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    • 6. 发明授权
    • Laser robot and method of controlling same, and light beam deflector and
control signal generator therefor
    • 激光机器人及其控制方法,以及光束偏转器及其控制信号发生器
    • US5302802A
    • 1994-04-12
    • US807828
    • 1992-02-05
    • Shigeki FujinagaKiyoshi TakeuchiMasakazu KobayashiShigeki OchiJunko MomosakiEizo TsudaShinsuke InoueKazumasa Yoshima
    • Shigeki FujinagaKiyoshi TakeuchiMasakazu KobayashiShigeki OchiJunko MomosakiEizo TsudaShinsuke InoueKazumasa Yoshima
    • B23K26/08B23K26/10
    • B23K26/0884
    • The present invention belongs to the field of techniques related to a laser robot and a method of controlling the same, particularly for performing weaving of a laser beam easily with high accuracy without the provision of a vibrating condenser lens at the leading edge of an arm.To solve the problems, in the laser robot (RB) of the present invention, a first inclined mirror (41a) is mounted on a motor (42a) inclined at a predetermined angle from a plane perpendicular to the direction of the rotation axis of a rotor shaft. Similarly, a second inclined mirror (41b) is mounted on a motor (42b) inclined at a predetermined angle. The laser beam (LB) emitted from a laser oscillator (8) is reflected in series by the first and second inclined mirrors (41a, 41b) and is subsequently propagated in the laser robot (RB) to be directed toward workpieces from the tip of a torch (7). By controlling the numbers of rotations, rotation directions and rotation phases of the first and second inclined mirrors (41a, 41b), weaving modes of the laser beam (LB) are selected.
    • PCT No.PCT / JP91 / 00700 Sec。 371日期:1992年2月5日 102(e)日期1992年2月5日PCT提交1991年5月20日PCT公布。 公开号WO91 / 17857 日本1991年11月28日。本发明属于与激光机器人相关的技术领域及其控制方法,特别是用于以高精度执行激光束的编织,而不需要提供振动聚光透镜 手臂的前缘。 为了解决这些问题,在本发明的激光机器人(RB)中,第一倾斜镜41a安装在从垂直于旋转轴的方向的平面倾斜预定角度的电动机42a上, 转子轴。 类似地,第二倾斜镜(41b)安装在以预定角度倾斜的马达(42b)上。 从激光振荡器(8)发射的激光束(LB)由第一和第二倾斜镜(41a,41b)串联反射,随后在激光机器人(RB)中传播,以从 火炬(7)。 通过控制第一和第二倾斜镜(41a,41b)的旋转数,旋转方向和旋转相位,选择激光束(LB)的织造模式。
    • 7. 发明授权
    • Method and apparatus for control of an articulated robot
    • 用于控制铰接机器人的方法和装置
    • US4580229A
    • 1986-04-01
    • US540177
    • 1983-10-07
    • Hideo KoyamaFumio NoguchiShigeki FujinagaHirotoshi YamamotoTakahiko Kondo
    • Hideo KoyamaFumio NoguchiShigeki FujinagaHirotoshi YamamotoTakahiko Kondo
    • B25J9/16B25J13/00G05B19/25G05B19/408G06F15/50
    • G05B19/4086G05B19/258G05B2219/33263G05B2219/37357G05B2219/41434G05B2219/45083
    • An apparatus for controlling an articulated robot comprises coordinate transforming portions (5 to 8 and 18) and a calculating portion (9) for equation of motion. The coordinate transforming portions (5 to 8 and 18) perform coordinate transformation between the Cartesian coordinate system and the articular system with respect to the position data, speed data, acceleration data and force data. The coordinate transforming portions (5 to 8 and 18) are respectively formed of hardware and accordingly, the calculation speed therein is extremely high as compared with the case using software. The calculating portion (9) for equation of motion solves the inverse problem of an equation of motion using the speed data (d.alpha.) and acceleration data (d.sup.2 .alpha.) in the articular coordinate system, whereby predictive control is performed. The calculating portion (9) for equation of motion is also formed of hardware and accordingly, the calculation speed therein is extremely high. In addition, the above described controlling apparatus further comprises a force feedback loop, so that the RCC (Remote Center of Compliance) can be realized in the arms per se of a robot.
    • 用于控制铰接机器人的装置包括坐标变换部分(5至8和18)和用于运动方程的计算部分(9)。 坐标变换部(5〜8和18)相对于位置数据,速度数据,加速度数据和力数据进行笛卡尔坐标系和关节系统之间的坐标变换。 坐标变换部(5〜8和18)分别由硬件形成,因此与使用软件的情况相比,其计算速度非常高。 用于运动方程的运算部分(9)使用关节坐标系中的速度数据(dα1)和加速度数据(d2α)来解决运动方程的逆问题,从而进行预测控制。 用于运动方式的计算部分(9)也由硬件形成,因此其中的计算速度非常高。 此外,上述控制装置还包括力反馈回路,使得可以在机器人的臂本身中实现RCC(远程适应中心)。
    • 10. 发明授权
    • Apparatus for cutting an insulated wire, stripping the end thereof and
twisting the wire strands
    • 用于切割绝缘线的装置,剥离其端部并扭绞线股
    • US4009738A
    • 1977-03-01
    • US622639
    • 1975-10-15
    • Tsutomu BabaShinpei Inukai
    • Tsutomu BabaShinpei Inukai
    • H01R43/00H02G1/12B21F7/00
    • H02G1/1248H02G1/1256H02G1/1292
    • An apparatus for cutting an insulated wire, stripping the end thereof and twisting the wire strands, comprises an insulated wire intermittent supply, cutting blades to be driven to cut the wire during the stoppage of the wire supply and to be returned immediately thereafter. Front and rear stripping blades are driven to cut only the insulation of the wire at positions spaced forwardly and rearwardly of the wire cutting position. Front and rear insulation rotating bars are driven to contact the insulation forward and rearward of the wire cutting position and to move in the opposite directions to rotate the insulation thereof while the wire portions at the opposite sides of the wire cutting position are forcibly drawn in the directions away from the wire cutting position. Recesses of a suitable size are provided on the inner side surfaces of the wire cutting blades at a position slightly spaced from the edge thereof, and paired insulation stripping blades are adapted such that one member of each pair facing the recess of the wire cutting blade is retracted while the other is extended with respect to the wire cutting blades, whereby the end portions of the insulated wire, as cut, extend in the parallel direction and at displaced positions, while the cut ends of the wire face into the recesses of the cutting blades.
    • 一种用于切割绝缘线,剥离其端部并扭绞线股的装置包括绝缘线间歇供电,在电源停止期间被驱动以切断线的切割刀片,并立即返回。 驱动前后剥离刀片,仅在线切割位置向前和向后间隔的位置切割线材的绝缘体。 前后绝缘旋转杆被驱动以接合线切割位置的前后的绝缘,并且沿着相反的方向移动以旋转其绝缘,同时线切割位置的相对侧的线部分被强制拉入 方向远离线切割位置。 在线切割刀片的内侧表面设置有与其边缘稍微间隔的位置的适当尺寸的凹部,并且成对的绝缘剥离刀片适于使得每对面对线切割刀片的凹部的一个构件是 缩回,而另一个相对于线切割刀片延伸,由此绝缘线的端部沿着平行方向和位移位置延伸,同时线的切割端面进入切割凹槽 刀片。