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1. 发明授权

US06495983B1 Integrated closed-loop programmable motor assembly 有权
标题翻译：集成闭环可编程电机总成
公开(公告)号：US06495983B1
公开(公告)日：2002-12-17
申请号：US09892642
申请日：2001-06-28
申请人： Michael A. Stern
发明人： Michael A. Stern
IPC分类号： G05B1910
CPC分类号： G05B19/42 , G05B2219/36401 , G05B2219/36477
摘要： An integrated, closed-loop programmable motor assembly (10) consisting of a bi-directional motor (12), a motor-shaft encoder (24), a rotation decoder (42), a microcontroller (64) and a motor drive circuit (70). In a typical application, the electric motor (12) is first programmed by placing the assembly (10) in a record mode and then rotating the motor shaft (14) to describe a desired motion. The motor shaft (14) can be made to rotate any amount, in any direction, and for any period of time. During the record mode, digital data corresponding to the motor shaft rotation is read from the motor shaft encoder (24) to the rotation decoder (42) and is subsequently stored in the memory circuit of the microcontroller (64). This data is recorded time synchronous, based on the time pulse produced by a time pulse generator (48). When the assembly (10) is placed in the playback mode, the stored position data is synchronously read by the microcontroller (64) via the rotation decoder (42), and the motor (12) rotates to reproduce the rotational data manually inserted during the record mode.
摘要翻译：一种由双向电动机（12），电动机轴编码器（24），旋转解码器（42），微控制器（64）和电动机驱动电路（42）组成的集成的闭环可编程电动机组件（10） 70）。在典型的应用中，首先通过将组件（10）放置在记录模式中然后使电动机轴（14）旋转以描述期望的运动来首先编程电动机（12）。电动机轴（14）可以在任何方向上任意数量的任何时间旋转。在记录模式期间，对应于电动机轴旋转的数字数据从电机轴编码器（24）读取到旋转解码器（42），随后存储在微控制器（64）的存储电路中。基于由时间脉冲发生器（48）产生的时间脉冲，该数据被记录为时间同步。当组件（10）置于重放模式时，经由旋转解码器（42）由微控制器（64）同步读取所存储的位置数据，并且电动机（12）旋转以再现在此期间手动插入的旋转数据记录模式。

2. 发明申请

US20090315500A1 Control Device for Setting and Controlling Movement of Table of Milling Machine 审中-公开
标题翻译：铣床设计与控制运动控制装置
公开(公告)号：US20090315500A1
公开(公告)日：2009-12-24
申请号：US12141164
申请日：2008-06-18
申请人： Yu-Ching Chiang
发明人： Yu-Ching Chiang
IPC分类号： G05B19/19
CPC分类号： G05B19/421 , G05B2219/36464 , G05B2219/36477
摘要： A control device for setting and controlling movement of a table of a milling machine includes an operative switch operable to make a central processor output pulse signals to drive a servomotor for moving the table to a plurality of processing positions in sequence. An analogue/digital converter includes an input end receiving analogue signals and outputs digital signals containing pulse wave amount data indicative of the movement of the table to each processing position. The central processor receives the digital signals from the analogue/digital converter. A memory setter is operable to make the register store the pulse wave amount data indicative of the movement of the table to the processing positions in sequence. A position access button is operable to make the central processor output pulse signals containing the pulse wave amount data indicative of the processing positions to the servomotor, moving the table to the processing positions in sequence.
摘要翻译：用于设置和控制铣床的台的运动的控制装置包括操作开关，其可操作以使中央处理器输出脉冲信号以驱动伺服电动机，以将该表依次移动到多个处理位置。模拟/数字转换器包括接收模拟信号的输入端，并输出包含指示表到每个处理位置的移动的脉搏波量数据的数字信号。中央处理器从模拟/数字转换器接收数字信号。存储器设置器可操作以使寄存器将指示表的移动的脉搏波量数据按顺序存储到处理位置。位置访问按钮可操作以使中央处理器将含有指示处理位置的脉搏波量数据的脉冲信号输出到伺服电机，将该表依次移动到处理位置。

