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1. 发明授权

US5281079A Automatic manipulator with reservoir and methods 失效
标题翻译：自动机械手与油箱和方法
公开(公告)号：US5281079A
公开(公告)日：1994-01-25
申请号：US84507
申请日：1993-06-29
申请人： Jerome H. Lemelson
发明人： Jerome H. Lemelson
IPC分类号： B23Q11/10 , B23Q41/00 , B25J5/00 , B25J9/00 , B25J9/04 , B25J9/10 , B25J9/16 , B25J15/04 , B25J19/02 , B66C23/00 , G05B19/14 , G05B19/418 , G05B19/425 , G06K7/04 , G06K13/26 , G11B15/18 , G11B15/58 , G11B27/10 , G11B27/28 , H03D13/00 , H04L27/16 , B25J17/02
CPC分类号： H04L27/16 , B23Q11/1076 , B23Q41/00 , B25J15/0491 , B25J19/021 , B25J19/023 , B25J5/005 , B25J9/0084 , B25J9/0093 , B25J9/041 , B25J9/1015 , B25J9/161 , G05B19/14 , G05B19/41815 , G05B19/425 , G06K13/26 , G06K7/04 , G11B15/1883 , G11B15/58 , G11B27/102 , G11B27/28 , H03D13/005 , G05B2219/33192 , G05B2219/33207 , G05B2219/36395 , G05B2219/36511 , G05B2219/36513 , G05B2219/37553 , G05B2219/37572 , G05B2219/40283 , G05B2219/40284 , G05B2219/40298 , G05B2219/41249 , G05B2219/45045 , G05B2219/45051 , G05B2219/45083 , G05B2219/45213 , G05B2219/49395 , Y02P90/08 , Y10T29/5107 , Y10T29/5124
摘要： An automatic, moveable manipulator includes an arm supported on a carriage and holding at least one tool. Both the arm and the carriage can be moved under the control of signals transmitted from a remote location, such as a central controller, which signal is stored in a storage device. The manipulator further supports a reservoir for holding materials that can be used by the tool, for example to apply to the workpieces, such as fluids, fasteners, expendable materials, and the like. An automatic resupply system permits the manipulator to re-fill the reservoir, such as when it is emptied.
摘要翻译：自动的可移动的操纵器包括支撑在滑架上并保持至少一个工具的臂。手臂和托架都可以在从远程位置（例如中央控制器）发送的信号的控制下移动，该信号被存储在存储设备中。操纵器还支撑用于保持可由工具使用的材料的储存器，例如适用于工件，例如流体，紧固件，消耗材料等。自动补给系统允许操纵器重新填充储存器，例如当其被清空时。

2. 发明公开

EP0154226A1 Teaching playback system 失效
标题翻译： Lehrendes播放系统。
公开(公告)号：EP0154226A1
公开(公告)日：1985-09-11
申请号：EP85101625.3
申请日：1985-02-14
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Arima, Yukio , Ikeda, Toshimichi , Konomura, Yasushi
IPC分类号： B25J9/16
CPC分类号： B25J9/041 , G05B19/42 , G05B2219/36503 , G05B2219/45083 , G05B2219/49395
摘要： A teaching playback system including an arm member (11) having at least one movable portion (14,16, 18, 20, 22) for handling a workpiece, sensor means (23) for sensing the amount of work done by the movable portion, an arithmetic and logical unit (24) for doing calculation based on the amount of work done by the movable portion, a memory (25) connected to the arithmetic and logical unit, and a teaching unit (27) connected to the arithmetic and logical unit for teaching same to perform the sensing of the amount of work done by the movable portion, the operation of the arm member being continued in accordance with the amount of work done by the movable portion when teaching is performed by the teaching unit. The teaching playback system further includes intervals setting means (28) connected to the arithmetic and logical unit for setting a spacing interval between one operation target position of the arm member and another operation target position thereof, and number setting means (29) connected to the arithmetic and logical unit for setting the number of operations performed by the arm member, the arithmetic and logical unit being operative, when taught by the teaching unit, to calculate an operation target position based on the amount of work done by the movable portion of the arm member and a spacing interval set by the intervals setting means, whereby the movable portion can be actuated based on the operation target position to cause the arm member to perform operations repeatedly a number of times set by the number setting means.
摘要翻译：一种教学回放系统，包括具有用于处理工件的至少一个可移动部分（14,16,18,20,22）的臂部件（11），用于感测由可动部分完成的工作量的传感器装置（23）用于根据可移动部分完成的工作量进行计算的算术和逻辑单元（24），连接到算术和逻辑单元的存储器（25）和连接到算术和逻辑单元的示教单元（27）用于对其进行教导以执行由可动部分完成的工作量的检测，根据由教学单元进行教导时可移动部分所进行的工作量，继续进行臂构件的操作。教学重放系统还包括连接到算术和逻辑单元的间隔设置装置，用于设置臂构件的一个操作目标位置与其另一个操作目标位置之间的间隔间隔，以及连接到臂构件的数字设定装置算术和逻辑单元，用于设置由所述臂构件执行的操作次数，所述算术和逻辑单元在由所述教导单元教导时可操作，以基于由所述教学单元的可移动部分完成的工作量来计算操作目标位置并且由所述间隔设定单元设定的间隔间隔，由此能够基于所述操作对象位置来使所述可动部动作，从而使所述臂构件反复进行由所述数量设定单元设定的次数的操作。

