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1. 发明授权

US5224032A Process for controlling the movements of an axis on program-controlled machines and control system 失效
标题翻译：用于控制程序控制机器和控制系统上的轴的运动的过程
公开(公告)号：US5224032A
公开(公告)日：1993-06-29
申请号：US549407
申请日：1990-07-06
申请人： Heinz Worn , Dietmar Schmid
发明人： Heinz Worn , Dietmar Schmid
IPC分类号： G05B19/4061 , G05B19/416 , G05B19/42
CPC分类号： G05B19/4207 , G05B19/4061 , G05B19/4163 , G05B2219/36417 , G05B2219/36437 , G05B2219/41167 , G05B2219/42063 , G05B2219/42123 , G05B2219/49143 , G05B2219/49147 , G05B2219/49362
摘要： The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.
摘要翻译：本发明涉及用于控制包括位置控制单元和/或速度控制单元和/或功率控制单元的程控机器，尤其是工业机器人上的轴的移动的过程和系统。在操作期间从外部作用在轴上的负载由一个或多个传感器测量。负载信号在位置控制方差增加的意义上被再生地反馈并发送到位置和/或速度控制单元的求和点。为了增加或减少轴的机械灵活性，提供可控制的放大或衰减装置。传感器可以具有不同的设计，对应于待测量的载荷。它们优选地直接与轴相关联。

2. 发明授权

US09519282B2 Method for moving a tool of a CNC machine over a surface 有权
标题翻译： CNC机床工具在表面上移动的方法
公开(公告)号：US09519282B2
公开(公告)日：2016-12-13
申请号：US13039080
申请日：2011-03-02
申请人： Giuseppe Morfino
发明人： Giuseppe Morfino
IPC分类号： G05B19/416 , G05B19/401 , G05B19/404
CPC分类号： G05B19/4163 , G05B19/401 , G05B19/404 , G05B2219/35159 , G05B2219/36503 , G05B2219/49061 , G05B2219/49066 , G05B2219/49069 , G05B2219/49186 , G05B2219/49362
摘要： A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, comprising the steps of: (a) moving the tool over the surface in a predetermined direction and/or with a predetermined velocity and/or along a predetermined path, (b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter, (c) determining, by the sensor unit, a response value indicating a response of the tool to treating the surface and/or to being pressed to the surface, and (d) determining a new direction and/or a new velocity and/or a new path and/or a new value for the treatment parameter based on the response value.
摘要翻译：一种用于在表面上移动CNC机床的工具的方法，其中所述CNC机器设置有传感器单元，所述方法包括以下步骤：（a）沿预定方向和/或以预定速度在所述表面上移动所述工具和/或沿着预定路径，（b）根据治疗参数的预定值由所述工具处理所述表面，（c）由所述传感器单元确定指示所述工具对所述治疗参数的响应的响应值表面和/或被压到表面，以及（d）基于响应值确定治疗参数的新方向和/或新速度和/或新路径和/或新值。

3. 发明授权

US07034249B2 Method of controlling the welding of a three-dimensional structure 有权
标题翻译：控制三维结构焊接的方法
公开(公告)号：US07034249B2
公开(公告)日：2006-04-25
申请号：US10866335
申请日：2004-06-10
申请人： Jukka Gustafsson , Mikko Veikkolainen
发明人： Jukka Gustafsson , Mikko Veikkolainen
IPC分类号： B23K9/127
CPC分类号： B23K37/0461 , B23K9/0026 , B23K9/0256 , B23K9/032 , B23K9/1274 , B23K26/03 , B23K26/032 , B23K37/0235 , B23K37/0426 , B23K2101/24 , B25J9/1697 , B63B9/06 , G05B2219/37555 , G05B2219/37571 , G05B2219/45104 , G05B2219/49362
摘要： A welded structure is formed by arranging multiple pieces on a three-dimensional support base to provide an assembly in accordance with the structure to be welded and making a picture map of the assembly by photographing the assembly. Weld points are identified from the picture map and welding parameters are determined from the picture map. Control data specifying the weld points and welding parameters are supplied to welding equipment that is operable in a three-dimensional X-Y-Z coordinate system. The welding equipment is moved in the X-Y plane on the basis of the picture map and said control data. The welding equipment is moved along the Z-axis on the basis of Z-axis position data that are acquired by repeatedly measuring the Z-axis position of the support base.
摘要翻译：通过在三维支撑基座上布置多个部件来形成焊接结构，以根据要焊接的结构提供组件，并通过拍摄组件来制作组件的图形图。焊接点由图像图识别，焊接参数由图像图确定。将焊接点和焊接参数的控制数据提供给可在三维X-Y-Z坐标系中操作的焊接设备。焊接设备在X-Y平面上根据画面图和控制数据进行移动。基于通过重复测量支撑基座的Z轴位置而获得的Z轴位置数据，焊接设备沿着Z轴移动。

