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    • 4. 发明授权
    • Apparatus and method for programming a computer operated robot arm using
macro instructions
    • 使用宏指令编程计算机操作的机器人手臂的装置和方法
    • US4757459A
    • 1988-07-12
    • US868412
    • 1986-05-29
    • John C. LauchnorJoseph W. Schnelle
    • John C. LauchnorJoseph W. Schnelle
    • G05B19/425G06F15/46G05B19/42
    • G05B19/425G05B2219/35262H01H2239/05
    • Apparatus and method are disclosed for teaching a cycle of operation to a computer operated robot arm. A keyboard is provided comprising first keystroke means which are operative in two different teaching modes. In a first teaching mode, the keystroke means cause storage of individual instructions defining an operation to be performed by the robot arm at a point in space. In the second teaching mode the first keystroke means are operative for creating a macro comprising a sequence of such instructions for later use. There is a pendant which controls the movement of the end of the robot arm and has second keystroke means for causing a previously stored macro to be assembled into an operating control program for the robot arm. The second keystroke means also may be used for causing assembly of individual instructions into the operating control program.
    • 公开了用于向计算机操作的机器人臂教导操作循环的装置和方法。 提供了键盘,其包括以两种不同的教学模式操作的第一击键装置。 在第一教学模式中,击键装置使得定义由机器人手臂执行的操作的各个指令的存储在空间中。 在第二教学模式中,第一击键装置用于创建包括一系列这样的指令以供稍后使用的宏。 具有控制机器人臂的端部的移动的吊坠,并且具有用于使先前存储的宏组装成机器人手臂的操作控制程序的第二击键装置。 第二击键装置还可以用于使单独指令组装到操作控制程序中。
    • 5. 发明授权
    • Customized canned cycles for computer numerical control system
    • 计算机数控系统定制固定循环
    • US4606001A
    • 1986-08-12
    • US613031
    • 1984-05-22
    • Werner P. RiebenJill M. Willson
    • Werner P. RiebenJill M. Willson
    • G05B19/408G05B19/18G06F9/46
    • G05B19/408G05B2219/33125G05B2219/35262Y02P90/185
    • A method for defining and executing customized canned cycles for a numerically controlled machine in which the end user or original equipment manufacturer can define a sequence of actions or tasks to do precisely what a particular application warrants. The customized sequence of tasks can be subsequently edited or modified or desired. A set of executable tasks capable of being carried out by a machine are defined with an assigned number associated with each task. The desired customized sequence to be performed by a canned cycle command code is entered by the user into memory. A part program containing the command code is loaded into the computer numerical control. The command code is processed to retrieve the desired customized sequence of tasks from memory. The desired tasks are then executed in sequence to cause the commanded action in the controlled machine.
    • 一种用于数字控制机器定义和执行定制固定循环的方法,其中最终用户或原始设备制造商可以定义一系列动作或任务来精确地执行特定应用程序的保证。 任务的定制顺序可以随后被编辑或修改或者期望。 能够由机器执行的一组可执行任务用与每个任务相关联的分配的数量来定义。 由固定循环命令代码执行的期望的定制顺序由用户输入到存储器中。 包含命令代码的零件程序加载到计算机数值控制中。 处理命令代码以从内存中检索所需的自定义任务序列。 然后依次执行所需的任务,以使受控机器中的命令行为。
    • 6. 发明授权
    • Industrial robot
    • 工业机器人
    • US4553077A
    • 1985-11-12
    • US508976
    • 1983-06-29
    • Hakan BrantmarkJohan Ennerfelt
    • Hakan BrantmarkJohan Ennerfelt
    • B25J9/16B25J9/18B25J9/22G05B19/18G05B19/427G05B19/00
    • G05B19/427G05B2219/35262G05B2219/35438G05B2219/36495G05B2219/36497G05B2219/36498G05B2219/45135
    • An industrial robot has a control system with a program memory. During programming, the robot is manually controlled to a sequence of desired positions. At each position, an operating member may be activated to store into the program memory an instruction containing both information about the robot position and information about robot operation at that position.Suitably information about robot operation is entered in the form of identification of a sub-program containing a set or sequence of control signals which have been stored in advance. The sub-program is suitably identified by a number fetched from a buffer memory. For each of the instructions, during the execution of the main program, on the one hand the positioning of the robot is executed and, on the other hand, the sub-program is called and executed.
    • 工业机器人具有带有程序存储器的控制系统。 在编程期间,机器人手动控制到所需位置的顺序。 在每个位置,可以激活操作构件以在程序存储器中存储包含关于机器人位置的信息和关于在该位置处的机器人操作的信息的指令。 适当地关于机器人操作的信息以包含已经预先存储的一组或多个控制信号的子程序的识别的形式输入。 子程序由从缓冲存储器取出的数字适当地标识。 对于每个指令,在执行主程序期间,一方面执行机器人的定位,另一方面,调用和执行子程序。