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1. 发明专利

JPH1091659A GENERATION SYSTEM FOR FREE CURVED SURFACE HAVING SPECIFIC RADIUS 失效
公开(公告)号：JPH1091659A
公开(公告)日：1998-04-10
申请号：JP24241196
申请日：1996-09-12
申请人： NIPPON KOKAN KK
发明人： SATO NAOTO , HOTTA KUNIHIKO , AOKI KIYOSHI , HIRANO HISASHI
IPC分类号： G06F17/50 , G06T17/00
摘要： PROBLEM TO BE SOLVED: To generate a free curved surface with specified radii with a single command without being aware of a specifying method for the kind, etc., of a basic shape element by generating a curved surface which has arcuate section of a specific radius according shape element groups, a drive curve group, and radius values at respective points on them. SOLUTION: An input means 50 for shape element groups inputs two basic shape element groups and an input means 54 relative to drive curves inputs the drive curve group and drive-curve related data on radius values at specific points on the drive curve group. A radius-value determining means 56 determines radius values corresponding to respective points on a drive curve from the drive-curve related data and variation forms of radii stored in a storage means 52. Then a fillet curved surface generating means 58 generates a free curved surfaces having specific radii from the drive curve group and the radius values at the respective points on the drive curve group that the radius value determining means 56 has determined.

2. 发明专利

JPS62166949A AUTOMATIC COPYING DEVICE FOR WELDING 失效
公开(公告)号：JPS62166949A
公开(公告)日：1987-07-23
申请号：JP568986
申请日：1986-01-14
申请人： NIPPON KOKAN KK
发明人： INOKO MASAKUNI , HOTTA KUNIHIKO , YOSHIDA SHOICHI , KUROTORI MOTOYO , OIKE MINORU
IPC分类号： B23Q35/04 , B23K9/127
摘要： PURPOSE:To aim at enhancing and the quality of welding and at making the same uniform, by providing such an arrangement that the position of a torch section is controlled in accordance with the result of detection by a sensor section having a plurality of contactless detecting means which clamp welded shoulder sections of a workpiece. CONSTITUTION:A sensor section 1 which is laid in parallel with a welding torch section 12 directed toward the bevel section of a steel pipe 3, is projected downward from a deck 2 attached thereto with first to fourth slide members 21-24 to which position detectors (sensor lateral direction 31, a torch lateral direction 32, torch vertical direction 33, a sensor vertical direction 34) are pro vided respectively. Meanwhile the sensor section 11 has three optical displace ment type contactless distance measuring devices 11a, 11b, 11c. Further, the distance between the sensor section 11 and the bevel section 4 are controlled in such a manner that it is always set to a position which is the focal point of a lens. As a result, it is possible to aim at enhancing the quality of welding and at making the same uniform, and as well to enhance the productivity.

3. 发明专利

JPH1091806A SYSTEM FOR INPUTTING CURVE 失效
公开(公告)号：JPH1091806A
公开(公告)日：1998-04-10
申请号：JP24237696
申请日：1996-09-12
申请人： NIPPON KOKAN KK
发明人： MATSUMOTO HIROYUKI , SATO NAOTO , HOTTA KUNIHIKO , AOKI KIYOSHI , HIRANO HISASHI
IPC分类号： G06F17/50 , G06T11/80
摘要： PROBLEM TO BE SOLVED: To provide a curve inputting system in which operability can be improved, and a labor can be reduced at the time of inputting a curve as data. SOLUTION: When a curve already present in a data base is designated, the curve is fetched. Also, a state in which a curve can be prepared is generated, and when a curve is newly prepared in this state, the curve is fetched. When the curve already present in the data base is fetched, an identifier indicating that the curve is present on the data base and an identification number on the data base are stored. When the newly prepared curve is fetched, an identifier indicating that the curve is newly prepared and the parameter group of the curve are stored. Then, the stored identification number on the data base and parameter group are read for generating a three-dimensional free curved surface.