4. 发明授权

US5299389A Automatic grinding apparatus 失效
标题翻译：自动研磨机
公开(公告)号：US5299389A
公开(公告)日：1994-04-05
申请号：US956932
申请日：1992-10-02
申请人： Seishu Yonaha , Meitoku Chin , Kenichi Yatsuda
发明人： Seishu Yonaha , Meitoku Chin , Kenichi Yatsuda
IPC分类号： B25J9/16 , G05B19/416 , B24B49/00
CPC分类号： G05B19/4163 , B25J11/0065 , B25J9/1684 , G05B2219/37285 , G05B2219/37405 , G05B2219/45058 , G05B2219/49362 , G05B2219/50109 , G05B2219/50113
摘要： An automatic grinding apparatus includes a constant rotating grinder (24) having a motor (25) in which a load current increases or decreases due to the metal removal rate per unit hour, a travelling device for moving the grinder three-dimensionally along the grinding surface, a sliding device (20) for adjusting the distance between the grinder and an object (50, 51) to be found and a controller for controlling the sliding device to allow the load current of the grinding motor to be constant. An articulated robot or a cartesian coordinate robot is used for the travelling device. The automatic grinding apparatus starts the grinding motor at first, halting the travelling device at the initiation of grinding, permitting the grinder to approach the object to be ground after a time interval and starting the travelling device simultaneously or a little later after detecting that the grinding disk (26) contacts the object to be ground, due to the variation of the load current of the grinding motor. The apparatus restores respective relative positions of the grinder and the sliding device (20) to a certain position by regulating the operation time of an elevation motor (21) of the sliding device or by directly detecting the location of the slider of the sliding device before and after the grinding process. The automatic grinding apparatus is used for grinding a workpiece (50) such as for finishing welded metal and deburring or chamfering the work piece.
摘要翻译：一种自动磨削装置，包括具有电动机（25）的恒定旋转研磨机（24），由于每单位时间的金属去除率，负载电流增加或减少，用于沿研磨面三维地移动研磨机的行进装置，用于调整研磨机与要找到的物体（50,51）之间的距离的滑动装置（20）和用于控制所述滑动装置以允许所述研磨电机的负载电流恒定的控制器。行走装置使用铰接机器人或笛卡尔坐标机器人。首先，自动研磨装置启动研磨电机，在开始研磨时使行走装置停止，使得研磨机能够在时间间隔后接近被研磨物体，并且在检测到研磨之后同时或稍后起动行进装置由于磨削电机的负载电流的变化，盘（26）接触被研磨物体。该装置通过调节滑动装置的升降马达（21）的操作时间或者通过直接检测滑动装置的滑块的位置，将研磨机和滑动装置（20）的各个相对位置恢复到特定位置并在研磨过程之后。自动研磨装置用于研磨工件（50），例如用于整理焊接金属和去毛刺或倒角工件。

5. 发明授权

US4987356A Profiling control system for given curved surface 失效
标题翻译：给定曲面的分析控制系统
公开(公告)号：US4987356A
公开(公告)日：1991-01-22
申请号：US421371
申请日：1989-10-13
申请人： Kazuyoshi Yamada , Kunio Kashiwagi , Tooru Kurenuma
发明人： Kazuyoshi Yamada , Kunio Kashiwagi , Tooru Kurenuma
IPC分类号： B23Q35/12 , B25J9/16 , B25J9/18 , G05B19/41
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/37357 , G05B2219/45151 , G05B2219/49362
摘要： A profiling control system for a multiple-degree-of-freedom working machine having at least two degrees of freedom has at least one force control loop. The control loop has a detector for detecting the force applied to a working tool from a work surface, an error detector for determining the difference between the detected force and a command f.sub.ro of urging force of the working took, a processor for computing a velocity command u.sub.z of the working tool on the basis of the determined error, a drive system for moving the multiple-degree-of-freedom working machine on the basis of the velocity command. Further, the multiple-degree-of-freedom working machine is moved on the basis of a velocity command u.sub.x. The control system provides a moving velocity v.sub.zof in an urging direction of the working tool, which occurs as the result of a gradient tan .alpha. of the work surface with respect to a feed direction when the working tool is fed with the velocity command u.sub.x and while the working tool is urged against the work surface with the force command f.sub.ro. Also, a controlled variable, either f.sub.ro or u.sub.z of the force control loop is corrected by using the moving velocity v.sub.zof in the urging direction, thereby canceling the force f.sub.of due to the velocity v.sub.zof.

