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81. 发明公开

EP0328673A1 DIGITIZING APPARATUS 失效
标题翻译： DIGITALISIERUNGSVORRICHTUNG。
公开(公告)号：EP0328673A1
公开(公告)日：1989-08-23
申请号：EP88906875.5
申请日：1988-07-28
申请人： FANUC LTD.
发明人： MATSUURA, Hitoshi
IPC分类号： B23Q35/127 , G05B19/42
CPC分类号： G05B19/4207 , G05B2219/34101 , G05B2219/50356
摘要： An apparatus for producing digital data along a profile path obtained by profiling a model surface, and wherein a normal vector is correctly found. First, a probe is moved along the first profile path, the results thereof are digitized and tangential vectors at every point are stored in a memory (8). Then, the probe is moved in the second profiling direction at right angles with the direction of the first profile path to find tangential vectors. A normal vector component is calculated by a normal vector calculation unit (9) based on the two tangential vectors.
摘要翻译：沿着轮廓路径的数字数据通过对模型表面进行轮廓分析获得。探测器移动到路径上，结果被数字化，并且每个点处的切向矢量被存储在存储器（8）中。然后，探针在与第一路径的方向成直角的第二轮廓方向上移动以找到切向矢量。基于两个切向矢量，通过法线向量计算单元（9）计算法线矢量分量。

82. 发明公开

EP0063606A1 NUMERICAL CONTROL SYSTEM 失效
标题翻译：数字控制系统
公开(公告)号：EP0063606A1
公开(公告)日：1982-11-03
申请号：EP81902860.6
申请日：1981-10-23
申请人： FANUC LTD.
发明人： NOZAWA, Ryoichiro , NAGAMINE, Tsuyoshi , KAWAMURA, Hideaki , FUJIBAYASHI, Kentaro
IPC分类号： G05B19/405
CPC分类号： G05B19/41 , G05B2219/35436 , G05B2219/35439 , G05B2219/36088 , G05B2219/36383 , G05B2219/49243 , G05B2219/50336 , G05B2219/50356
摘要： A numerical control system which can be put into manual operation in a state where the axial direction of a tool coincides with the direction of a hole to be drilled in a work piece. In a rectangular coordinate system and a spherical coordinate system with the origins at the center of rotation of the tool, when rotating the tool with a radius y by 0 in the direction of vertical rotation and by ϕ in the direction of horizontal rotation, the position of the top of the tool has the rectangular coordinates: X o = ysin0. cosϕ, Y o = γsinθ. sinϕ, Z o = ycosO. Accordingly, a manual pulse- distribution circuit (104) distributes a series of pulses (H P ) from a manual pulse-generator (103) into the X, Y, and Z components in the proportions of the above values, and then the pulses drive axis-control motors (113) to (117) through servo circuits (108) to (112), respectively.
摘要翻译：本发明提供一种数控系统，其能够在工具的轴线方向与要在工件中钻孔的方向一致的状态下进行手动操作。在原点位于刀具旋转中心的直角坐标系和球面坐标系中，当在垂直旋转方向上以半径y旋转0°的工具并且沿水平旋转方向旋转φ时，位置该工具的顶部有直角坐标：Xo = ysin0。 cosφ，Yo =γsinθ。 sinφ，Zo = ycos0。因此，手动脉冲分配电路（104）以一定比例将来自手动脉冲发生器（103）的一系列脉冲（HP）分配到X，Y和Z分量中，然后脉冲驱动通过伺服电路（108）至（112）分别控制轴控马达（113）至（117）。

83. 发明公开

EP2942163A3 PATH REPEATABLE MACHINING FOR FULL SIZED DETERMINANT ASSEMBLY 有权
标题翻译： PATH可重复处理行列式布置，全尺寸
公开(公告)号：EP2942163A3
公开(公告)日：2015-12-09
申请号：EP15166927.2
申请日：2015-05-08
申请人： The Boeing Company
发明人： Fletcher, Luke , Crothers, Philip J.
IPC分类号： B25J9/16 , G05B19/42
CPC分类号： G05B19/19 , B25J9/1687 , G05B19/4207 , G05B2219/36492 , G05B2219/37037 , G05B2219/45059 , G05B2219/45129 , G05B2219/50126 , G05B2219/50356
摘要： Systems, methods, and apparatus are disclosed for machining a part. The methods may include generating a plurality of spatial representations associated with a plurality of positions identified by a machining pattern associated with the part. The plurality of spatial representations may include a first spatial representation identifying a first orientation of a machining tool relative to the part at a first position. The methods may include moving an end effector to the first position. The methods may include mechanically coupling, using a coupling tool, the end effector to the part at the first position. The methods may include generating a second spatial representation identifying a second orientation of the machining tool relative to the part at the first position. The methods may include adjusting the machining tool in response to determining that the second spatial representation is different than the first spatial representation.

