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51. 发明授权

US5773949A Cutter fracture detecting system 失效
$Cutter fracture detecting system$
标题翻译：刀具断裂检测系统
公开(公告)号：US5773949A
公开(公告)日：1998-06-30
申请号：US682729
申请日：1996-07-26
申请人： Takashi Nagatomi , Miwako Sakaguchi
发明人： Takashi Nagatomi , Miwako Sakaguchi
IPC分类号： B23B47/24 , B23Q17/09 , G05B9/02 , G05B19/18 , G05B19/4065 , B25J9/18
CPC分类号： G05B19/4065 , B23Q17/0961 , G05B2219/37246 , G05B2219/37344 , G05B2219/50205
摘要： A cutter fracture detecting system is capable of detecting a fracture of a cutter highly accurately which may occur even when no substantial loads are imposed on a rotating axis and a cutter feed axis of a machine tool. A rotating axis disturbant load torque estimating unit (1) and a moving axis disturbant load torque estimating unit (2) monitor disturbant load torques on a spindle and an axis with respect to which a workpiece and a cutter move relatively to each other, and still axis disturbant load torque estimating units (3, 4) also monitor disturbant load torques on axes with respect to which the workpiece and the cutter do not move relatively to each other. A comparing unit (5) determines that the cutter is fractured based on the disturbant load torques estimated by the disturbant load torque estimating units. When a cutter fracture is detected, the machine tool is stopped by a machine shutdown command unit (6).
摘要翻译： PCT No.PCT / JP95 / 02154 Sec。 371日期1996年7月26日 102（e）日期1996年7月26日PCT提交1995年10月19日PCT公布。公开号WO96 / 19316 PCT 日期1996年6月27日刀具断裂检测系统能够高精度地检测刀具断裂，即使在机床的旋转轴线和切削刀进给轴线上没有实质负载的情况下也可能发生切割。旋转轴干扰负载转矩估计单元（1）和移动轴干扰负载转矩估计单元（2）监测主轴上的干扰负载转矩和相对于工件和切割器彼此相对移动的轴线，静止轴扰动负载转矩估计单元（3,4）还监测工件和刀具相对于彼此不相对移动的轴上的不稳定负载转矩。比较单元（5）基于由扰动负载转矩估计单元估计的扰动负载转矩来确定切割器断裂。当检测到刀具断裂时，机床由机器停机命令单元（6）停止。

52. 发明授权

US5721677A Vision assisted fixture construction 失效
标题翻译：视觉辅助夹具施工
公开(公告)号：US5721677A
公开(公告)日：1998-02-24
申请号：US467797
申请日：1995-06-06
申请人： Timothy R. Pryor
发明人： Timothy R. Pryor
IPC分类号： B25J9/16 , B25J9/18 , G05B19/4097 , G05B19/418 , G06F19/00
CPC分类号： G05B19/4097 , B25J9/1697 , G05B19/41805 , G05B2219/36503 , G05B2219/37205 , G05B2219/37572 , G05B2219/45055 , G05B2219/50132 , Y02P90/04 , Y10T29/49769 , Y10T29/4978
摘要： A new method and apparatus for fabrication or alignment of fixtures, jigs and structures is disclosed. The invention uses target points on one or more details which are referenced to the overall structure via targets on the details. These targets are monitored by a TV camera unit which is alternatively interfaced to a display for the human operator or a robot to provide position data. The interface may include input from a CAD system which allows display on robot coordinates to be offset by design data of the structure or a part to be located on it. While mainly envisioned for assistance in constructing fixtures for automobile assembly, the disclosed invention is widely useable for all types of construction including aircraft, bridges, boats, buses, houses, buildings and the like. A means for improving resolution of automatically served camera based systems is also disclosed.
摘要翻译：公开了用于制造或对准固定装置，夹具和结构的新方法和装置。本发明在通过细节上的目标参考整体结构的一个或多个细节上使用目标点。这些目标由TV摄像机单元监视，TV摄像机单元可替代地连接到用于人类操作者或机器人的显示器以提供位置数据。接口可以包括来自CAD系统的输入，其允许机器人坐标上的显示被结构的设计数据或要位于其上的部分偏移。虽然主要用于协助构建用于汽车组装的固定装置，但是所公开的发明可广泛用于包括飞机，桥梁，船只，公共汽车，房屋，建筑物等在内的所有类型的构造。还公开了一种用于提高自动服务的相机系统的分辨率的方法。

