公开(公告)号：EP0142072A3

公开(公告)日：1986-12-30

申请号：EP84112680

申请日：1984-10-20

申请人： AIDA ENGINEERING, LTD.

发明人： KOMATSU, ISAMU ,  SERIZAWA, KENKICHI

IPC分类号： B24B19/20 ,  B24B27/00 ,  B24B51/00 ,  G05B19/421 ,  G05B19/42

CPC分类号： G05B19/421 ,  B24B19/20 ,  B24B51/00 ,  G05B2219/34365 ,  G05B2219/36498 ,  G05B2219/45161 ,  Y02P90/265

摘要： The grinding robot according to the present invention is, to be more precise, a playback system grinding work robot with which No. 1 arm (7) turning around an axis, No. 2 arm (8) pivoted on and turning around the head portion of said No. 1 arm (7) and an abrasive tool (9) attached to an axle (10) of the head of No. 2 arm (8) are provided, and has epock-making functions which makes it possible to move the abrasive tool (9) automatically and freely to a given direction, and to apply this grinding robot work efficiently to the curved surfaces of the complicated shape workpiece (58).
Further, the grinding robot under the present invention has a unique table device (48) which is inclinable freely from a horizontal level to a perpendicular position and in consequ­ ence it is very easy to set the abrasive tool (9) face to face with the workpiece (58) surface and also to control a position and a motion of the abrasive tool (9) because the position of the workpiece (58) fixed on the table is almost unchanged by the aid of linkages when the table (48) is inclined.
Furthermore, the grinding robot under the present inven­ tion has an original and unique structure that a hydraulic cylinder is fitted to the head portion of No. 2. arm (8) and its ascending and descending motions can be controlled at the time of tool retirement, and that a playback control device functioning at the time of said tool retirement is built in the mechanism.

公开(公告)号：EP3541582B1

公开(公告)日：2023-11-01

申请号：EP17791572.5

申请日：2017-10-10

发明人： RIEDEL, Martin

IPC分类号： B25J9/00 ,  B25J13/02 ,  G05B19/421 ,  G05B19/427

公开(公告)号：EP3380902B1

公开(公告)日：2020-01-08

申请号：EP16805966.5

申请日：2016-11-23

申请人： Science Ventures Denmark A/S

发明人： CORTSEN, Jens

IPC分类号： G05B19/423 ,  G05B19/427 ,  G05B19/414 ,  G05B19/421

公开(公告)号：EP0732640A3

公开(公告)日：1996-12-04

申请号：EP96107674.2

申请日：1992-04-30

申请人： Becton Dickinson and Company

发明人： den Engelse, Peter ,  Flipse, Alexander

IPC分类号： G05B19/421

CPC分类号： G02B21/26 ,  G05B19/106 ,  G05B19/231 ,  G05B19/421 ,  G05B2219/35459 ,  G05B2219/35477 ,  G05B2219/36465 ,  G05B2219/37396 ,  G05B2219/43186 ,  G05B2219/45182 ,  G05B2219/45238

摘要： The field of the invention is a combination of a microscope and an interactive image analysis system comprising a camera and a computer work station. The purpose of the invention is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.

公开(公告)号：EP0460227B1

公开(公告)日：1995-09-13

申请号：EP91900926.6

申请日：1990-12-14

申请人： FANUC LTD.

发明人： HARA, Ryuichi, c/o FANUC Mansion Harimomi 7-206

IPC分类号： G05B19/421

CPC分类号： G05B19/4182 ,  G05B2219/36448 ,  G05B2219/39101 ,  G05B2219/50353 ,  Y02P90/083

摘要： An additional shaft follow-up control system of a robot which controls a tool tip point (TCP) of a robot while following up an additional shaft. The additional shaft is fed manually (S1) and the coordinates position of the additional shaft is read (S2). The coordinates and posture of the tool tip point (TCP) at which the relative positions and postures of the additional shaft and the tool tip point (TCP) of the robot coincide are determined (S3) and the tool tip point (TCP) is moved to this position so as to change the posture. In this manner, the positional relation between the additional shaft such as a table and the tool tip point (TCP) and their postures can be kept constant.

公开(公告)号：EP0460227A1

公开(公告)日：1991-12-11

申请号：EP91900926.6

申请日：1990-12-14

申请人： FANUC LTD.

发明人： HARA, Ryuichi, c/o FANUC Mansion Harimomi 7-206

IPC分类号： G05B19/421

CPC分类号： G05B19/4182 ,  G05B2219/36448 ,  G05B2219/39101 ,  G05B2219/50353 ,  Y02P90/083

摘要： An additional shaft follow-up control system of a robot which controls a tool tip point (TCP) of a robot while following up an additional shaft. The additional shaft is fed manually (S1) and the coordinates position of the additional shaft is read (S2). The coordinates and posture of the tool tip point (TCP) at which the relative positions and postures of the additional shaft and the tool tip point (TCP) of the robot coincide are determined (S3) and the tool tip point (TCP) is moved to this position so as to change the posture. In this manner, the positional relation between the additional shaft such as a table and the tool tip point (TCP) and their postures can be kept constant.

摘要翻译： 当手动进给主轴时，系统读取附加主轴的坐标位置。 还读取机器人的工具端的坐标和姿态。 刀具终端位置改变，直到附加主轴和刀具端的相对位置和态度相同。 机器人（1）可以在其工具端具有焊炬（3）。 在这种情况下，手电筒的位置和姿态根据额外的心轴姿态而改变。 附加的主轴可以属于承载工件（6）的旋转工作台（5）。 控制系统（用于机器人（7）和附加主轴（8））保持相对位置和态度，并且工具不变。