6. 发明授权

US4967365A Method and apparatus for adaptive control of the trajectory of a working process 失效
标题翻译：用于自动控制工作过程轨迹的方法和装置
公开(公告)号：US4967365A
公开(公告)日：1990-10-30
申请号：US282179
申请日：1988-12-09
申请人： Jan Hampl , Oldrich Taraba , Jiri Valenta
发明人： Jan Hampl , Oldrich Taraba , Jiri Valenta
IPC分类号： B23Q15/02 , G05B19/4063 , G05B19/4065 , G05B19/408 , G05B19/416
CPC分类号： G05B19/4065 , G05B19/4063 , G05B19/4083 , G05B19/4163 , G05B2219/34465 , G05B2219/35012 , G05B2219/36503 , G05B2219/37229 , G05B2219/37245 , G05B2219/37351 , G05B2219/37525 , G05B2219/45159 , G05B2219/49066 , G05B2219/49362 , G05B2219/50031 , G05B2219/50071 , G05B2219/50314 , Y02P90/265
摘要： A method and apparatus are provided for adaptive control of the path of movement of a working tool during a working process wherein an acoustic signal is generated responsive to contact of the working tool with the workpiece and wherein stochastic signals are picked up during the course of the working process. On the basis of characteristic features of these signals the path of the working tool is corrected in order to maintain required conditions of the working process.
摘要翻译：提供了一种方法和装置，用于在工作过程中自动控制工作工具的移动路径，其中响应于工作工具与工件的接触产生声学信号，并且其中随机信号在过程中被拾取工作流程。基于这些信号的特征，修正工作工具的路径，以保持工作过程的所需条件。

7. 发明授权

US4772161A Profile working machine 失效
标题翻译：轮廓加工机
公开(公告)号：US4772161A
公开(公告)日：1988-09-20
申请号：US20123
申请日：1987-02-27
申请人： Takaaki Nagao , Yotaro Hatamura , Kozo Ono
发明人： Takaaki Nagao , Yotaro Hatamura , Kozo Ono
IPC分类号： B24B49/16 , B23Q15/013 , B23Q17/22 , B24B19/20 , G05B19/41 , B23Q15/12
CPC分类号： B23Q17/2233 , B24B19/20 , B24B49/16 , G05B19/41 , G05B2219/49362 , Y10T409/304704 , Y10T409/306888 , Y10T409/30728 , Y10T409/308008
摘要： A profile working machine includes a support portion, a working portion, and a drive and control system. The machine also includes displacement sensors for detecting the present relative displacements between the support portion and working portion, a load sensor for detecting each working reaction force exerted to the working portion, a memory unit for storing values corresponding to a predetermined suitable working reaction force detected by the load sensor, a deviation computing unit for computing the deviation of each working reaction force from the values stored in the memory unit, and a displacement computing unit for computing, based on the deviation determined by the deviation computing unit and the present relative displacement detected by the displacement sensors, corrective relative displacements of the support portion and working portion required to bring the difference to 0, whereby the spatial orientation of the load sensor is maintained constant relative to the direction of the suitable working reaction force.
摘要翻译：轮廓加工机包括支撑部分，工作部分以及驱动和控制系统。该机器还包括用于检测支撑部分和工作部分之间的当前相对位移的位移传感器，用于检测施加到工作部分上的每个工作反作用力的负载传感器，用于存储与检测到的预定合适的工作反作用力对应的值的存储单元通过负载传感器，用于计算每个工作反作用力与存储在存储单元中的值的偏差的偏差计算单元;以及位移计算单元，用于基于由偏差计算单元确定的偏差和当前的相对位移由位移传感器检测到，将差值设定为0所需的支撑部分和工作部分的校正相对位移，由此负载传感器的空间取向相对于合适的工作反作用力的方向保持恒定。

