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11. 发明授权

US4897586A Electric control apparatus for industrial robot 失效
标题翻译：工业机器人电气控制装置
公开(公告)号：US4897586A
公开(公告)日：1990-01-30
申请号：US330488
申请日：1989-03-30
申请人： Shuichi Nakata , Katsumi Yamamoto , Toshio Aono , Shinichi Sugita
发明人： Shuichi Nakata , Katsumi Yamamoto , Toshio Aono , Shinichi Sugita
IPC分类号： B23Q15/013 , B24B9/00 , B24B17/10 , B24B49/16 , B25J9/16 , B25J9/18 , G05B19/42
CPC分类号： G05B19/42 , G05B2219/34167 , G05B2219/45151 , G05B2219/49362 , G05B2219/49398
摘要： An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.
摘要翻译：一种用于工业机器人的电气控制装置，其臂被致动以通过附接到其上的加工工具进行工件的加工。控制装置包括：力传感器，被布置成检测作用在工具上的反作用力;存储器，用于在教学线的多个分割部分中的工件的每个加工过程期间存储由传感器检测到的最大反作用力;存储器，用于将存储的最大反作用力与表示作用在工具上的反作用力的极限的设定值进行比较，并且当存储的最大力超过设定值时从其产生信号。所述控制装置被配置为以使得所述加工工具沿着所述教导线移动的方式操作所述机器人，以在所述分割部分中依次进行所述工件的加工，并且进一步布置以确定所述比较器是否产生当刀具到达分割部分的每个终点处时产生一个控制信号，当施加来自比较器的信号时，每当这些刀具到达时，就响应控制信号操作机器人，使得机床返回到每个起始部分的起始点，以在同一部分重复去毛刺。

12. 发明授权

US4817848A Compliant motion servo 失效
标题翻译：符合运动伺服
公开(公告)号：US4817848A
公开(公告)日：1989-04-04
申请号：US193450
申请日：1988-05-12
申请人： John B. Gabaldon
发明人： John B. Gabaldon
IPC分类号： H01L21/607 , B23K20/10 , G05B19/23 , G05D3/12 , H01L21/60
CPC分类号： H01L24/78 , B23K20/106 , G05B19/235 , G05B2219/45033 , G05B2219/49362 , H01L2224/78 , H01L2224/78301 , H01L2924/00014 , H01L2924/01005 , H01L2924/01019 , H01L2924/01033 , H01L2924/01039 , H01L2924/12041 , H01L2924/14
摘要： An automatic ultrasonic wire bonder employs a compliant motion servo (17, 119, 239, 200) on its Z axis drive to maintain a known, constant and steady force applied by the bonding tool (13) to the wire. The tool is resiliently mounted to a carriage (15) that is driven by a force control servo (17, 119, 238, 200). During bonding, the tool is pressed against the wire, and effects of variations in tool tip Z axis position caused by vibration, wire deformation during bonding and other factors of the equipment are minimized by a servo that precisely controls and maintains a fixed position of the carriage relative to the wire to thereby maintain a preselected force between the bonding tool tip and the wire.
摘要翻译：自动超声波引线接合器在其Z轴驱动器上采用顺应运动伺服（17,119,239,200）以保持由焊接工具（13）施加到线的已知，恒定和稳定的力。工具弹性地安装到由力控制伺服机构（17,119,238,200）驱动的滑架（15）上。在接合期间，工具被压在线上，并且通过伺服来最小化由振动引起的刀尖Z轴位置的变化，接合期间的线变形以及设备的其他因素的影响，精确地控制和保持固定位置从而在接合工具尖端和线之间保持预选力。