3. 发明授权

US4163183A Programmable automatic assembly system 失效
标题翻译：可编程自动装配系统
公开(公告)号：US4163183A
公开(公告)日：1979-07-31
申请号：US625932
申请日：1975-10-28
申请人： Joseph F. Engelberger , Torsten H. Lindbom , Maurice J. Dunne , William Perzley , Wilbur N. Roberts , Horace L. Gardner
发明人： Joseph F. Engelberger , Torsten H. Lindbom , Maurice J. Dunne , William Perzley , Wilbur N. Roberts , Horace L. Gardner
IPC分类号： B25J9/22 , B23P21/00 , B25J9/00 , B25J9/18 , B25J17/02 , D05B21/00 , F16H9/10 , G05B19/25 , G05B19/42 , G05D19/00 , G06F19/00
CPC分类号： G05B19/42 , B23P21/002 , B25J17/02 , B25J9/0084 , F16H9/10 , G05B19/253 , G05B2219/34236 , G05B2219/34239 , G05B2219/35238 , G05B2219/35543 , G05B2219/39002 , G05B2219/39468 , G05B2219/40307 , G05B2219/42207 , G05B2219/43183 , G05B2219/45051 , G05B2219/45083 , G05B2219/49395
摘要： A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assista the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.
摘要翻译：提供了一种可编程自动组装系统，可用于组装小部件。每个装配站包括配合的操纵臂，其可编程以在中心位置的工作台上组装零件。提供了改进的设施，用于在每个车站教授机械臂，这些设施包括一台计算机，它帮助教学操作员建立组装小零件所需的程序以达到公差。每个操纵臂包括闭环示教设施，用于在操作的教学模式期间将臂保持在先前定位的位置。该计算机被用作在辅助操作期间执行若干任务的教学辅助设备，这对于操作者手动执行是非常困难的。所有组装站可以在从公共盘存储设施回放期间被控制，使得每个操纵器处的控制电路和存储器存储设施被最小化。

4. 发明授权

US3909801A Program control device 失效
标题翻译：程序控制装置
公开(公告)号：US3909801A
公开(公告)日：1975-09-30
申请号：US44640774
申请日：1974-02-27
申请人： TOYODA MACHINE WORKS LTD
发明人： TOKURA YASUFUMI , MATSUNO KAZUO , SAKURAI ITARU
IPC分类号： G05B19/02 , B25J9/16 , G05B19/19 , G05B19/408 , G05B19/414 , G05B19/4155 , G05B19/42 , G06F15/46 , B25J9/00
CPC分类号： G05B19/4144 , G05B19/408 , G05B2219/45083 , G05B2219/49395
摘要： A program control device controls a plurality of power units of a controlled object having operation member means in accordance with program information which is memorized in a memory device. The program information consists of step information and point information. The point information instructs the command positional values of the operation member means. The step information includes a control command to control functions of the program control device and a memory address command to instruct a memory address of the point information to be read out from the memory device. A control device generates operation control signals to control the power units in accordance with the point informations which have been read out from the instructed memory addresses.
摘要翻译：程序控制装置根据存储在存储装置中的节目信息，控制具有操作部件装置的受控对象的多个动力装置。程序信息由步骤信息和点信息组成。点信息指示操作构件装置的指令位置值。步骤信息包括用于控制程序控制装置的功能的控制命令和用于指示要从存储装置读出的点信息的存储器地址的存储器地址命令。控制装置根据从指示的存储器地址读出的点信息产生操作控制信号以控制功率单元。

