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    • 8. 发明授权
    • Highly viscous material coating apparatus
    • 高粘性材料涂层设备
    • US4809885A
    • 1989-03-07
    • US97260
    • 1987-09-17
    • Sensuke HayashiYasuo TokushimaKouji OtaHirofumi HashimotoKajuyosi UtiyamaMasahiro UmedaKaoru KondoYosifumi Kaji
    • Sensuke HayashiYasuo TokushimaKouji OtaHirofumi HashimotoKajuyosi UtiyamaMasahiro UmedaKaoru KondoYosifumi Kaji
    • B05C5/00B05C5/02B05C1/00B25J9/10
    • B05C5/0208
    • A highly-viscous material coating apparatus for use, e.g. in an automobile coating process, to coat a joint of a workpiece, may be mounted on a robot. It provides improved operation where the workpiece provides a reference surface parallel to the joint, where the workpiece provides a reference surface displaced from the joint at varying distances along the length of the joint, and where the workpiece provides no reference surface. Where a reference surface is available, an extendable spring-biased guide pin of the apparatus moves along the reference surface, and any positional errors are compensated-for by action of the spring. If the distance between the reference surface and the joint varies, the varying distance may be compensated for by various disclosed practices. The apparatus also can be used where no reference surface is provided by retracting the guide pin with respect to the nozzle and by controlling the robot so as to direct the nozzle to the joint. A conventional nozzle may be adapted to dispense a highly-viscous liquid without splattering or otherwise marring the surface of the workpiece by providing the nozzle with a frusto-conic recess.
    • 一种用于使用的高粘度材料涂覆装置。 在汽车涂装工艺中,涂覆工件的接头可以安装在机器人上。 它提供了改进的操作,其中工件提供平行于接头的参考表面,其中工件提供沿着接头的长度以不同距离从接头移位的参考表面,并且其中工件不提供参考表面。 在参考表面可用的情况下,该装置的可伸长的弹簧偏置引导销沿着参考表面移动,并且通过弹簧的作用来补偿任何位置误差。 如果参考表面和接头之间的距离变化,则可以通过各种公开的做法来补偿变化的距离。 该装置还可以用于通过相对于喷嘴缩回引导销并且通过控制机器人以将喷嘴引导到接头而不提供参考表面。 常规喷嘴可以适于通过为喷嘴提供截头圆锥凹槽而分配高粘度液体而不会飞溅或以其他方式损坏工件的表面。
    • 10. 发明授权
    • Robot control method and apparatus
    • 机器人控制方法及装置
    • US5412759A
    • 1995-05-02
    • US915598
    • 1992-07-21
    • Tatsuo YanoMasayuki WatanabeKouji OtaTadayuki Matsumoto
    • Tatsuo YanoMasayuki WatanabeKouji OtaTadayuki Matsumoto
    • G05B19/18B25J9/18G05B19/404G05B19/408G05B19/42G06F15/46
    • G05B19/4083G05B2219/39399
    • Even if a stop position of a supplied workpiece is not accurate, in order which an online robot can accurately perform works such as welding and painting, through the use of an offline robot of the same type as the online robot, detecting three reference positions on a workpiece by a first optical three-dimensional position detection means and teaching can be performed. The first coordinate transform matrix A1 stores the coordinates of each of the positions for an operation on the workpiece as the taught contents, when it is assumed that the workpiece is at a first reference position. The online robot uses a second coordinate transform matrix A2 to calculate coordinates when it is assumed that the workpiece is at a second reference position of the online robot and stores these in a second memory, and the reference points of the workpiece which is supplied for processing are detected by a second optical three-dimensional position detection means and a third coordinate transform matrix A3 is used to determine each of the positions for operation on the supplied workpiece and the online robot reproduces them and performs the work. Even if the stop position of the supplied workpiece is not accurate, it is possible for operations to be accurately performed on the work.
    • 即使所提供的工件的停止位置不准确,为了使在线机器人能够通过使用与在线机器人相同类型的离线机器人精确地进行诸如焊接和涂装的工作,以检测三个参考位置 可以通过第一光学三维位置检测装置和示教来执行工件。 当假设工件处于第一参考位置时,第一坐标变换矩阵A1将用于操作的每个位置的坐标存储在工件上作为教导内容。 当假设工件处于在线机器人的第二参考位置时,在线机器人使用第二坐标变换矩阵A2来计算坐标,并将它们存储在第二存储器中,并且将被提供用于处理的工件的参考点 由第二光学三维位置检测装置检测,并且使用第三坐标变换矩阵A3来确定所供给的工件上的每个操作位置,并且在线机器人再现它们并进行工作。 即使所提供的工件的停止位置不准确,也可以对工件进行精确的操作。