13. 发明授权

US4666352A Profile working machine 失效
标题翻译：轮廓加工机
公开(公告)号：US4666352A
公开(公告)日：1987-05-19
申请号：US776801
申请日：1985-09-17
申请人： Takaaki Nagao , Yotaro Hatamura , Kozo Ono
发明人： Takaaki Nagao , Yotaro Hatamura , Kozo Ono
IPC分类号： B23Q15/007 , B23Q15/013 , B23Q17/09 , B24B49/16 , G05B19/18 , G05B19/41 , B23C9/00
CPC分类号： G05B19/41 , G05B19/182 , G05B2219/49362 , G05B2219/50072 , G05B2219/50353 , Y10T408/172 , Y10T409/304984 , Y10T409/306888 , Y10T409/30728
摘要： A profile working machine is equipped with a support for holding a work in place, a working tool for machining the work, and drive and control systems for controlling the relative displacements between the support and the working tool. The profile working machine is to machine the work into a desired profile. The profile working machine is additionally provided with a load sensor for detecting each force and moment to be developed between the working tool and the work, a first computing unit for computing a working point and a tangential plane extending through the working point and in contact with the working tool, on the basis of the force and moment detected by the load sensor, and a second computing unit for computing, based on the working point and the tangential plane computed by the first computing unit and the forces detected by the load sensor, the values of the relative displacements between the working tool and the support in order to keep the magnitude and the direction of a reaction force exerted on the working tool on predetermined values.
摘要翻译：轮廓加工机配备有用于保持工件的支撑件，用于加工工件的加工工具，以及用于控制支撑件和工作工具之间的相对位移的驱动和控制系统。轮廓加工机将工件加工成所需的轮廓。型材加工机器另外设置有负载传感器，用于检测在作业工具和工件之间要显影的每个力和力矩;第一计算单元，用于计算工作点和延伸穿过工作点并与之接触的切向平面所述加工工具基于由所述负载传感器检测到的力和力矩，以及第二计算单元，用于基于由所述第一计算单元计算的所述工作点和切平面以及由所述负载传感器检测到的力来计算，工作工具和支撑件之间的相对位移的值，以便将施加在工作工具上的反作用力的大小和方向保持在预定值上。

14. 发明申请

US20050269375A1 Sealant dispenser and control method thereof 有权
标题翻译：密封剂分配器及其控制方法
公开(公告)号：US20050269375A1
公开(公告)日：2005-12-08
申请号：US11125528
申请日：2005-05-10
申请人： Man Ho Ahn , Joon Young Kim
发明人： Man Ho Ahn , Joon Young Kim
IPC分类号： G02F1/13 , B05C5/00 , B05C5/02 , B05C11/00 , B05C11/10 , B05D1/26 , B05D3/00 , B65D88/54 , B67D3/00 , B67D7/06 , G01F11/06 , G01F11/30 , G01F11/36 , G01F11/42 , G02F1/1339 , B67D5/06
CPC分类号： B05C5/0216 , B05C11/1018 , G05B2219/45238 , G05B2219/49362
摘要： Disclosed is a sealant dispenser for more precisely dispensing a sealant onto a substrate, and a control method thereof. The sealant dispenser includes a stage on which a substrate is mounted; a nozzle for dispensing a sealant while making a relative motion with the substrate; a syringe coupled to the nozzle, for storing the sealant; and a distance sensor installed on both sides of a lower portion of the syringe, for measuring a vertical distance between a principal plane of the substrate and an outlet of the nozzle. According to the principles of the present invention, because the nozzle and the syringe have substantially the same central axis, the response speed of the sealant to be dispensed is increased and the start point and the end point of paste pattern are more precisely dispensed. Also, by minimizing the distance between the nozzle and a measuring point provided by the distance sensor, it becomes possible to dispense the sealant at higher precision.
摘要翻译：公开了一种用于更精确地将密封剂分配到基底上的密封剂分配器及其控制方法。密封剂分配器包括其上安装有基底的台阶; 用于在与基底进行相对运动的同时分配密封剂的喷嘴; 连接到喷嘴的注射器，用于储存密封剂; 以及安装在所述注射器下部两侧的距离传感器，用于测量所述基底的主平面与所述喷嘴的出口之间的垂直距离。根据本发明的原理，由于喷嘴和注射器具有基本上相同的中心轴，所以要分配的密封剂的响应速度增加，并且更精确地分配糊状图案的起始点和终点。此外，通过使喷嘴与由距离传感器提供的测量点之间的距离最小化，可以以更高的精度分配密封剂。