5. 发明授权

US3562715A Repeat pattern control for automatic machines 失效
标题翻译：自动机械重复图案控制
公开(公告)号：US3562715A
公开(公告)日：1971-02-09
申请号：US3562715D
申请日：1967-11-15
申请人： GEN ELECTRIC
发明人： BISHOP EVERETT R , LABELLA VINCENT A
IPC分类号： G05B19/12 , G05B19/408 , G05B19/00
CPC分类号： G05B19/408 , G05B19/12 , G05B2219/36498 , G05B2219/49395
摘要： AN ARRANGEMENT FOR OPERATING ON AN OBJECT WITH AN AUTOMATIC MACHINE UNDER CONTROL OF COMMAND DATA STORED IN A PLURALITY OF RECORD MEDIUMS. THE DATA INCLUDES DATA REPRESENTING A PLURALITY OF OFFSET POSITIONS FROM A ZERO REFERENCE POSITION, AND IDENTIFICATION CODES FOR SELECTING DESIRED ONES OF A PLURALITY OF PATTERNS OF CONTROL TO BE EXECUTED AT DESIRED DEPARTURE POINTS FROM EACH OF THE OFFSET POSITIONS. MEANS ARE PROVIDED FOR READING THE COMMAND DATA FROM A FIRST RECORD MEDIUM IN SEQUENCE, SELECTING THE DATA CORRESPONDING TO DESIRED ONES OF THE PATTERNS OF CONTROL WHICH ARE STORED IN A SECOND RECORD MEDIUM, AND THEN COMBINING THE OFFSET DATA FROM THE FIRST RECORD MEDIUM AND PATTERN DATA FROM THE SECOND RECORD MEDIUM TO PROVIDE RESULTANT DATA WHICH CONTROLS OPERATION OF THE AUTOMATIC MACHINE ON THE OBJECT.

6. 发明授权

US4511985A Robot control system 失效
标题翻译：机器人控制系统
公开(公告)号：US4511985A
公开(公告)日：1985-04-16
申请号：US413380
申请日：1982-08-25
申请人： Hajimu Inaba , Shinsuke Sakakibara
发明人： Hajimu Inaba , Shinsuke Sakakibara
IPC分类号： B25J9/22 , B25J9/16 , B25J9/18 , G05B19/4093 , G05B19/425 , G06F15/46 , G05B19/42
CPC分类号： B25J9/1612 , G05B19/425 , G05B2219/33263 , G05B2219/35543 , G05B2219/45187 , G05B2219/49395
摘要： A robot control system for teaching and operating a robot 13 on the basis of a rectangular coordinate system, the robot having an arm which operates on the basis of a cylindrical coordinate system. Provided are a teaching device 101 for providing instructions in the rectangular coordinate system in order to teach the operations performed by the robot 13, a rectangular-to-cylindrical conversion device 104 or 202 for converting the instructions in the rectangular coordinate system from the teaching device 101 into command data in the cylindrical coordinate system, and a data memory 108 for storing the acquired command data in the cylindrical coordinate system.
摘要翻译： PCT No.PCT / JP81 / 00346 Sec。 371日期1982年8月25日 102（e）日期1982年8月25日PCT提交1981年11月18日PCT公布。出版物WO82 / 02435 日本1982年7月22日。一种用于基于直角坐标系来教导和操作机器人13的机器人控制系统，所述机器人具有基于圆柱坐标系进行操作的臂。提供了一种用于在直角坐标系中提供指令以便教导机器人13执行的操作的教学装置101，用于将直角坐标系中的指令从教学装置转换的矩形到圆柱形转换装置104或202 101用于圆柱坐标系中的命令数据，以及数据存储器108，用于将获取的命令数据存储在圆柱坐标系中。