3. 发明申请

US20030015985A1 INTEGRATED CLOSED-LOOP PROGRAMMABLE MOTOR ASSEMBLY 有权
标题翻译：集成闭环可编程电机总成
公开(公告)号：US20030015985A1
公开(公告)日：2003-01-23
申请号：US09892642
申请日：2001-06-28
发明人： Michael A. Stern
IPC分类号： G05B019/10
CPC分类号： G05B19/42 , G05B2219/36401 , G05B2219/36477
摘要： An integrated, closed-loop programmable motor assembly (10) consisting of a bi-directional motor (12), a motor-shaft encoder (24), a rotation decoder (42), a microcontroller (64) and a motor drive circuit (70). In a typical application, the electric motor (12) is first programmed by placing the assembly (10) in a record mode and then rotating the motor shaft (14) to describe a desired motion. The motor shaft (14) can be made to rotate any amount, in any direction, and for any period of time. During the record mode, digital data corresponding to the motor shaft rotation is read from the motor shaft encoder (24) to the rotation decoder (42) and is subsequently stored in the memory circuit of the microcontroller (64). This data is recorded time synchronous, based on the time pulse produced by a time pulse generator (48). When the assembly (10) is placed in the playback mode, the stored position data is synchronously read by the microcontroller (64) via the rotation decoder (42), and the motor (12) rotates to reproduce the rotational data manually inserted during the record mode.
摘要翻译：一种由双向电动机（12），电动机轴编码器（24），旋转解码器（42），微控制器（64）和电动机驱动电路（42）组成的集成的闭环可编程电动机组件（10） 70）。在典型的应用中，首先通过将组件（10）放置在记录模式中然后使电动机轴（14）旋转以描述期望的运动来首先编程电动机（12）。电动机轴（14）可以在任何方向上任意数量的任何时间旋转。在记录模式期间，对应于电动机轴旋转的数字数据从电机轴编码器（24）读取到旋转解码器（42），随后存储在微控制器（64）的存储电路中。基于由时间脉冲发生器（48）产生的时间脉冲，该数据被记录为时间同步。当组件（10）置于重放模式时，经由旋转解码器（42）由微控制器（64）同步读取所存储的位置数据，并且电动机（12）旋转以再现在此期间手动插入的旋转数据记录模式。

4. 发明授权

US5252822A Contact wheel automated digitizer with visible sensing of marked reference points 失效
标题翻译：接触轮自动数字转换器，具有可见感测标记的参考点
公开(公告)号：US5252822A
公开(公告)日：1993-10-12
申请号：US951907
申请日：1992-09-28
申请人： David G. Firth
发明人： David G. Firth
IPC分类号： A61F2/50 , A61F2/80 , G05B19/42 , H01J5/16
CPC分类号： A61F2/80 , A61F2/5046 , G05B19/4207 , A61F2002/505 , A61F2002/5053 , G05B2219/35217 , G05B2219/36477 , G05B2219/45172
摘要： A digitizer for use in computer aided design and manufacturing (CAD/CAM) systems for making orthotic and prosthetic devices includes a movably mounted pendent arm having a free end with a contact wheel mounted to the free end for making rolling contact with the surface of a three dimensional shape to create reference points for the CAD/CAM to accurately create an orthotic or prosthetic device. The digitizer is automated by mounting a sensor tip at the free end of the pendent arm for automatically visibly sensing marked reference points on the surface of the shape.
摘要翻译：用于制造矫形器和假肢装置的计算机辅助设计和制造（CAD / CAM）系统的数字化仪包括可移动安装的悬臂，其具有自由端，其具有安装到自由端的接触轮，用于与三维形状，以创建CAD / CAM的参考点，以准确地创建矫正或假肢装置。数字化仪通过将传感器尖端安装在悬臂的自由端进行自动化，以自动可见地感测形状表面上的标记参考点。