15. 发明授权

US5794421A Device for regulating the distance from the ground of a working unit of an agricultural machine 失效
标题翻译：用于调节距农业机械的工作单元的距离的设备
公开(公告)号：US5794421A
公开(公告)日：1998-08-18
申请号：US704538
申请日：1996-08-30
申请人： Josef Maichle
发明人： Josef Maichle
IPC分类号： A01B63/114 , A01D41/14 , B23Q15/22 , G05D1/04 , G05D3/12 , A01D34/86 , A01D75/14 , A01D75/28
CPC分类号： A01B63/114 , A01D41/141 , B23Q15/22 , G05B2219/36241 , G05B2219/37269 , G05B2219/37423 , G05B2219/45017 , G05B2219/49231 , G05B2219/49362 , Y10S56/15
摘要： The device for regulating ground clearance of a working unit of an agricultural machine includes a position sensor (11) which detects a position of the working unit (2) relative to the machine and generates a working unit position signal; a pressure sensor (10) which generates a control element pressure signal; a ground clearance sensor (9) which issues a corresponding ground clearance sensor output signal in a contactless manner; and a control device (7) for operating the control element to set the ground clearance according to the ground clearance sensor output signal alone in a first range closest to the ground, according to the working unit position signal alone in a second range furthest from the ground and according to a combined signal in a third transitional range between the first and second ranges, which is equal to a mixture of the ground clearance sensor output signal and the working unit position signal and which varies continuously from the first range to the second range.
摘要翻译： PCT No.PCT / DE95 / 00188 Sec。 371日期：1996年8月30日 102（e）日期1996年8月30日PCT提交1995年2月16日PCT公布。 WO95 / 23496 PCT公开号 1995年9月8日用于调节农业机械的工作单元的离地间隙的装置包括：位置传感器（11），其检测工作单元（2）相对于机器的位置，并产生工作单元位置信号; 压力传感器（10），其产生控制元件压力信号; 离地间隙传感器（9），其以非接触方式发出对应的离地间隙传感器输出信号; 以及控制装置（7），用于根据距离最接近地面的第一范围内的离地距离传感器输出信号仅在距离最远离地面的第二范围内的工作单元位置信号单独地操作控制元件来设定离地间隙并且根据在第一和第二范围之间的第三过渡范围内的组合信号，其等于离地间隙传感器输出信号和工作单元位置信号的混合，并且其从第一范围连续地变化到第二范围。

16. 发明授权

US5077941A Automatic grinding method and system 失效
标题翻译：自动研磨方法和系统
公开(公告)号：US5077941A
公开(公告)日：1992-01-07
申请号：US523599
申请日：1990-05-15
申请人： Daniel E. Whitney
发明人： Daniel E. Whitney
IPC分类号： B24B19/26 , B24B49/16 , G05B19/416
CPC分类号： B24B49/16 , B24B19/26 , G05B19/4163 , G05B2219/37357 , G05B2219/37572 , G05B2219/43121 , G05B2219/45058 , G05B2219/49362
摘要： An automatic grinding system and method for grinding a surface having a predetermined pattern of raised and lower regions includes sensing the width of at least one of those regions; determining the height of the raised region above the lower region in response to the sensed width; and selecting the grinding speed and force and the velocity of the grinder over the surface in response to the determined height of the raised region.
摘要翻译：用于研磨具有预定图案的凸起和下部区域的表面的自动研磨系统和方法包括感测这些区域中的至少一个的宽度; 响应于所感测到的宽度，确定所述下部区域上方的凸起区域的高度; 以及响应于确定的升高区域的高度，选择研磨速度和磨碎机在表面上的速度。

