公开(公告)号：EP0458983A1

公开(公告)日：1991-12-04

申请号：EP91900379.8

申请日：1990-12-11

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi Keio Yamada Mansion 2-202 ,  MATSUMOTO, Eiji Fanuc Dai-3 Vira-karamatsu

IPC分类号： B23Q35/127 ,  B23Q35/128

CPC分类号： B23Q35/128 ,  G05B2219/37425

摘要： A noncontact profile controller for profiling the shape of a model by using at least two optical distance detectors that detect the distance of the model. While one (5a) of the optical distance detectors is detecting the distance, the other optical distance detector (5b) operates the irradiated light to stop detecting the distance. When the two optical distance detectors (5a, 5b) are secured on a tracer head (4) to detect coordinate values on the surface of the model (6), no interference occurs even when the light reflected from the surface of the model (6) falls on the position sensor of the other optical distance detector (5b). Therefore, a plurality of measuring points can be detected without interference even when measuring points on the surface of the model (6) are brought close to each other to some extent.

摘要翻译： 非接触式配置控制器包括至少两个检测模型距离的光学距离检测器。 虽然一个（5a）的光学距离检测器正在检测距离，另一个（5b）操作照射的光以停止检测距离。 当两个检测器固定在示踪器头（4）上以检测模型（6）的表面上的坐标值时，即使从模型表面反射的光落在另一个光学器件的位置传感器上也不会发生干扰 距离检测器（5b）。 因此，即使模型表面上的测量点在一定程度上彼此接近，也可以无干扰地检测多个测量点。

公开(公告)号：EP0452138A2

公开(公告)日：1991-10-16

申请号：EP91303233.0

申请日：1991-04-11

申请人： ARMCO INC.

发明人： Neiheisel, Gary L. ,  Nagle, William W. ,  Justice, Robert J. ,  Hoover, Bradley R.

IPC分类号： B23K9/095 ,  B23K9/12 ,  B23K26/04 ,  B23K26/08 ,  B23K26/14

CPC分类号： B23K26/1429 ,  B23K26/032 ,  B23K26/0344 ,  B23K26/04 ,  B23K26/044 ,  B23K26/0643 ,  B23K26/147 ,  B23Q35/128

摘要： Apparatus and method for aligning a welding device along the center of a gap defined by confronting edges of at least two workpieces (55,56) to be joined, wherein relative motion between the welding device and the workpiece gap (G) occurs along a longitudinal axis substantially parallel to the gap (G) such that the proximal edges of the workpieces (55,56) can be joined by forming a weld seam along the gap during the relative motion. The apparatus preferably includes an imaging system (77) for determining the location of the gap center relative to a predetermined two dimensional coordinate system by monitoring an image of a vision area along the gap downstream of the welding zone. In a preferred embodiment, the imaging system is effectively isolated from the welding zone through use of a high magnification optics system, a shroud structure, an independent light source (84), and a vectored jet of inert gas supplied to the welding zone.

摘要翻译： 用于沿着由面对至少两个工件（55,56）的边缘限定的间隙的中心对准的焊接装置的设备和方法将被接合，worin焊接装置和工件间隙（G）沿纵向的发生之间的相对运动 基本上轴线平行于所述间隙（G）并检查工件（55,56）的近端边缘可以由相对运动期间沿所述间隙的焊缝接合。 该装置优选地包括在成像系统（77），用于确定采矿相对于预定二维坐标系的间隙中心的位置由沿着下游的焊接区的间隙监测视区域的图像。 在优选实施例中，成像系统被有效地从所述焊接区通过使用高放大率光学系统，护罩结构以独立的光源（84）的分离，并且惰性气体的射流矢量提供到焊接区。

公开(公告)号：EP0323277A3

公开(公告)日：1990-08-16

申请号：EP88312460.4

申请日：1988-12-30

申请人： WESTINGHOUSE ELECTRIC CORPORATION

发明人： Taft, Jeffrey David ,  Ellison, James Frans

IPC分类号： B25J9/18 ,  B23Q35/128

CPC分类号： B23Q35/128 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/45104 ,  G05B2219/4701

摘要： A control processor in a robotic system treats optically sensed locations along the path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orienta­tion, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by reference to a model made ahead of time with the stored sensed locations grouped as a function of elapsed distances and having a common algebraic feature, such as the slope or the change of slope. A taught path for the robot has been recovered by the control processor also based on elapsed distances and control is related to actual tool position provided by the robot.

公开(公告)号：EP0370682A3

公开(公告)日：1990-07-18

申请号：EP89311801.8

申请日：1989-11-15

申请人： WESTINGHOUSE ELECTRIC CORPORATION

发明人： Zana, Lawrence Joseph

IPC分类号： B25J9/18 ,  G05B19/42 ,  B23Q35/128

CPC分类号： B23Q35/128 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/42162

摘要： A control processor in a robotic system treats optically sensed locations along the seam path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by interpolation between actually sensed locations. A taught path is recovered from the robot. The control processor operation is also based on elapsed distances and related to actual tool position provided by the robot.