5. 发明授权

US4030617A Robot device 失效
标题翻译：机器人装置
公开(公告)号：US4030617A
公开(公告)日：1977-06-21
申请号：US597825
申请日：1975-07-21
申请人： Hans Richter
发明人： Hans Richter
IPC分类号： B25J9/22 , B05B13/04 , B25J9/00 , B25J9/10 , B25J9/18 , B25J17/02 , G05B19/42 , G05B19/423 , B66C1/10
CPC分类号： G05B19/423 , B05B13/0431 , B25J17/0283 , B25J9/0081 , B25J9/1025 , G05B2219/36471 , G05B2219/36477 , G05B2219/36495 , G05B2219/37357
摘要： The device includes a multipart hand element, movable about plural axes of rotation, secured on a multipart arm element, also movable about plural axes of rotation, and also includes a programming device which can be programmed by following a program track to be covered, as well as drives respective to each axis of rotation operable to displace the parts about the associated axes. A manually operable multipart framework is mounted on the hand-arm unit to extend parallel to the unit for limited displacement relative thereto. A number of switches equal to the number of axes of rotation, and each respective to a single axis, are operable to activate and deactivate the associated drives. The hand element has a terminal part for mounting either a track guide or a tool adapted to follow mechanically the program track. At least a part of the framework is displaceable relative to the unit during such mechanical following, and the switches control the associated drives responsive to such relative displacement of parts of the framework. Respective displacement pickups are operatively associated with each axis of rotation to feed the track program into the programming device responsive to relative displacement of the parts of the units about the associated axis. The coupling elements between the framework and the parts of the unit preferably comprise rotatable springs yielding to a torsional load in the direction of rotation and each spring carries one-half of a switch for turning relative to the other half of the switch, the other half being secured on the respective part of the unit.
摘要翻译：该装置包括可绕多个旋转轴线移动的多部分手元件，其固定在多部分臂元件上，也可围绕多个旋转轴线移动，并且还包括编程装置，其可以通过跟随待覆盖的程序轨迹进行编程，如以及相应于每个旋转轴线的驱动器可操作以使部件围绕相关联的轴线移位。可手动操作的多部分框架安装在手臂单元上以平行于单元延伸以相对于其有限的位移。等于旋转轴数量并且各自相应于单个轴的多个开关可操作以激活和停用相关联的驱动器。手元件具有端子部件，用于安装轨道导轨或用于机械地跟随节目轨道的工具。在这样的机械跟随期间，框架的至少一部分相对于单元是可移动的，并且开关控制相应的驱动器响应框架的这些相对位移。相应的位移拾取器可操作地与每个旋转轴相关联，以响应于单元围绕相关轴线的相对位移而将轨迹程序馈送到编程设备中。框架和单元的部件之间的联接元件优选地包括可旋转的弹簧，其在旋转方向上产生扭转载荷，并且每个弹簧承载相对于开关的另一半转动的开关的一半，另一半被固定在单元的相应部分上。

6. 发明公开

EP1209545A1 Procédé de commande d'un robot industriel 审中-公开
标题翻译： Verfahren zur Steuerung eines industriellen Roboters
公开(公告)号：EP1209545A1
公开(公告)日：2002-05-29
申请号：EP00811118.9
申请日：2000-11-23
申请人： IRIS Robotique Sàrl
发明人： Chenaux, David , Galley, Yves
IPC分类号： G05B19/4093
CPC分类号： G05B19/427 , G05B2219/35462 , G05B2219/36433 , G05B2219/36477 , G05B2219/36495 , G05B2219/39384
摘要： Le robot industriel est commandé par un procédé selon lequel, sur une trajectoire déterminée (T), l'avance est commandée par un moyen mécanique de commande selon un seul axe, par exemple une manivelle (33).
De cette manière, la commande d'avance est absolument univoque, ce qui est un avantage important relativement aux dispositifs de commande de l'art antérieur.
摘要翻译：工业机器人的控制方法使用单轴控制旋钮（33）来控制机器人部件（2）在两点（A，B）之间的移动。预定路径（T）由控制组件中的程序（30）确定。控制组件可以使用控制杆手动操作或自动使用程序。

