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81. 发明专利

JPH0679588A NONCONTACT TRACTOR CONTROLLER 失效
公开(公告)号：JPH0679588A
公开(公告)日：1994-03-22
申请号：JP23325392
申请日：1992-09-01
申请人： FANUC LTD
发明人： MATSUURA HITOSHI , TSUKAMOTO OSAMU , MATSUMOTO EIJI
IPC分类号： B23Q35/128
摘要： PURPOSE:To rotationally control a distance sensor without interference of the inside wall face of a model with the sensor in the case of tracing the recessed part of the model. CONSTITUTION:In tracing the recessed part 6b of a model, when a measurement point of optical distance sensors 5a, 5b reaches a point P on a stage part 6c, the measurement distance deviates from the allowable measurement distance so as to be impossibe to measure. Then the tracer head 4 is made to shift in the direction shown by the arrow A, to rotate in the direction shown by the arrow A, to rotate the position of the optical distance sensors 5a, 5b as far as the position possible to measure, and then to retreat to the former position. Thus the optical distance sensors 5a, 5b can rotate without interference of an inside wall face 6d of the model so as to continue tracing operation. In tracing such a recessed part 6b, the recessed part 6b should be defined beforehand as an interference area so that shifting operation is performed, as the occasion demands, the rotation control of the optical distance sensors 5a, 5b is activated in the interference area.

82. 发明专利

JPH0663850A METHOD FOR CONTROLLING NON-CONTACT COPYING 失效
公开(公告)号：JPH0663850A
公开(公告)日：1994-03-08
申请号：JP22102392
申请日：1992-08-20
申请人： FANUC LTD
发明人： MATSUURA HITOSHI , TSUKAMOTO OSAMU , MATSUMOTO EIJI
IPC分类号： B23Q35/128 , B23Q35/127
摘要： PURPOSE:To prevent a cable of a non-contact sensor from twining around a tracer head when the profile of a three dimensional model is copied with non-contact. CONSTITUTION:A tracer head 4 is provided with two distance detectors 5a, 5b and normal vector to a model surface 6 is obtained on the basis of measured values sampled from copy data from a tracer head 4. The directions of the distance detectors 5a, 5b are controllably rotated to coincide with a vertical surface including the normal vector to controllably copy the profile of a model. Then, when the tracer head 4 makes a round of the model 6, the returning rotation opposite to the turning direction of the tracer head 4 is controlled, so that cable 7a, 7b are prevented from twining around the tracer head 4 to continuously copy the profile.

83. 发明专利

JPH05345260A 失效
公开(公告)号：JPH05345260A
公开(公告)日：1993-12-27
申请号：JP15762992
申请日：1992-06-17
申请人： FANUC LTD
发明人： HIRAIZUMI MITSUO
IPC分类号： B23Q35/128 , B24B17/00 , B24B17/06 , B25J13/08 , B25J19/04 , G05D3/00
摘要： PURPOSE:To enable deburring work to be carried out by a robot without taking labor. CONSTITUTION:A ridge line detecting means 11 processes an image data from a visual sensor 110 mounted on a robot 30 so as to detect a ridge line 51 of a work 50. A cutting face calculating means 12 acquires a cutting face 53 from two faces constituting the ridge line 51, while a casting face calculating means 13 acquires a casting face 52. A position and attitude determining means 14 acquires the position and attitude of the robot 30 based on the ridge line 51, a normal vector of the cutting face 53 and a normal vector of the casting face 52. This position and attitude data of the robot 30 is sent to a robot control device 20, and the robot control device 20 makes the robot 30 track and work of the ridge line 51 based on the position and attitude data.

84. 发明专利

JPH05318290A MODEL SURFACE MEASURING MEHTOD 失效
公开(公告)号：JPH05318290A
公开(公告)日：1993-12-03
申请号：JP14690391
申请日：1991-05-21
申请人： OKUMA MACHINERY WORKS LTD
发明人： ENDO HIROKI
IPC分类号： B23Q35/40 , B23Q15/00 , B23Q33/00 , B23Q35/128 , G01B11/24
摘要： PURPOSE:To provide a model surface measuring method which measures a model, whose surface to be measured may include a curving surface or an inclining surface, using a contactless sensor over a wide scope of measuring. CONSTITUTION:A head 11 is equipped at the tip with a horizontally revolving frame 19 which is indexed in a horizontal plane into eight segments by pawl clutches 26, 27, and a laser displacement sensor 39 whose optical axis is put identical to the axis of the frame 19, is provided on a vertically revolving frame 37 having an axis perpendicularly intersecting the axis of the frame 19 and indexed by pawl clutches 34, 35 into two directions inclining 45 deg. The eight equally divided positions are measured around the center measuring point when the applicable surface is measured by traversing thereover at certain spacings, and the angle with max. difference for the center is determined. When this angle exceeds the set value, the sensor is revolved with the sign affixed to the max. difference and its direction taken into account and also inclined 45 deg. so as to correct the displacement portion of the measuring point. Thus the measurement proceeds bit by bit at a certain pitch.