4. 发明专利

JPH09179996A EXPRESSION SYSTEM FOR GEOMETRIC RESTRICTION CONDITION 失效
公开(公告)号：JPH09179996A
公开(公告)日：1997-07-11
申请号：JP34089895
申请日：1995-12-27
申请人： NIPPON KOKAN KK
发明人： HIRANO HISASHI , AOKI KIYOSHI , IMABETSUPU MASAYOSHI , HOTTA KUNIHIKO , YOSHII KOICHI , HIRANABE KENJI
IPC分类号： G06F17/50 , G06T11/80
摘要： PROBLEM TO BE SOLVED: To simplify operation for the definition of a geometric restriction condition by forming a virtual restriction point and expressing the geometric restriction condition by a geometric shape and the virtual restriction point. SOLUTION: A figure (a) (pattern 1) expresses the restriction condition relation of a single geometric shape and the center point B of a circle 2 e.g. corresponds to the pattern 1. A figure (b) (patter 2) expresses the relation of restriction conditions between plural geometeric shapes and an intersection between segments 1, 2 e.g. corresponds to the pattern 2. A figure (c) (pattern 3) expresses the relation of restriction conditions between different virtual restriction points and a center C between the points B, A at the time of defining the center point B and the intersection A as virtual restriction points corresponds to the pattern 3. A geometric restriction condition is also expressed as relation between a virtual restriction point and a geometric shape. Since the virtual restriction point is formed and the geometric restriction condition is expressed by the geometric shape and the virtual restriction point, operation for the definition of the geometric restriction condition can be simplified.

5. 发明专利

JPH09179994A DESIGN SYSTEM 失效
公开(公告)号：JPH09179994A
公开(公告)日：1997-07-11
申请号：JP33909795
申请日：1995-12-26
申请人： NIPPON KOKAN KK
发明人： HIRANO HISASHI , AOKI KIYOSHI , IMABETSUPU MASAYOSHI , HOTTA KUNIHIKO , INOUE KAZUE
IPC分类号： G06F17/50 , G06T11/80
摘要： PROBLEM TO BE SOLVED: To obtain a flexible design system impressing no load to a user by grasping a user's intention by the system at the time of graphic processing and automatically executing the updating of restriction such as succession, addition and deletion. SOLUTION: An input analysis part 10 analyzes a user's input. A graphic generating function part 11 in a graphic processing part 15 executes graphic edition processing such as rough sketch. A graphic editing function part 12 executes graphic edition processing such as trimming, fillete, chamfer, and movement. A restriction editing function part 13 executes restriction edition processing allowing a user to directly add/delete restriction to a graphic. A graphic shape deforming function part 14 executes shape changing processing based upon restriction using the restricted movement of a graphic, the movement of a constitutional point of the graphic, etc. A restriction analysis part 21 in a restriction management part 20 executes restriction addition 22, restriction deletion 23 and restriction verification 24 based upon the analytical result of the analysis part 21 and shape changing processing based upon the restriction.

6. 发明专利

JPH1097647A METHOD FOR CHANGING SHAPE BY HISTORY CHANGING 失效
公开(公告)号：JPH1097647A
公开(公告)日：1998-04-14
申请号：JP24943996
申请日：1996-09-20
申请人： NIPPON KOKAN KK
发明人： YOSHII KOICHI , HOTTA KUNIHIKO , AOKI KIYOSHI , HIRANO HISASHI
IPC分类号： G06F17/50 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To provide a method for changing shape by history changing by which a shape can be deformed to a different phase structure by automatically discriminating the rewriting spot and content of operating history. SOLUTION: A method for changing shape includes a process for fetching the shape of an object to be deformed, a replaced shape used for generating or changing the object to be deformed, the replaced shape, and a replacing shape which is a new shape for replacing the replaced shape, a process for retrieving a spot having such operating history that the shape of the object to be deformed is replaced for the replaced shape by analyzing the operating history generating the shape of the object to be deformed, a process for changing the operating history of the shape of the object to be deformed by inserting the operating history when the replacing shape is generated into the inserting spot corresponding to the spot retrieved in the preceding process, and a process for generating the shape of the object to be deformed after the replaced shape is replaced for the replacing shape by reexecuting the changed operating history.

7. 发明专利

JPH1097553A SHAPE DEFORMATION METHOD BY ALTERING HISTORY 失效
公开(公告)号：JPH1097553A
公开(公告)日：1998-04-14
申请号：JP24943896
申请日：1996-09-20
申请人： NIPPON KOKAN KK
发明人： KATO TATSUO , AOKI KIYOSHI , HOTTA KUNIHIKO , INOUE KAZUE , YOSHII KOICHI , HIRANO HISASHI
IPC分类号： G06F17/50 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To facilitate a shape altering work by altering the history of a shape based on the alteration when alteration contents are inputted, executing the altered history and generating the altered shape. SOLUTION: In a history altering part 606, history generated by an editing command is inserted into a judged position to update history registered in a history area 608. A history re-execution part 607, eliminates all the shapes. The editing command 614 for eliminating all the shapes is executed through a command execution part 604. A history re-execution part 607 re-executes history. History is sequentially executed from the head through the command execution part 604. The command execution part 604 interprets a command name and a parameter in history and executes the editing command 614 from the interpreted command name and transfers a parameter. The executed editing command 614 registers a generation, compilation or elimination results in a shape storage area 609 and eliminates or alters it.