17. 发明授权

US5067085A Optical robotic canopy polishing system 失效
标题翻译：光学机器人抛光系统
公开(公告)号：US5067085A
公开(公告)日：1991-11-19
申请号：US352600
申请日：1989-05-15
申请人： Dennis J. Wenzel , David S. McFalls, II
发明人： Dennis J. Wenzel , David S. McFalls, II
IPC分类号： G01B11/30 , B24B17/06 , B25J9/16 , G01N21/84 , G01N21/88 , G05B19/401 , G06T1/00
CPC分类号： B25J9/1684 , G05B19/401 , G05B2219/37206 , G05B2219/37572 , G05B2219/45058 , G05B2219/49362
摘要： A method and apparatus for providing an automated optical robotic polishing system for removing flaws in transparencies, such as transparent canopies used in aircraft. A pneumatic random orbital polishing tool attached to a robot arm is used to polish canopies to remove flaws. The flaws are removed by grinding the area surrounding the flaw and smoothing the flaw site to conform to the contour of the canopy. To identify optimum motions for the polishing tool for grinding to remove the bulk of the plastic material around a flaw, mathematical topology simulation techniques are implemented using various polishing pad pressure profiles and various polishing motions.
摘要翻译：一种用于提供自动光学机器人抛光系统的方法和装置，用于去除透明胶片中的瑕疵，例如在飞行器中使用的透明檐篷。附着在机器人手臂上的气动随机轨道抛光工具用于抛光檐篷以消除瑕疵。通过研磨瑕疵周围的区域并使瑕疵位置平滑以符合冠层的轮廓，从而去除缺陷。为了确定用于研磨的抛光工具的最佳运动，以消除围绕缺陷的大部分塑料材料，使用各种抛光垫压力分布和各种抛光运动来实现数学拓扑模拟技术。

18. 发明授权

US4904152A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4904152A
公开(公告)日：1990-02-27
申请号：US315253
申请日：1989-02-23
申请人： Makoto Doi , Akiyoshi Nakada , Toshitsugu Inoue , Mikio Hasegawa , Kenji Sogawa , Toshihiro Ide
发明人： Makoto Doi , Akiyoshi Nakada , Toshitsugu Inoue , Mikio Hasegawa , Kenji Sogawa , Toshihiro Ide
IPC分类号： B25J9/04 , B25J9/10 , B25J9/16 , B25J13/08 , G05B19/18 , G05B19/19 , G05B19/39
CPC分类号： G05B19/39 , B25J9/046 , B25J9/1633 , G05B19/18 , G05B2219/36417 , G05B2219/36503 , G05B2219/37207 , G05B2219/37405 , G05B2219/42104 , G05B2219/42123 , G05B2219/42237 , G05B2219/49362 , G05B2219/50198 , Y10S414/13
摘要： In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.
摘要翻译：一种工业机器人，包括能够以位置控制模式，速度控制模式和电流控制模式来执行机器人的控制的控制装置。控制装置包括用于执行位置控制模式和当前控制模式之间的切换的切换部（20）。通过以速度控制模式和当前控制模式的组合的力控制模式来驱动机器人的一组臂来检测物体的位置，并且检测臂接触物体并停止的位置。基于从位置传感器（13）产生的输出信号的条件，并且通过重复地对身体表面上的多个不同点进行这种检测来执行停止状态的检测，导出多个位置值与参考位置数据相比较。因此，通过计算部（24）计算对象从参考位置的位置的任何改变，由此机器人本身能够以二维或三维来感测物体的位置或姿态。