84. 发明授权

EP0785492B1 JOG OPERATION METHOD OF ROBOT 失效
标题翻译：一种用于操作机器人STEP
公开(公告)号：EP0785492B1
公开(公告)日：2001-11-07
申请号：EP96926608.9
申请日：1996-08-08
申请人： FANUC LTD
发明人： KOSAKA, Tetsuya , TAKAHASHI, Hiromitsu
IPC分类号： G05B19/42 , G05B19/425
CPC分类号： G05B19/425 , G05B2219/50048 , G05B2219/50356
摘要： The point of a tool is moved to a start point A of a route AB, designated as the X axis (XAB). A robot controller is set for a nonperpendicular 3-axis system, in which the Y axis (YAB) is perpendicular to the X axis and the Z axis (Zf: the axis of the tool). With this coordinate system selected by a jogging control, the tool angle can be adjusted with X-associated keys, while an advance angle of the tool can be adjusted with Y-associated keys.

85. 发明授权

EP0276312B1 METHOD FOR COMPUTING NORMAL VECTOR 失效
标题翻译：计算正态矢量的方法
公开(公告)号：EP0276312B1
公开(公告)日：1993-07-14
申请号：EP87902778.7
申请日：1987-05-12
申请人： FANUC LTD.
发明人： SEKI, Masaki , SAMUKAWA, Kouji
IPC分类号： G05B19/403
CPC分类号： G05B19/41 , G05B2219/34096 , G05B2219/50336 , G05B2219/50356
摘要： Using data which specifies a three-dimensional curved surface (CSF), points are obtained on the three-dimensional curved surface so that they are arranged discretely in a first direction (direction of BC) and in a second direction (direction of CD); where, for example, the center of an arc (Pc) passing three successive points (Pi,j-1, Pi,j, Pi,j+1) in the first direction is obtained, and then a normal vector is computed, taking the direction of a line running from said center of arc toward a middle point (Pi,j) among said three points as a normal direction of said three-dimensional curved surface at said middle point.

86. 发明授权

EP0313801B1 Machine for measuring and mathematically defining the surface of three-dimensional models, particularly for the manufacture of molds with numeric-control machine tools 失效
标题翻译：用于测量和数学定义三维模型的表面的机器，特别是用于具有数控机床的模具的制造
公开(公告)号：EP0313801B1
公开(公告)日：1993-06-09
申请号：EP88115343.1
申请日：1988-09-19
申请人： ADVANCED DATA PROCESSING ADP S.R.L.
发明人： Levi Montalcini, Piera , Racciu, Antonio
IPC分类号： G05B17/00 , G05D5/00
CPC分类号： G05B19/4207 , G05B2219/37425 , G05B2219/50356

87. 发明公开

EP0328694A4 NON-CONTACT PROFILING METHOD 失效
标题翻译：非接触式分析方法
公开(公告)号：EP0328694A4
公开(公告)日：1992-07-01
申请号：EP88907828
申请日：1988-08-31
申请人： FANUC LTD
发明人： MATSUURA, HITOSHI
IPC分类号： B23Q35/128 , B23Q35/127
CPC分类号： B23Q35/127 , G05B2219/37425 , G05B2219/49243 , G05B2219/50356
摘要： In the present invention, a non-contact type probe (PRB) capable of measuring simultaneously distances to three points on a model surface is used to determine inclination increments in the X and Y directions from the distances of the points A, B and C with respect to the probe that are measured at each predetermined sampling time, and calculate the normal direction N of the model at the measuring point A. An increment of each axis per sampling time is determined from (i) the increment of each of the three axes of rotation of the orthogonal coordinates system and the two axes of rotation of the probe necessary for turning the optical axis (OPI) to the normal direction while the measuring point A is kept fixed and (ii) a feed quantity per each sampling time and the distances measured by distance measuring means. While the optical axis (OPI) is directed to the model normal direction by performing simultaneous 5-axis control using these increments, the model (MDL) is profiled.