53. 发明授权

US5720010A Control system for a linear actuator including magnetic bearings for levitating a robot arm 失效
标题翻译：用于线性致动器的控制系统，包括用于悬浮机器人臂的磁性轴承
公开(公告)号：US5720010A
公开(公告)日：1998-02-17
申请号：US699342
申请日：1996-08-19
申请人： Katsuhide Watanabe , Yoichi Kanemitsu , Shinichi Moriyama , Naoji Hiraki
发明人： Katsuhide Watanabe , Yoichi Kanemitsu , Shinichi Moriyama , Naoji Hiraki
IPC分类号： B25J13/00 , B25J9/18 , B25J18/02 , B25J19/00 , F16C32/04 , F16C39/06 , G05B19/19 , H02P25/06 , G05B15/00 , G05B19/00
CPC分类号： F16C32/0444 , G05B19/19 , F16C2300/62 , G05B2219/45083 , G05B2219/49271
摘要： A control system for controlling a linear actuator including magnetic bearings for levitating a robot arm and a pulse motor for linearly driving the arm in a non-contact manner is disclosed, which comprises a displacement detection unit including displacement sensors, first and second calculation units, moving amount detection unit and adding circuit. The displacement detection unit detects displacement values of the arm from a reference posture, the first calculation unit calculates guiding (y), levitation (z), roll (p), pitching (q), and yaw (r) control current values in response to the displacement values and provides guiding, levitation, roll, pitching, and yaw control current signals (, , , , ). The moving amount detecting circuit detects a moving amount (X.sub.0) of the arm from a reference position in response to an operation of the pulse motor, and provides a compensation current value (.DELTA.Iq") proportional to the moving amount, and the adding circuit adds the compensation current value (.DELTA.Iq") to the pitching control current signal (). The second calculation unit, in response to the guiding, levitation, roll and yaw control current signals (, , , ) and the added pitching control current signal (+.DELTA.Iq"), calculates drive current control values to compensate drive current flowing through the magnetic bearings.
摘要翻译：公开了一种用于控制线性致动器的控制系统，包括用于悬浮机器人臂的磁轴承和用于以非接触方式线性驱动臂的脉冲电机，其包括位移检测单元，其包括位移传感器，第一和第二计算单元，移动量检测单元和加法电路。位移检测单元从参考姿势检测臂的位移值，第一计算单元计算响应中的引导（y），悬浮（z），滚动（p），俯仰（q）和偏航（r）控制电流值提供位移值，并提供引导，悬挂，滚动，俯仰和偏航控制电流信号（+ Z，+ Z，+ Z，+ Z，+ Z）。移动量检测电路响应于脉冲电动机的操作从参考位置检测臂的移动量（X0），并且提供与移动量成比例的补偿电流值（DELTA Iq“），并且添加电路将补偿电流值（DELTA Iq“）添加到俯仰控制电流信号（+ Z）。第二计算单元响应于引导，悬挂，转向和偏转控制电流信号（+ Z，+ Z，+ Z，+ Z）和增加的俯仰控制电流信号（+ Z + DELTA Iq“），计算驱动电流控制值来补偿流经磁轴承的驱动电流。