7. 发明授权

US4224501A Teaching arrangement for programmable manipulator 失效
标题翻译：可编程机械手的教学布置
公开(公告)号：US4224501A
公开(公告)日：1980-09-23
申请号：US881395
申请日：1978-02-27
申请人： Torsten H. Lindbom , Donald W. Munger
发明人： Torsten H. Lindbom , Donald W. Munger
IPC分类号： B25J9/22 , B25J9/00 , B25J9/18 , G05B19/42 , G05B19/423 , B23K9/12
CPC分类号： G05B19/423 , G05B2219/34391 , G05B2219/36477 , G05B2219/36495 , G05B2219/45135
摘要： A manipulator apparatus having a manipulator arm movable in a plurality of axes is programmed and taught to perform a desired sequence of operations over selected work paths. Basic control parameters relating to movement of the arm independent of the length and orientation of the work paths are programmed by a supervisor/programmer on the controls of a supervisory control unit. The control parameters represent manipulator work parameters and manipulator arm movement different than the taught work paths in a subsequent second teach phase.An operator/programmer in a teach phase proceeds to guide the manipulator arm over the predetermined work paths in contact with a work surface. The work paths are taught or programmed by the automatic recording into a main control memory of positional data. During the teach phase, the control parameters stored in the supervisory control unit are automatically recorded into the main control memory for each of the work paths in a predetermined relationship to the recorded positional data points. The recorded signals are utilized as command signals in subsequent playback cycles.Between sequential work paths in the overall work cycle or work path sequence, transfer steps corresponding to manipulator arm movement not in contact with the work surface are also taught by the recording of data into the main control memory during the teach phase.
摘要翻译：编程和教导具有可在多个轴上移动的操纵臂的操纵器装置，以在所选择的工作路径上执行所需的操作顺序。与管理员的移动有关的基本控制参数独立于工作路径的长度和方向由管理员/程序员对监控单元的控制进行编程。控制参数表示在随后的第二教学阶段中与所教导的工作路径不同的操纵器工作参数和操纵臂移动。在教学阶段的操作者/程序员继续将操纵臂引导到与工作表面接触的预定工作路径上。工作路径通过自动记录被教导或编程到位置数据的主控制存储器中。在教学阶段，存储在监控单元中的控制参数以与记录的位置数据点成预定关系自动地记录到每个工作路径的主控制存储器中。所记录的信号在随后的重放循环中用作命令信号。在整个工作周期或工作路径序列中的顺序工作路径之间，通过在教学阶段期间将数据记录到主控制存储器中来教导与不与工作表面接触的操纵臂移动相对应的传送步骤。

8. 发明授权

US4115684A Portable, programmable manipulator apparatus 失效
公开(公告)号：US4115684A
公开(公告)日：1978-09-19
申请号：US696903
申请日：1976-06-17
申请人： Torsten H. Lindbom
发明人： Torsten H. Lindbom
IPC分类号： B23K9/127 , B23K9/12 , B25J9/00 , B25J9/04 , B25J9/18 , B25J9/22 , G05B19/42 , G05B19/423 , B23K9/00
CPC分类号： G05B19/42 , B25J9/0081 , B25J9/048 , G05B19/423 , G05B2219/36471 , G05B2219/36477 , G05B2219/41326 , G05B2219/45135 , G05B2219/50353
摘要： A manipulator apparatus having a manipulator arm movable in a plurality of axes is programmed to perform a desired sequence of operations over a desired path. The programming is accomplished by an operator manually moving the end of the manipulator arm over the desired path while encoders associated with each axis of the manipulator apparatus produce signals representing movement of the arm in each of the axes. The encoder signals are automatically recorded at predetermined increments of movement of the arm as command signals for controlling movement of the arm during a playback cycle. Recording of these command signals is controlled by a guide wheel which is positioned on the end of the arm during programming and is rotated by maintaining the wheel in contact with the work as the operator moves the manipulator arm over the desired path. Control pulses are generated for each predetermined increment of rotation of the guide wheel and these control pulses are employed to control recording of the encoder output signals. Weld cycle controls, weld speed controls and a manual record control are provided. The manual record control is actuated to record positions between welds wherein the end effector is moved between weld paths without the guide apparatus being in contact with the welding work surfaces. During programming, guide strips having tracks into which the guide apparatus is placed, may be positioned along the desired weld path by the operator. The recorded signals corresponding to the distances the arm is to be moved in each of said axes are utilized during a playback cycle to control drive apparatus for each axis, such as stepping motors, which are de-energized during the programming phase. During playback a welding tip or other implement is positioned in place of the guide wheel apparatus whereby the manipulator performs the desired operation over the programmed path at a predetermined, selectable speed independent of the programming speed. The recorded command signals are effective to drive pulse generation circuitry during playback to produce pulse trains that are supplied to the stepping motors so that they are moved at the required velocities to perform a weld over the programmed path.