85. 发明专利

JPH05309483A 失效
公开(公告)号：JPH05309483A
公开(公告)日：1993-11-22
申请号：JP14350092
申请日：1992-05-08
申请人： SHACHIHATA INDUSTRIAL , IIDA KOGYO KK
发明人： ICHIKAWA TAKASHI , KONDO HIROAKI
IPC分类号： B23K26/00 , B23Q35/128 , B44B3/02
摘要： PURPOSE:To perform engraving of a negative on material to be machined by using an engraved pattern of a positive and to improve machining accuracy. CONSTITUTION:The material 20 to be machined is positioned and fixed on the position separated by the distance M in the radial direction from the center of rotation on a first supporting table 42. A body 14 to be scanned on which the engraved pattern of the positive having dimensions enlarging by two times a pattern engraved on the material 20 to be machined is drawn is positioned and fixed on the position separated by the distance 2M in the radial direction from the center of rotation on a second supporting table 44. The first supporting table 42 and the second supporting table 44 are rotated in the opposite direction mutually. A feed table 32 is moved in the Y direction by a specified pitch every time the tables 42 and 44 make one revolution. At this time, a detection head 16 is moved in the opposite direction to the table 32. Consequently, the pattern having dimensions reducing the engraved pattern drawn on the body 14 to be scanned to 1/2 is engraved on the material 20 to be machined.

86. 发明专利

JPH05253805A 失效
公开(公告)号：JPH05253805A
公开(公告)日：1993-10-05
申请号：JP8762492
申请日：1992-03-11
IPC分类号： B23Q35/128 , B23Q35/40
摘要： PURPOSE:To provide a non-contact digitizing device for protecting measurement accuracy from degradation due to mutual light interference caused by making a plurality of sensor approach each other at a time of measuring a shape of a model surface by using an optical non-contact sensor. CONSTITUTION:Optical distance detectors 8a and a 8b having two and more layers and different wave lengths P and Q are inclined by phi to a tracer axis of a tracer head 7 of a tracing device which is numerically controlled, for radiating lights from semiconductor laser light sources 10a and 10b through light projection lenses 11a and 11b on a model 2 surface. And reflected lights form images on position sensors 13a and 13b by image formation lenses 12a and 12b through interference filters 14a and 14b which are penetrated by lights having only P wave length and Q wave length of the respective detectors 8a and 8b, normal vectors on the model 2 surface are found from the data and the tracer head 7 (C axis) is turned according to a turning command corresponding to the vector, for scanning on the model 2.

87. 发明专利

JPH05131342A WORKING LINE INDICATING METHOD 失效
公开(公告)号：JPH05131342A
公开(公告)日：1993-05-28
申请号：JP29469291
申请日：1991-11-11
申请人： TOYODA MACHINE WORKS LTD
发明人： HOTTA SHIGEO , ITO AKIRA
IPC分类号： B23K26/046 , B23Q35/128 , G01B11/14
摘要： PURPOSE:To enhance accuracy in indicating a working line, and concurrently facilitate the indicating of the working line. CONSTITUTION:Diffused reflection coating T high in reflection rate is applied to a master panel Q, and a marking-off line A is drawn thereon. A light quantity measuring sensor 42 is moved in the direction intersecting the marking-off line A, the marking-off line A is detected based on the difference between the quantity of light reflected from the marking-off line A and the quantity of light reflected from diffused reflection coating T, so that each detected position is indicated as a working line.

88. 发明专利

JPH04256554A NON-CONTACT DIGITIZING CONTROL UNIT 失效
公开(公告)号：JPH04256554A
公开(公告)日：1992-09-11
申请号：JP3689791
申请日：1991-02-06
申请人： FANUC LTD
发明人： MATSUURA HITOSHI , MATSUMOTO EIJI
IPC分类号： B23Q35/127 , B23Q35/128 , G01B21/20 , G05B19/41
摘要： PURPOSE:To select three points composing the optimum face element from plural measuring points for deciding the approximate tangential plane of a traced model. CONSTITUTION:A non-contact distance detection means 105 executs the sampling of the coordinate values of plural points from a model face. A point selection means 102 selects the optional three points of a stored coordinate value, selecting the three points closest to an equilateral trinangle. A vector calculation means 103 calculates a normal vector by the three points selected. The posture of the non-contact distance detection means 105 is controlled by a posture control means 104 with this normal vector.

89. 发明专利

JPH04189452A DIGITIZING CONTROL DEVICE 失效
公开(公告)号：JPH04189452A
公开(公告)日：1992-07-07
申请号：JP31480690
申请日：1990-11-20
申请人： FANUC LTD
发明人： MATSUURA HITOSHI , MATSUMOTO EIJI
IPC分类号： B23Q35/128 , G01B11/24 , G05B19/41 , G05B19/42
摘要： PURPOSE:To obtain profile data with good efficiency at high speed and a low cost by controlling rotation of a tracer head corresponding to conditions of an inclination of a model surface, and prohibiting rotation control, to the tracer head in case the inclination of the model surface is within a reference angle. CONSTITUTION:When a model surface 6 is getting horizontal, a rotation angle from an axis for reference for a projected vector in an X-Y plane becomes unstable to a small change of a direction of a normal vector. This means that a rotation instruction may change largely by a computation error of an inclination of the model surface 6 by a processor and errors in measured values La and Lb of distance detectors 5a and 5b. For eliminating problems of unstable attitude of a tracer head 4 of which rotation is controlled, therefore, an inclination condition of the model 6 is calculated at the processor, and when it is within a reference angle for which the inclination is set, a process of prohibiting rotation control to the tracer head 4 is performed.

90. 发明专利

JPH0418601B2 失效
公开(公告)号：JPH0418601B2
公开(公告)日：1992-03-27
申请号：JP20161182
申请日：1982-11-16
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , UEDA SUMIHIRO , HIRAYAMA MASAAKI
IPC分类号： B23Q35/128 , B23K9/127 , G01B11/24 , G01B11/25 , G01B11/26

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