54. 发明授权

US5711697A Robot control system 失效
标题翻译：机器人控制系统
公开(公告)号：US5711697A
公开(公告)日：1998-01-27
申请号：US737604
申请日：1996-11-25
申请人： Tadashi Taninaga , Tetsuya Ogawa
发明人： Tadashi Taninaga , Tetsuya Ogawa
IPC分类号： B24B27/04 , B24B49/16 , B25J9/16 , B25J9/18 , B24B49/00
CPC分类号： B24B27/04 , B24B49/16 , B25J11/0065 , B25J9/1679 , G05B2219/37285 , G05B2219/37583 , G05B2219/39468 , G05B2219/45058 , G05B2219/49074 , G05B2219/49075 , Y10T483/17 , Y10T483/1736 , Y10T483/18
摘要： When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.
摘要翻译： PCT No.PCT / JP95 / 01197 Sec。 371日期：1996年11月25日 102（e）日期1996年11月25日PCT归档1995年6月16日PCT公布。 WO95 / 35187 PCT出版物日期1995年12月28日当提供给研磨机的负载电流的变化量不大于预定阈值时，根据负载电流来控制由研磨机刺入工件的量。当负载电流变化量超过预定阈值时，根据负载电流来控制研磨机的磨削速度。当使用一个机器人执行多个操作时，利用在一个操作中计算的位置校正值来校正另一个操作中的目标位置。

55. 发明授权

US5668930A Off-line teaching method for a robot 失效
标题翻译：机器人离线教学方法
公开(公告)号：US5668930A
公开(公告)日：1997-09-16
申请号：US381815
申请日：1995-02-06
申请人： Masayuki Hamura , Kenji Aztuma , Shinsuke Sakamoto
发明人： Masayuki Hamura , Kenji Aztuma , Shinsuke Sakamoto
IPC分类号： B23Q15/00 , B24B49/00 , B25J9/18 , G05B19/4093 , G05B19/425 , G05B19/04
CPC分类号： G05B19/425 , G05B2219/34098 , G05B2219/36492 , G05B2219/45083 , G05B2219/50353 , Y02P90/265
摘要： An off-line data teaching method for a robot in which a desired posture of the robot is maintained in passing the bending portion of the operation line by preparing off-line teaching data for an operation line on a workpiece which is subjected to an operation of a robot, and by performing an insertion of a circular arc. The indicators (A, L and C) representing air-cut points, terminal point of a linear segment, and intermediate and terminal points of a circular arc segment are assigned to each coordinate data of the operation line consisting of linear segments and circular arc segments on a plane. The circular arc J(1)i+1 of small radius is inserted by defining the new teaching points L(1)i+1, C"(1)i+1 and C'(1)i+1 and disqualify the bending point Li+1. The coordinate data after insertion of the circular arc and the indicators are used to determine the position and posture of the robot.
摘要翻译： PCT No.PCT / JP94 / 00910 Sec。 371日期：1995年2月6日 102（e）日期1995年2月6日PCT Filted 1994年6月6日PCT公布。公开号WO94 / 29775 日期1994年12月22日一种用于机器人的离线数据教学方法，其中通过在工件上准备用于操作线的离线示教数据来保持机器人的期望姿态通过操作线的弯曲部分，经受机器人的操作，并且通过执行圆弧的插入。表示空气切断点，线性段的终点，圆弧段的中间和终点的指示符（A，L和C）被分配给由线性段和圆弧段组成的操作线的每个坐标数据在飞机上。通过定义新的教学点L（1）i + 1，C“（1）i + 1和C'（1）i + 1，插入小半径的圆弧J（1）i + 1，并取消资格弯点Li + 1。插入圆弧和指示器后的坐标数据用于确定机器人的位置和姿势。