9. 发明授权

US4105937A Teach-in method and apparatus for use in an industrial robot 失效
标题翻译：用于工业机器人的教学方法和装置
公开(公告)号：US4105937A
公开(公告)日：1978-08-08
申请号：US689125
申请日：1976-05-24
申请人： Goro Tuda , Katsuhiko Shimizu , Tudoi Murakami , Syouzi Nasu
发明人： Goro Tuda , Katsuhiko Shimizu , Tudoi Murakami , Syouzi Nasu
IPC分类号： G05B19/423 , G05B19/24
CPC分类号： G05B19/423 , G05B2219/36471 , G05B2219/36477 , Y10S700/90
摘要： In a teach-in operation, the working procedure is memorized in an industrial robot in advance of the actual working operation, and the teaching is accomplished by manually guiding the tracing tip of the robot arm along a desired path. The teach-in method comprises the step of attaching, to the end of the arm, the tracing tip having at least a displacement pulse oscillator, which consists of a projector and a phototransistor, and a roller provided with gaps such as holes or slits, the projector and phototransistor being arranged in concentric positions with respect to the respective gaps of the roller so as to form an optical axis between the two optical elements. The tracing tip is then moved along a desired path, so that the location signal of the tracing tip may be obtained by the displacement pulse oscillator, whenever the roller is rotated a certain distance, as a result of the movement of the tracing tip, and such a location signal is memorized in a memory. The tracing tip is then exchanged for a working tip at the end of the arm and the location signal is played back such that the working tip is automatically traced along the predetermined desired path by the memorized location signal, whereby the velocity of the working tip is freely determined independently of the teaching velocity of the tracing tip.Also disclosed is an apparatus for practicing the foregoing teach-in method.
摘要翻译：在教导操作中，在实际工作操作之前将工作程序存储在工业机器人中，并且通过沿期望的路径手动引导机器人手臂的跟踪尖端来实现教学。示教方法包括将具有至少一个由投影仪和光电晶体管组成的至少一个位移脉冲振荡器的跟踪尖端连接到臂的末端的步骤，以及设置有诸如孔或狭缝的间隙的辊，投影仪和光电晶体管相对于辊的相应间隙布置在同心位置，以便在两个光学元件之间形成光轴。跟踪尖端然后沿着期望的路径移动，使得随着跟踪尖端的移动，只要辊子旋转一定距离，跟踪尖端的位置信号可以由位移脉冲振荡器获得，以及这样的位置信号被存储在存储器中。然后在臂的末端更换跟踪尖端用于工作尖端，并且重放位置信号，使得工作尖端沿着预定的所需路径由存储的位置信号自动跟踪，由此工作尖端的速度为独立于跟踪尖端的教学速度自由确定。

10. 发明专利

SE7507989A 未知
公开(公告)号：SE7507989A
公开(公告)日：1976-01-23
申请号：SE7507989
申请日：1975-07-11
申请人： KELLER & KNAPPICH AUGSBURG
发明人： RICHTER H
IPC分类号： B25J9/22 , B05B13/04 , B25J9/00 , B25J9/10 , B25J9/18 , B25J17/02 , G05B19/42 , G05B19/423
CPC分类号： G05B19/423 , B05B13/0431 , B25J9/0081 , B25J9/1025 , B25J17/0283 , G05B2219/36471 , G05B2219/36477 , G05B2219/36495 , G05B2219/37357

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