88. 发明公开

EP0328662A4 METHOD OF PREPARING NC DATA FOR CUTTING GROOVES 失效
标题翻译：用于切割谷物的NC数据的准备方法
公开(公告)号：EP0328662A4
公开(公告)日：1991-12-04
申请号：EP88906108
申请日：1988-07-20
申请人： FANUC LTD
发明人： SEKI, MASAKI 3-15-2-406, TAKAIDO-NISHI , SAMUKAWA, KOJI FANUC DAI-3 VIRAKARAMATSU , HANAOKA, OSAMU FANUC DAI-3 VIRAKARAMATSU
IPC分类号： G05B19/4093 , G05B19/41 , G05B19/403 , B23Q15/00
CPC分类号： G05B19/40937 , G05B19/41 , G05B2219/35115 , G05B2219/50111 , G05B2219/50213 , G05B2219/50353 , G05B2219/50356 , Y02P90/265
摘要： In a method of preparing NC data for cutting grooves, a unit normal vector (N) is found at a position (Pe) at which the groove cutting is finished after the NC data for groove cutting have been prepared, and a displacement vector (D) is found by the multiplication of a designated displacement (da) and the unit normal vector (N). Thereafter, NC data for escapement are prepared for moving the tool (TL) from the position (Pe) to a point defined by the moving vector (D).

89. 发明公开

EP0369891A2 Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon 失效
标题翻译：用于自动扫描面的面积和用于在其上进行加工功能的方法和装置。
公开(公告)号：EP0369891A2
公开(公告)日：1990-05-23
申请号：EP89403177.2
申请日：1989-11-17
申请人： HYDRO-QUEBEC , ONTARIO HYDRO
发明人： Fihey, Jean-Luc , Hazel, Bruce , Di Vicenzo, Antonio , Tinkler, Mark , McNabb, Scott
IPC分类号： G05B19/42
CPC分类号： B23P23/04 , G05B19/4207 , G05B2219/39468 , G05B2219/45104 , G05B2219/49362 , G05B2219/50153 , G05B2219/50214 , G05B2219/50356
摘要： A method and apparatus for automatically sensing the configuration of a surface area of an object and effecting a work function thereof. A track is connected relative to the surface and a motor-actuated robot member is displaceable on the track by a motorized element coupled thereto. The robot member is provided with a working arm which is displaceably coupled thereto and has one or more working tools connectible therewith. A control circuit is associated with the robot member for displacing the robot member and operating the working arm and tool. A sensor is connected to the working arm and has a probe to sense a distance which is measured along a normal of the surface or any surface calculated by the control circuit and assumed to be representative of the surface in a delineated working environment of the robot member and working arm. The sensor feeds information data to the control circuit to determine damaged areas requiring work procedures to be effected by the one or more working tools. The tool trajectory is then automatically generated by the robotic system to achieve required tool positioning with respect to the surface.
摘要翻译：一种用于自动感测的物体的表面区域的配置及影响其功函数的方法和装置。的轨道被连接相对于所述表面和电机致动的机器人构件是由耦合到其的电动元件在轨道上移动。该机器人构件设置有一个可移动工作臂所有这一切都耦合于此，并且具有可连接有一个或多个工作工具。控制电路与用于移动机器人构件以及操作所述工作臂和刀具机器人构件相关联。传感器被连接到所述工作穷人和具有探头，以感测的距离的所有其沿着一个正常的由控制电路计算的表面或任何表面的测得的和假定是代表了表面的在机器人构件的划定的工作环境和工作的穷人。传感器反馈的信息数据传送到控制电路确定性矿山受损区域要求的工作程序，由一个或多个工作工具来实现。工具轨迹，然后自动由机器人系统产生的，以实现所需的工具定位相对于所述表面上。

90. 发明授权

EP0062683B1 NUMERICAL CONTROL SYSTEM 失效
标题翻译：数字控制系统
公开(公告)号：EP0062683B1
公开(公告)日：1989-08-02
申请号：EP81902861.4
申请日：1981-10-23
申请人： FANUC LTD.
发明人： NOZAWA, Ryoichiro , NAGAMINE, Tsuyoshi , KAWAMURA, Hideaki , FUJIBAYASHI, Kentaro
IPC分类号： G05B19/18
CPC分类号： G05B19/41 , G05B2219/35525 , G05B2219/36573 , G05B2219/49243 , G05B2219/50289 , G05B2219/50295 , G05B2219/50336 , G05B2219/50356

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