19. 发明授权

US4755952A Measurement and machining of engineering components 失效
标题翻译：工程部件的测量和加工
公开(公告)号：US4755952A
公开(公告)日：1988-07-05
申请号：US841311
申请日：1986-03-19
申请人： Antony Johns
发明人： Antony Johns
IPC分类号： G01B21/02 , G01B21/00 , G01B21/20 , G05B19/18 , G05B19/416 , G06F15/46
CPC分类号： G05B19/18 , G05B19/4166 , G05B2219/36523 , G05B2219/37075 , G05B2219/37194 , G05B2219/37196 , G05B2219/37525 , G05B2219/37574 , G05B2219/49362 , G05B2219/50063 , G05B2219/50391 , G05B2219/50399
摘要： A method and apparatus are described for the automatic gauging of engineering components. The apparatus includes a clamp for holding a component to be gauged, probes for scanning a surface of the component, drives to provide relative motion between the component and the probes in three mutually perpendicular axes, measuring transducers associated with the drives and the probes to generate signals to measure the degree of movement between the component and the probes, computer memory for storing data relating to a reference profile having dimensions which it is desired to achieve, computer apparatus for comparing signals generated by the measuring transducers with the corresponding signals in the memory, computer apparatus for calculating any error between the stored data and signals generated by the measuring transducers to stack the component to maximize desired coincidence between the dimensions of the reference profile and the actual component. The method and apparatus are described with reference to the gauging of components having aerofoils.
摘要翻译：描述了用于自动测量工程组件的方法和装置。该装置包括用于保持要测量的部件的夹具，用于扫描部件表面的探针，驱动以在三个相互垂直的轴线上提供部件和探针之间的相对运动，测量与驱动器相关联的传感器和探针以产生用于测量部件和探头之间的移动程度的信号，计算机存储器，用于存储与期望达到的具有尺寸的参考轮廓有关的数据;计算机装置，用于将由测量换能器产生的信号与存储器中的相应信号进行比较计算机装置，用于计算存储的数据与由测量传感器产生的信号之间的任何误差，以堆叠该组件以最大化参考分布图和实际分量的尺寸之间的期望重合。参考具有机翼的部件的测量来描述该方法和装置。

20. 发明授权

US4128968A Optical surface polisher 失效
标题翻译：光学表面抛光机
公开(公告)号：US4128968A
公开(公告)日：1978-12-12
申请号：US725382
申请日：1976-09-22
申请人： Robert A. Jones
发明人： Robert A. Jones
IPC分类号： B24B13/00 , B24B13/02 , B24B13/06 , G05B19/18 , G05B19/4103
CPC分类号： B24B13/0018 , B24B13/06 , G05B19/182 , G05B19/4103 , G05B2219/34132 , G05B2219/34146 , G05B2219/34167 , G05B2219/34384 , G05B2219/34385 , G05B2219/43187 , G05B2219/45157 , G05B2219/45199 , G05B2219/49256 , G05B2219/49362 , G05B2219/49381
摘要： An apparatus for precisely polishing an optical surface is described. The apparatus includes polishing pads which are small in size in comparison with the surface being polished. The pads are maintained in contact with and moved across the surface being polished by a pad driver in a manner producing a removal profile which is maximum at the center of pad movement and minimum at the extremes of pad movement. A position drive means is utilized to move the pad drive along a substantially spiraling path centered at the center of the surface being polished and spiraling outward to the parimeter where parallel spiral arcs are spaced a constant distance apart along any given path radius. By controlling the speed of movement along the contour path, the rate of material removal at a particular position on the optical surface is controlled.
摘要翻译：描述了用于精确抛光光学表面的设备。该装置包括与被抛光表面相比尺寸小的抛光垫。这些焊盘保持与衬垫驱动器接触和移动的表面，该焊盘驱动器以产生在焊盘移动中心处最大并且在焊盘移动极限处最小的移除轮廓的方式。使用位置驱动装置沿着被抛光的表面的中心的中心的基本螺旋形路径移动焊盘驱动装置，并向外螺旋到参数表，其中平行的螺旋弧沿着任何给定的路径半径间隔开恒定的距离。通过控制沿着轮廓路径的移动速度，控制光学表面上特定位置处的材料去除速率。

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