公开(公告)号：EP0323276A3

公开(公告)日：1990-07-18

申请号：EP88312459.6

申请日：1988-12-30

申请人： WESTINGHOUSE ELECTRIC CORPORATION

发明人： Taft, Jeffrey David

IPC分类号： B25J9/18 ,  G05B19/42

CPC分类号： G05B19/425 ,  B23Q35/128 ,  G05B2219/36417

摘要： A look-ahead sensor attached to its effector end deviates upon each control action upon the robot toward a new position along the seam path. The chord across the seam path from the present effector end to the contempora­neously sensed seam path location is determined and used with the present orientation of the effector end to deter­mine an additional yaw angle compensating for the devia­tion. As a result, the look-ahead sensor is constantly brought back on track.

公开(公告)号：EP0375418A2

公开(公告)日：1990-06-27

申请号：EP89313430.4

申请日：1989-12-21

申请人： WESTINGHOUSE ELECTRIC CORPORATION

发明人： Taft, Jeffrey David ,  Ellison, James Frans

IPC分类号： B25J9/18 ,  G05B19/42

CPC分类号： B23Q35/128 ,  B25J9/1664 ,  B25J9/1684 ,  G05B19/42 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/37572 ,  G05B2219/45104 ,  G05B2219/4701

摘要： A control processor in a robotic system treats optically sensed locations along the path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by reference to a model made ahead of time with the stored sensed locations grouped as a function of elapsed distances and having a common algebraic feature, such as the slope or the change of slope. A taught path for the robot has been recovered by the control processor also based on elapsed distances and control is related to actual tool position provided by the robot.

摘要翻译： 在机器人系统甜点的控制处理器光学沿着前方的工具，它被分类相对于经过的距离，并确定在3-D坐标和3轴的工具取向，路径感测到的位置，以在实时和下前馈一个应用 表示的路径上的预期的工具位置和预期所感测的位置之间的误差控制信号。在这个过程中，预期的感测到的位置由参考获得与分组为经过的距离的函数，并具有所存储的感测到的位置由时间提前一个模型 一个共同的代数特征,:如斜率或斜率变化。 机器人示教的路径已经由控制处理器，以便根据经过的距离和控制与由机器人提供的实际工具位置回收。

公开(公告)号：EP0275322A4

公开(公告)日：1990-05-14

申请号：EP87904730

申请日：1987-07-15

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： OKUMURA SHINJI KOKURA PLANT K ,  ITO HIROAKI KOKURA PLANT K K ,  NISHIKAWA SEIGO KOKURA PLANT K ,  NAKAZATO TATSUMI KOKURA PLANT

IPC分类号： B23K9/095 ,  B23K9/12 ,  B23K9/127 ,  B23Q35/128 ,  B25J9/16

CPC分类号： B23Q35/128 ,  B23K9/0956 ,  B23K9/1274 ,  B25J9/1684

摘要： A method of detecting position data in arc welding by monitoring the shape of light of welding arc and/or the position thereof. That is, in effecting the arc welding along the position of the beveling while detecting the position of the beveling, the shape of the arc light is imaged by an imaging device from above the joints of the members that are to be welded together, and the shape of the arc light thus imaged is converted into binary values. The shape and/or the position of the arc light converted into binary values are monitored, thus making it possible to detect the position of beveling, height of welding torch, starting point of welding, ending point of welding, corner point of the outer track, corner point of the inner track, work contact point of the welding wire and the gap of the beveling.

公开(公告)号：EP0293554A3

公开(公告)日：1989-06-07

申请号：EP88102616.5

申请日：1988-02-23

申请人： WESTINGHOUSE CANADA INC.

发明人： Enn, Vali

IPC分类号： B23Q35/128

CPC分类号： B23Q35/128 ,  G05B19/416 ,  G05B2219/43048

摘要： In an optical line tracer sudden changes of velocity can cause instability and vibration. Means are provided to limit acceleration or deceleration to a specific rate of change. Speed change signals are processed through a ramp circuit which converts the step function signal to a ramp function before application.

公开(公告)号：EP0203073A4

公开(公告)日：1988-02-23

申请号：EP85900868

申请日：1985-01-14

申请人： CATERPILLAR INC

发明人： ALSTER LOUIS G

IPC分类号： G01B11/24 ,  B23K9/127 ,  B23Q35/128 ,  G01N21/84 ,  G01N21/88 ,  G01N21/89 ,  G01N21/892 ,  G01N21/86

CPC分类号： B23K9/1274 ,  B23Q35/128

公开(公告)号：EP0155394A3

公开(公告)日：1987-10-28

申请号：EP84115731

申请日：1984-12-18

申请人： WESTINGHOUSE CANADA INC.

发明人： Vali, Enn

IPC分类号： B23Q35/128 ,  G06K11/04

CPC分类号： G06K11/04 ,  B23Q35/128

摘要： In a circular scanning pattern tracing system having a sample and hold circuit, the width of the sample pulse is - made adjustable. This variable width is equivalent to a variable low pass filter in the system. The effective cut off frequency of the filter is made dependent on the system tangential tracing velocity.