manuellen Vorgabe oder Beeinflussung einer Eilganggeschwindigkeit im Zuge einer Eilgangphase des Werkzeugkopfes eingerichtet ist. Das mehrfunktional ausgeführte Bedienelement (11) ist dabei als Drehsteller-Bedienelement (12) mit einem endlos verdrehbaren Betätigungsorgan (13) ausgeführt Zudem ist eine entsprechende Werkzeugmaschine angegeben.

4. 发明授权

US07135831B2 Method and device for controlling motor 有权
标题翻译：电机控制方法及装置
公开(公告)号：US07135831B2
公开(公告)日：2006-11-14
申请号：US11289446
申请日：2005-11-30
申请人： Shigeki Akiyama
发明人： Shigeki Akiyama
IPC分类号： G05B19/29
CPC分类号： G05B19/416 , G05B2219/43186
摘要： A motor control method is provided in which a cycle between at least one of leading edges and trailing edges of a pulse signal is measured. The pulse signal is outputted from a pulse signal generator which generates a pulse signal every time a driven target is driven for a specified distance by a motor. A driving velocity of the driven target is calculated from the measured edge cycle. A manipulated variable of the motor is calculated such that the calculated driving velocity corresponds to a specified target velocity, and the motor is driven and controlled based on the manipulated variable. The driving velocity is replaced with a specified set velocity that is lower than the target velocity, when no output of edges from the pulse signal generator continues for and over a specified replacement determination time while the motor is driven and controlled.
摘要翻译：提供一种马达控制方法，其中测量脉冲信号的前沿和后沿中的至少一个之间的周期。脉冲信号从脉冲信号发生器输出，每当驱动目标被马达驱动一定距离时产生脉冲信号。从测量的边缘周期计算驱动目标的驱动速度。计算马达的操作变量，使得计算的驱动速度对应于指定的目标速度，并且基于操作变量来驱动和控制马达。驱动速度被替换为低于目标速度的指定设定速度，当电机被驱动和控制时，当脉冲信号发生器的边沿没有输出持续和超过指定的替换确定时间时。

5. 发明申请

US20060113931A1 Method and device for controlling motor 有权
公开(公告)号：US20060113931A1
公开(公告)日：2006-06-01
申请号：US11289446
申请日：2005-11-30
申请人： Shigeki Akiyama
发明人： Shigeki Akiyama
IPC分类号： H02P7/08
CPC分类号： G05B19/416 , G05B2219/43186
摘要： A motor control method is provided in which a cycle between at least one of leading edges and trailing edges of a pulse signal is measured. The pulse signal is outputted from a pulse signal generator which generates a pulse signal every time a driven target is driven for a specified distance by a motor. A driving velocity of the driven target is calculated from the measured edge cycle. A manipulated variable of the motor is calculated such that the calculated driving velocity corresponds to a specified target velocity, and the motor is driven and controlled based on the manipulated variable. The driving velocity is replaced with a specified set velocity that is lower than the target velocity, when no output of edges from the pulse signal generator continues for and over a specified replacement determination time while the motor is driven and controlled.

6. 发明申请

US20020072814A1 Interface device with tactile responsiveness 失效
标题翻译：接口设备具有触觉反应能力
公开(公告)号：US20020072814A1
公开(公告)日：2002-06-13
申请号：US10072728
申请日：2002-02-07
申请人： Immersion Corporation
发明人： Chester L. Schuler , Seth M. Haberman
IPC分类号： G05B019/18
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
摘要翻译：实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。至少两组车轮在相互正交的轴上对齐。伺服电动机附接到至少两组车轮中的每一个。位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。控制器根据力显示位置关系信息输出数字信号。数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

7. 发明授权

US5889670A Method and apparatus for tactilely responsive user interface 失效
标题翻译：用于触觉响应的用户界面的方法和装置
公开(公告)号：US5889670A
公开(公告)日：1999-03-30
申请号：US585198
申请日：1996-01-11
申请人： Chester L. Schuler , Seth M. Haberman
发明人： Chester L. Schuler , Seth M. Haberman
IPC分类号： G05B19/10 , G05B19/23 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06F3/048 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , G05B19/29
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G11B27/02 , G11B27/028 , G11B27/034 , G11B27/34 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F2203/014 , G11B27/031 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
摘要翻译：实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。至少两组车轮在相互正交的轴上对齐。伺服电动机附接到至少两组车轮中的每一个。位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。控制器根据力显示位置关系信息输出数字信号。数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