56. 发明授权

US5614116A Welding control using fuzzy logic analysis of video imaged puddle dimensions 失效
标题翻译：使用视频成像水坑尺寸的模糊逻辑分析进行焊接控制
公开(公告)号：US5614116A
公开(公告)日：1997-03-25
申请号：US332633
申请日：1994-10-31
申请人： Mary A. Austin , Kenneth C. Dunne , Dag Lindland , Phillip L. Frey , Dean G. Hystad , Richard E. Nelson , Bradley D. Warner
发明人： Mary A. Austin , Kenneth C. Dunne , Dag Lindland , Phillip L. Frey , Dean G. Hystad , Richard E. Nelson , Bradley D. Warner
IPC分类号： B23K9/23 , B23K9/095 , B23K9/10 , B23K9/127 , B25J9/18 , G05B13/02
CPC分类号： B23K9/1062 , B23K9/1274
摘要： A welding system includes an imaging system that takes frame by frame pictures of a weld puddle. The imaging system is located in the weld torch. From the images puddle length and width are determined. The length and width are applied against stored membership functions that cover a range of different weld current characteristics and the degree of membership of each dimension in those functions is determined, producing an alpha factor for each membership function. This provides a fuzzy current requirement. Stored values for moment and area for each membership function are multiplied by the alpha for the respective function. The total of the moments is divided by the total of the areas to produce a desired weld current. The weld head includes a weld wire feeder that is driven by a servo by which the wire can be feed along either side of the weld joint. The wire feeder is gear driven in such a way that it does not interfere with the optics in the weld torch. The optics include a strobe to illuminate the puddle. Signal processing includes a process for interpolating the puddle centerline from the range in puddle widths over successive strobed images of the puddle. The head is positioned automatically over the centerline.
摘要翻译：焊接系统包括成像系统，该成像系统采用焊接熔池的逐帧图像。成像系统位于焊枪中。从图像中确定水坑长度和宽度。长度和宽度应用于覆盖不同焊接电流特性范围的存储的隶属函数，并确定这些函数中每个维度的隶属度，从而为每个隶属函数产生α因子。这提供了模糊电流要求。每个隶属函数的时刻和面积的存储值乘以相应函数的α。总共的时刻除以产生所需焊接电流的面积的总和。焊头包括由伺服驱动的焊丝进给器，通过该伺服机构，焊丝可以沿着焊接接头的两侧进给。送丝机是以不影响焊枪内的光学元件的方式进行齿轮传动的。光学器件包括用于照亮水坑的闪光灯。信号处理包括从熔池的连续选通图像上的水坑宽度范围内插水坑中心线的过程。头部自动定位在中心线上。

57. 发明授权

US5596683A Teaching control device for manual operations of two industrial robots 失效
标题翻译：两台工业机器人手动操作教学控制装置
公开(公告)号：US5596683A
公开(公告)日：1997-01-21
申请号：US176864
申请日：1993-12-30
申请人： Fumio Kasagami , Yasuhiro Kojina
发明人： Fumio Kasagami , Yasuhiro Kojina
IPC分类号： B25J9/22 , B23K9/127 , B25J9/16 , B25J9/18 , G05B19/425 , B25J9/00
CPC分类号： B25J9/1682 , G05B19/425 , G05B2219/39136 , G05B2219/39139 , G05B2219/40287 , G05B2219/50353 , Y02P90/265
摘要： The teaching procedure is performed so that a relative position of the tool against a workpiece and an attitude of a tool against a ground are maintained constant under a control of a co-acting mode of the manual operation. The position and the attitude of the workpiece and the position and the attitude of the tool are manipulated in response to a co-acting mode signal supplied by a mode changing switch, a robot signal selecting the workpiece handling robot supplied by a robot changing switch and actuating signals supplied by a group of the keys. The manipulation of the position of the tool by the tool handling robot is coordinated with the manipulation of the position and the attitude of the workpiece by the workpiece handling robot maintaining the attitude of the tool against the ground and the relative position of the tool against the workpiece.
摘要翻译：执行教学过程，使得在手动操作的协同作用模式的控制下，工具相对于工件的相对位置和工具抵靠地面的姿态保持恒定。响应于由模式切换开关提供的协同作用模式信号，选择由机器人改变开关所提供的工件处理机器人的机器人信号，并且对所述工具的位置和姿态，致动由一组键提供的信号。通过工具处理机器人对工具的位置的操纵与通过工件处理机器人对工件的位置和姿态的操纵进行协调，以保持工具对着地面的姿态以及工具相对于地面的相对位置工件。

