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1. 发明授权

US4608651A Control system for direct teaching/playback type robots 失效
标题翻译：直接教学/播放型机器人控制系统
公开(公告)号：US4608651A
公开(公告)日：1986-08-26
申请号：US499880
申请日：1983-06-01
申请人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
发明人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
IPC分类号： B25J9/18 , G05B19/423 , B25J11/00 , F16D21/04 , G05B19/18
CPC分类号： G05B19/423 , G05B2219/37297 , G05B2219/45083 , Y10T477/327
摘要： A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.
摘要翻译：一种用于直接教学/回放型机器人的控制系统，包括连接到用于通过摩擦联接驱动机器人元件的驱动源的低弹簧常数构件。控制系统基本上包括设置在机器人元件和用于检测机器人元件的旋转位置的摩擦联接器之间的第一增量位置检测器，连接到驱动源的第二增量位置检测器，用于检测驱动源的旋转位置;以及分别用于在教学和重放操作模式下选择性地将第一和第二位置检测器的输出端连接到驱动源控制器的开关。

2. 发明授权

US4417126A Method of controlling a weaving path of a welding torch in arc welding with a consumable electrode 失效
标题翻译：用消耗电极控制电弧焊焊枪的编织路径的方法
公开(公告)号：US4417126A
公开(公告)日：1983-11-22
申请号：US374735
申请日：1982-05-04
申请人： Kenji Kasahara , Yoshiaki Munezane
发明人： Kenji Kasahara , Yoshiaki Munezane
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/127
摘要： A method for controlling a weaving path of a welding torch to trace a welding line in consumable electrode arc welding, including: detecting in a rightward weaving stroke of weaving motion a welding current level IL.sub.1 at the left end position of the weaving motion and a minimum current level IL.sub.2 during the period of the rightward weaving stroke and in a leftward weaving stroke of weaving a welding current level IR.sub.1 at the right end position of the weaving motion and a minimum current level IR.sub.2 during the period of the leftward weaving stroke; calculating the values of differential current (IL.sub.1 -IL.sub.2) and (IR.sub.1 -IR.sub.2) in the rightward and leftward weaving strokes, respectively; comparing and computing a disparity, if any, between the differential current values; and shifting the position of a median point of weaving motion according to the extent of the disparity in the differential current values.
摘要翻译：一种用于控制焊炬的编织路径以追踪可消耗电极电弧焊接中的焊接线的方法，包括：在织造运动的右侧织造行程中检测织造运动的左端位置处的焊接电流水平IL1和最小值在向右织造行程期间的当前水平IL2和在织造运动的右端位置编织焊接电流水平IR1的左向织造行程和在左侧织造行程期间的最小电流水平IR2; 分别计算向左和向左编织笔划中的差分电流（IL1-IL2）和（IR1-IR2）的值; 比较和计算差分电流值之间的差异（如果有的话）; 并且根据差分电流值中的视差的程度来移动编织运动的中点的位置。

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