7. 发明授权

US4199814A Computer numerical control machine tool 失效
标题翻译：电脑数控机床
公开(公告)号：US4199814A
公开(公告)日：1980-04-22
申请号：US841597
申请日：1977-10-12
申请人： Edward J. Rapp , Glen A. Johnson
发明人： Edward J. Rapp , Glen A. Johnson
IPC分类号： G05B19/4093 , G05B19/41 , G05B19/414 , G06F15/46 , G05B19/18
CPC分类号： G05B19/4141 , G05B19/4093 , G05B19/41 , G05B2219/34215 , G05B2219/35282 , G05B2219/35426 , G05B2219/35471 , G05B2219/35472 , G05B2219/35556 , G05B2219/36074 , G05B2219/36111 , G05B2219/36554 , G05B2219/36556 , G05B2219/49395 , G05B2219/50195 , Y02P90/265
摘要： This invention relates to a computer numerical control (CNC) machine tool system having a novel terminal controller and system therefor to control a machine tool generally with at least two axes and more probably three, with stepping motor controls for point-to-point positioning of the machine tool to an almost infinite variety of steps (generally not more than 200). The novelty resides in the ease of programming directly on the terminal controller of the CNC machine tool system. Generally at least some editing and offsets will be programmed from the machine tool.The terminal controller consists of a microprocessor with some RAM and ROM, together with address and data bus plus I/O for magnetic tape handling and display for 6 to 8 digits in each of the X and Y positions, together with numeric keyboard for data input to the program steps and functional keys to control operation-automatic, manual and step-by-step, as well as controls for program input from tape to memory and memory to tape.Particular features include the ease of inputting a program and preparing a tape and then editing the tape while in operation. Further features include circular and linear interpolation. For circular interpolation there are no quadrant limitations and a full or partial circle may be cut.
摘要翻译：本发明涉及一种具有新颖的终端控制器及其系统的计算机数控（CNC）机床系统，该系统用于通常具有至少两个轴并且更可能三个控制机床，步进电机控制用于点对点定位机床几乎无限多种步骤（一般不超过200台）。新颖之处在于直接在CNC机床系统的终端控制器上进行编程。通常至少有一些编辑和偏移将从机床编程。终端控制器由具有一些RAM和ROM的微处理器，以及地址和数据总线以及用于磁带处理的I / O和在X和Y位置的每个位置显示6到8位数字，以及用于数据输入的数字键盘程序步骤和功能键来控制操作 - 自动，手动和分步，以及从磁带到内存和内存到磁带的程序输入控制。特殊功能包括输入程序和准备磁带，然后在运行时编辑磁带的方便。其他功能包括圆形和线性插值。对于圆弧插补，没有象限限制，可以切割全部或部分圆。

8. 发明授权

US3878983A System for numerical control of a machine tool 失效
标题翻译：机床数控系统
公开(公告)号：US3878983A
公开(公告)日：1975-04-22
申请号：US41031573
申请日：1973-10-29
申请人： HAMILL III SAMUEL M , KILBANE JAMES C
发明人： HAMILL III SAMUEL M , KILBANE JAMES C
IPC分类号： B23Q15/00 , G05B19/4093 , G05B19/414 , G05B19/42 , G06F15/46
CPC分类号： G05B19/414 , G05B19/40931 , G05B19/42 , G05B2219/33098 , G05B2219/34185 , G05B2219/35436 , G05B2219/35481 , G05B2219/35554 , G05B2219/36043 , G05B2219/41326 , G05B2219/41363 , G05B2219/42186 , G05B2219/43048 , G05B2219/43058 , G05B2219/49047 , G05B2219/49395 , Y02P90/06 , Y02P90/265
摘要： A system in which a machine tool is controlled by a digital computer and an operator to perform a sequence of machining operations. In a programming mode, the machine tool cutting element is positioned by an operator relative to an object to be machined. The relative position of the cutting element is adjusted so that the cutting element passes through a sequence of spatial points at which a subsequent machining operation is desired. In association with each point, a sequence of digital signals is generated in a programming mode in response to an operator directive and that sequence is stored in a digital computer memory. Subsequently, in a machining mode, stored sequence is translated to a machine tool control signal which drives the machine tool. An operator may direct the digital computer in an editing mode to select ones or groups of the stored sequences and to modify those selected sequences. The operator may also direct the computer in the machining mode to generate the corresponding control signals for selected ones or groups of the stored sequences so that the corresponding machining operations are performed.
摘要翻译：其中机床由数字计算机和操作者控制以执行一系列加工操作的系统。在编程模式中，机床切割元件由操作者相对于待加工物体定位。调整切割元件的相对位置，使得切割元件通过期望随后的加工操作的一系列空间点。与每个点相关联，响应于操作者指令在编程模式中生成数字信号序列，并且该序列存储在数字计算机存储器中。随后，在加工模式中，将存储的顺序转换为驱动机床的机床控制信号。操作者可以以编辑模式指导数字计算机来选择所存储的序列中的一个或多个组，并修改所选择的序列。操作者还可以在加工模式下指导计算机，以生成所选择的一个或多个存储序列的相应控制信号，从而执行相应的加工操作。