8. 发明专利

JPH09179995A CONTINUOUS SHAPE GENERATION SYSTEM 失效
公开(公告)号：JPH09179995A
公开(公告)日：1997-07-11
申请号：JP34089795
申请日：1995-12-27
申请人： NIPPON KOKAN KK
发明人： HIRANO HISASHI , AOKI KIYOSHI , IMABETSUPU MASAYOSHI , HOTTA KUNIHIKO , KATO TATSUO
IPC分类号： G06F17/50 , G06T11/80
摘要： PROBLEM TO BE SOLVED: To simply and easily generate a different shape like a single stroke and to continuously generate different shapes without being conscious of their relation by correcting/generating an input shape based upon successively inputted shapes and their relation. SOLUTION: A 1st means (shape judging means) 50 judges a shape required to be generated by an operator. A 2nd means (relation judging means) 52 judges which relation is applied to the generation of the shape judged by the 1st means 50. A 3rd means (shape correcting/generating means) 54 corrects/generates an input shape based upon the relation judged by the 2nd means 52. Namely input data are judged and inputted in each segment or circular arc shape unit, shapes of different kinds are continuously inputted by switching them by the input of a prescribed switching signal, relation between successively inputted shapes is judged, and the input shape is corrected/generated based upon the successively inputted shapes and their relation.

9. 发明专利

JPH03163602A CORRECTING METHOD FOR POSITION, ATTITUDE AND DEFORMATION OF WORK 失效
公开(公告)号：JPH03163602A
公开(公告)日：1991-07-15
申请号：JP18706590
申请日：1990-07-17
申请人： NIPPON KOKAN KK
发明人： NAKANISHI MINORU , NAKAJIMA TATSUYA , HOTTA KUNIHIKO
IPC分类号： G05B19/18 , G05B19/404
摘要： PURPOSE:To improve the working accuracy by executing a measurement of measuring point data being in a position corresponding to a norm point for correction on a work and an operation of the correction quantity to an installed position, an attitude and a deformation of the work, and executing a correction of track data. CONSTITUTION:A work 9 being a work object is divided into finite pieces of areas, and at every area, measuring point data being in a position corresponding to norm point data for correction on the work 9 defined by CAD/CAM is measured. Subsequently, a correcting means 10 corrects not only a position and an attitude of the work 9 but also an error caused by a shaped deformation of the work 9. Next, based on the operated correction quantity, track data is corrected. As a result, the working accuracy of the work 9 is improved, and also, a sensor feedback is unnecessary, therefore, an interference between a robot 8 and the work 9 does not occur.

10. 发明专利

JPS642104A METHOD FOR CORRECTING POSITIONING ERROR OF ROBOT 失效
公开(公告)号：JPS642104A
公开(公告)日：1989-01-06
申请号：JP15647587
申请日：1987-06-25
申请人： NIPPON KOKAN KK
发明人： INOKO MASAKUNI , HOTTA KUNIHIKO
IPC分类号： B25J9/10 , B25J9/22 , G05B19/18 , G05B19/404
摘要： PURPOSE:To improve the accuracy of absolute positioning without using the detection value of a detector in the inside of a robot, by calculating the origin error of each axis of the robot based on the measuring value of a relative position, and correcting the accuracy of positioning based on a calculated value. CONSTITUTION:The position of respective arrival point is measured by a three- dimensional measuring instrument according to the movement of the finger tip position of the robot 4 in order, and it is sent from an input device 5 to a post processor 3. Simultaneously, the position information of each instruction point is sent from a storage means 31 where the position information of each instructed point on a CAD/CAM system 1 is stored to a micro relational equation calculation means 32, and a macro relational equation is calculated by the micro relational equation calculation means 32 based on those position information, and the origin error can be found by solving the macro relational equation by an arithmetic means 33. In such a way, it is possible to correct an absolute positioning error based on only the relative position information of several points in the robot being operated by a position and posture from the CAD/CAM system, etc., or the angle command value of each axis without using a sensor in the inside of the robot.

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