58. 发明授权

US5594309A Robot control scheme 失效
标题翻译：机器人控制方案
公开(公告)号：US5594309A
公开(公告)日：1997-01-14
申请号：US260305
申请日：1994-06-15
申请人： Kenneth G. McConnell , Wan-Shik Jang
发明人： Kenneth G. McConnell , Wan-Shik Jang
IPC分类号： B25J9/16 , B25J9/18 , G05B19/04
CPC分类号： B25J9/163 , B25J9/1651
摘要： A simple open loop control scheme that minimizes both robot response time and the resulting residual vibration while requiring little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.
摘要翻译：一种简单的开环控制方案，通过智能使用常规伺服控制技术和机器人的振动特性，可以最大限度地减少机器人响应时间和产生的残余振动，同时无需计算任务。

59. 发明授权

US5590244A Profile control system for robots 失效
标题翻译：机器人型材控制系统
公开(公告)号：US5590244A
公开(公告)日：1996-12-31
申请号：US374997
申请日：1995-01-18
申请人： Yasuyuki Nakata , Akihiko Yabuki , Yutaka Yoshida , Katsushi Nishimoto
发明人： Yasuyuki Nakata , Akihiko Yabuki , Yutaka Yoshida , Katsushi Nishimoto
IPC分类号： B25J9/16 , B25J9/18 , G05B19/41 , G06F15/50 , G05B19/42 , G06F15/46
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/39322 , G05B2219/49164 , G05B2219/50354
摘要： A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.
摘要翻译：机器人型材控制系统允许力控制机器人在具有未知轮廓的曲面的工件的表面上执行轮廓操作。机器人轮廓控制系统基于作用于机器人的端部与作业对象之间的力，复位轮廓坐标系。该力由机器人型材控制系统的力检测部检测。

60. 发明授权

US5587637A Robot arm device capable of conveying an article in circumferential and radial directions 失效
标题翻译：能够沿周向和径向输送物品的机器人手臂装置
公开(公告)号：US5587637A
公开(公告)日：1996-12-24
申请号：US365653
申请日：1994-12-29
申请人： Keishi Ohyama
发明人： Keishi Ohyama
IPC分类号： B25J9/04 , B25J9/18
CPC分类号： B25J9/042 , G05B2219/39002 , G05B2219/39461
摘要： A robot arm device includes an expandable arm portion including an arm member, a forearm arm member, and a hand member. The arm member is fixedly attached with an arm drive wheel which is driven by a first drive motor. The arm member carries a transmission wheel disposed coaxially with the arm drive wheel and rotatable independently from the arm drive wheel and a forearm drive wheel disposed at a leading end of the arm member and rotatable independently from the arm member and fixedly connected at a base end of the forearm member. The forearm member carries a stationary wheel disposed coaxially with the forearm drive wheel and fixedly connected with the arm member and a hand drive wheel disposed at a leading end of the forearm member. The forearm drive wheel is drivingly rotated by a second drive motor in addition to a relative rotation due to a rotation of the arm member. A controller controls the first and second drive motors to rotate the first drive motor in a specified direction and rotate the second motor in the opposite direction at such an angular speed as to rotate the forearm drive wheel twice faster than the arm drive wheel in combination with the relative rotation of the forearm drive wheel.
摘要翻译：机器人手臂装置包括可伸缩臂部分，其包括臂部件，前臂臂部件和手部部件。臂构件固定地附接有由第一驱动马达驱动的臂驱动轮。臂构件承载与臂驱动轮同轴设置的传动轮，并且能够独立于臂驱动轮旋转，并且前臂驱动轮设置在臂构件的前端，并且能够独立于臂构件旋转并且固定地连接在基端的前臂成员。前臂构件承载与前臂驱动轮同轴设置并与臂构件固定连接的固定轮和设置在前臂构件的前端的手驱动轮。除了由于臂构件的旋转之外的相对旋转之外，前臂驱动轮由第二驱动马达驱动旋转。控制器控制第一和第二驱动马达以使第一驱动马达沿指定方向旋转，并使第二马达沿相反方向以如此角速度转动，以使前臂驱动轮比臂驱动轮更快地转动两倍前臂驱动轮的相对旋转。

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