8. 发明申请

US20110218668A1 METHOD FOR MOVING A TOOL OF A CNC MACHINE OVER A SURFACE 有权
标题翻译：一种用于在一个表面上移动数控机床的工具的方法
公开(公告)号：US20110218668A1
公开(公告)日：2011-09-08
申请号：US13039080
申请日：2011-03-02
申请人： Giuseppe Morfino
发明人： Giuseppe Morfino
IPC分类号： G05B19/404 , G05B19/406
CPC分类号： G05B19/4163 , G05B19/401 , G05B19/404 , G05B2219/35159 , G05B2219/36503 , G05B2219/49061 , G05B2219/49066 , G05B2219/49069 , G05B2219/49186 , G05B2219/49362
摘要： A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, comprising the steps of: (a) moving the tool over the surface in a predetermined direction and/or with a predetermined velocity and/or along a predetermined path, (b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter, (c) determining, by the sensor unit, a response value indicating a response of the tool to treating the surface and/or to being pressed to the surface, and (d) determining a new direction and/or a new velocity and/or a new path and/or a new value for the treatment parameter based on the response value.
摘要翻译：一种用于在表面上移动CNC机床的工具的方法，其中所述CNC机器设置有传感器单元，所述方法包括以下步骤：（a）沿预定方向和/或以预定速度在所述表面上移动所述工具和/或沿着预定路径，（b）根据治疗参数的预定值由所述工具处理所述表面，（c）由所述传感器单元确定指示所述工具对所述治疗参数的响应的响应值表面和/或被压到表面，以及（d）基于响应值确定治疗参数的新方向和/或新速度和/或新路径和/或新值。

9. 发明授权

US07540924B2 Sealant dispenser and control method thereof 有权
标题翻译：密封剂分配器及其控制方法
公开(公告)号：US07540924B2
公开(公告)日：2009-06-02
申请号：US11125528
申请日：2005-05-10
申请人： Man Ho Ahn , Joon Young Kim
发明人： Man Ho Ahn , Joon Young Kim
IPC分类号： B05C11/10
CPC分类号： B05C5/0216 , B05C11/1018 , G05B2219/45238 , G05B2219/49362
摘要： Disclosed is a sealant dispenser for more precisely dispensing a sealant onto a substrate, and a control method thereof. The sealant dispenser includes a stage on which a substrate is mounted; a nozzle for dispensing a sealant while making a relative motion with the substrate; a syringe coupled to the nozzle, for storing the sealant; and a distance sensor installed on both sides of a lower portion of the syringe, for measuring a vertical distance between a principal plane of the substrate and an outlet of the nozzle. According to the principles of the present invention, because the nozzle and the syringe have substantially the same central axis, the response speed of the sealant to be dispensed is increased and the start point and the end point of paste pattern are more precisely dispensed. Also, by minimizing the distance between the nozzle and a measuring point provided by the distance sensor, it becomes possible to dispense the sealant at higher precision.
摘要翻译：公开了一种用于更精确地将密封剂分配到基底上的密封剂分配器及其控制方法。密封剂分配器包括其上安装有基底的台阶; 用于在与基底进行相对运动的同时分配密封剂的喷嘴; 连接到喷嘴的注射器，用于储存密封剂; 以及安装在所述注射器下部两侧的距离传感器，用于测量所述基底的主平面与所述喷嘴的出口之间的垂直距离。根据本发明的原理，由于喷嘴和注射器具有基本上相同的中心轴，所以要分配的密封剂的响应速度增加，并且更精确地分配糊状图案的起始点和终点。此外，通过使喷嘴与由距离传感器提供的测量点之间的距离最小化，可以以更高的精度分配密封剂。

10. 发明授权

US5067086A Three-dimensional shape machining laser device 失效
标题翻译：三维形状加工激光器件
公开(公告)号：US5067086A
公开(公告)日：1991-11-19
申请号：US397460
申请日：1989-08-21
申请人： Etsuo Yamazaki , Nobuaki Iehisa
发明人： Etsuo Yamazaki , Nobuaki Iehisa
IPC分类号： B23K26/00 , B23K26/04 , B23K26/08 , G05B19/18 , G05B19/19 , G05B19/404 , G05B19/41 , G05B19/42 , G05B19/425
CPC分类号： B23K26/046 , B23K26/048 , B23K26/08 , B23K26/0884 , G05B19/41 , G05B19/425 , G05B2219/36417 , G05B2219/37425 , G05B2219/45165 , G05B2219/49362
摘要： A three-dimensional shape machining laser device for performing three-dimensional machining. The device comprises a teaching box (20) for teaching NC commands, a sensor (43) for detecting the distance between the distal end of a nozzle and a work, a control apparatus (10) which includes command storage apparatus for storing the NC commands, NC command execution apparatus for executing the NC commands, tracing apparatus for controlling the gap between the nozzle and the work to a predetermined value, interrupt control apparatus for interrupting the execution of an NC command program, correction value calculation apparatus for calculating correction command values used for correcting coordinate values, and correction apparatus for correcting command values in accordance with the correction command values, etc. Tracer control is performed during execution of the NC commands, and when an amount of deviation from a path according to the NC commands exceeds a predetermined value, correction values are inserted to correct the path. Alternatively, the NC commands are executed without performing the tracer control. When an amount of deviation of the gap exceeds a predetermined value, correction values are inserted to correct the path. Teaching data can therefore be easily checked for accuracy and corrected, whereby reliable teaching data can be obtained.

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