9. 发明申请

WO1985001131A1 METHOD OF PREPARING NUMERICAL CONTROL DATA 审中-公开
标题翻译：准备数据控制数据的方法
公开(公告)号：WO1985001131A1
公开(公告)日：1985-03-14
申请号：PCT/JP1984000427
申请日：1984-09-06
申请人： FANUC LTD , KISHI, Hajimu , TANAKA, Kunio , SEKI, Masaki
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/40935 , G05B19/4086 , G05B2219/33263 , G05B2219/34174 , G05B2219/35554 , G05B2219/36333 , G05B2219/49395 , Y02P90/265
摘要： Method of preparing NC data for an NC program which is required to instruct a machine to effect machining of work into the same configuration. At least one pattern (FIG) is registered which is defined by an independent coordinate system (Xp - Yp). To machine a work into the registered pattern, shift amounts (SX1, SY1, SR1) between a machine coordinate system (Xm - Ym) and the coordinate system (Xp - Yp) by which the registered pattern is defined, together with the pattern defining name of the registered pattern, are input in order to effect coordinate transformation, thereby preparing NC data corresponding to the machine coordinate system. To machine a work into an inverted pattern (FIG') which is a mirror image of the registered pattern, inversion instructions are input together with shift amounts (SX2, SY2, SR2), and coordinate transformation is effected, thereby preparing NC data corresponding to the inverted pattern.
摘要翻译：准备NC程序的NC数据的方法，该NC程序是指示机器将工件加工成相同配置所需要的。登记由独立坐标系（Xp-Yp）定义的至少一个图案（图）。为了将工件加工到注册图案中，在定义了注册图案的机床坐标系（Xm-Ym）和坐标系（Xp-Yp）之间移动量（SX1，SY1，SR1）与定义的模式输入注册图案的名称，以进行坐标变换，从而准备与机器坐标系对应的NC数据。为了将工件加工为作为注册图案的镜像的反转图案（图'），反转指令与移位量（SX2，SY2，SR2）一起输入，并进行坐标变换，从而准备对应于倒置图案。

10. 发明申请

WO1982002435A1 ROBOT CONTROL SYSTEM 审中-公开
标题翻译：机器人控制系统
公开(公告)号：WO1982002435A1
公开(公告)日：1982-07-22
申请号：PCT/JP1981000346
申请日：1981-11-18
申请人： FUJITSU FANUC LTD , INABA HAJIMU , SAKAKIBARA SHINSUKE
发明人： FUJITSU FANUC LTD
IPC分类号： G05B19/42
CPC分类号： B25J9/1612 , G05B19/425 , G05B2219/33263 , G05B2219/35543 , G05B2219/45187 , G05B2219/49395
摘要： Systeme de commande d'un robot permettant de faire fonctionner en coordonnees orthogonales un robot (13) comprenant une main qui fonctionne en coordonnees cylindriques. Ce systeme de commande de robot comprend des moyens (101) permettant de delivrer des instructions en coordonnees orthogonales pour le fonctionnement du robot (13), des moyens de coordonnees orthogonales et cylindriques (104, 202) permettant de convertir les instructions en coordonnees orthogonales depuis les moyens (101) en donnees d'instructions en coordonnees cylindriques, et une memoire de donnees (108) pour le stockage des donnees d'instructions obtenues en coordonnees cylindriques.

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