8. 发明申请

US20190250581A1 CONTROL DEVICE FOR OPERATING A MACHINE TOOL, IN PARTICULAR A MILLING MACHINE OR LATHE, AND CORRESPONDING MACHINE TOOL 审中-公开
公开(公告)号：US20190250581A1
公开(公告)日：2019-08-15
申请号：US16332927
申请日：2017-09-11
申请人： KEBA AG
发明人： Benjamin HACKL , Philipp WIMMER
IPC分类号： G05B19/18 , G05B19/4155
CPC分类号： G05B19/182 , B23Q1/0045 , G05B19/409 , G05B19/4155 , G05B19/4166 , G05B2219/23083 , G05B2219/23208 , G05B2219/37355 , G05B2219/39264 , G05B2219/43155 , G05B2219/43186 , Y02P90/265
摘要： A control device for operating a machine tool having a motor-driven, traversable and positionable tool head. The control device executes a freely programmable control program and determines or co-determines the sequence of operations of the machine tool. The control device also comprises a user interface for influencing the sequence of operations of the machine tool by manual control, at least one operating element for manually controlling changes to movements of the tool head being formed on the user interface. A multi-functionally designed operating element is designed to manually preset or influence a feed rate during a machining phase of the tool head and which multi-functionally designed operating element, in a second usage mode, is designed to manually preset or influence a rapid-traverse rate during a rapid-traverse phase of the tool head. The multi-functionally designed operating element is designed as a rotary actuator operating element comprising a continuously rotatable actuating member.

9. 发明授权

US06195592B1 Method and apparatus for providing tactile sensations using an interface device 失效
标题翻译：使用接口装置提供触感的方法和装置
公开(公告)号：US06195592B1
公开(公告)日：2001-02-27
申请号：US09274704
申请日：1999-03-23
申请人： Chester L. Schuler , Seth M. Haberman
发明人： Chester L. Schuler , Seth M. Haberman
IPC分类号： G05B1500
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
摘要翻译：实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。至少两组车轮在相互正交的轴上对齐。伺服电动机附接到至少两组车轮中的每一个。位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。控制器根据力显示位置关系信息输出数字信号。数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

10. 发明授权

US5459384A Method and apparatus for controlling coordinate displacements of a platform 失效
标题翻译：用于控制平台的坐标位移的方法和装置
公开(公告)号：US5459384A
公开(公告)日：1995-10-17
申请号：US53057
申请日：1993-04-26
申请人： Peter D. Engelse , Alexander Flipse , Walter Janus
发明人： Peter D. Engelse , Alexander Flipse , Walter Janus
IPC分类号： G02B21/00 , G02B21/26 , G02B21/36 , G05B19/10 , G05B19/23 , G05B19/421 , G05D3/00 , G05D3/10 , G01B21/00 , G02B21/24
CPC分类号： G02B21/26 , G05B19/106 , G05B19/231 , G05B19/421 , G05B2219/35459 , G05B2219/35477 , G05B2219/36465 , G05B2219/37396 , G05B2219/43186 , G05B2219/45182 , G05B2219/45238
摘要： The apparatus includes a combination of a microscope and an interative image analysis system comprising a camera and a computer work station. The purpose of the apparatus is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.
摘要翻译：该装置包括显微镜和包括相机和计算机工作站的间隔图像分析系统的组合。该装置的目的是促进显微镜的阶段的坐标位移的交互控制。对于每个坐标x和y，建立机电控制通道。在控制通道的输入端，同轴装置中的两个级联的车轮和两个角度编码器被用作独立的独立工具，其不与运动学上相连。在控制通道的中间，角度编码器的脉冲经历非线性变换。处理器执行计算，其区分慢位移和快速位移。在控制通道的末端，显微镜平台的平坦，易于访问的平台有两个工作区域，一个用于手动预览，一个用于样本的交互式扫描。

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