公开(公告)号：EP0164210B1

公开(公告)日：1989-09-13

申请号：EP85303004.7

申请日：1985-04-29

申请人： UNIMATION INC.

发明人： Antoszewski, Richard Stanley ,  Soroka, Daniel Patrick

IPC分类号： B25J9/08 ,  B25J17/02

CPC分类号： B25J17/025 ,  B25J9/08 ,  B25J9/1025

公开(公告)号：EP0268491A2

公开(公告)日：1988-05-25

申请号：EP87310246.1

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Penkar, Rajan Chandrakant ,  Tan, Neil ,  Casler, Richard James, Jr. ,  Skewis, Timothy P.

IPC分类号： B25J9/18

CPC分类号： G05B19/416 ,  G05B2219/33337 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/42256

摘要： A digital robot control employs planning and trajectory programs which generate the trajectory plan and trajectory position commands with the use of an acceleration profile and a deceleration profile selected from at least squarewave and sine wave profiles. In one embodiment, the planning program generates a time profile including acceleration, slew and deceleration time segments and the trajectory program generates position commands in accordance with the time profile applicable to the current move segment. In an alternate embodiment the planning program generates a motion profile for implementing each robot program motion command in accordance with specified time for acceleration, slew and deceleration. The trajectory program generates position commands along the present path segment either in accordance with a predefined type of path move or in accordance with a curved path trajectory and in accordance with a time profile applicable to the present path segment.

摘要翻译： 数字机器人控制采用规划和轨迹程序，其使用加速度曲线和从至少方波和正弦波轮廓中选择的减速曲线来生成轨迹计划和轨迹位置命令。 在一个实施例中，规划程序产生包括加速度，转动和减速时间段的时间轮廓，并且轨迹程序根据可应用于当前移动段的时间轮廓生成位置命令。 在替代实施例中，规划程序根据加速，减速和减速的指定时间生成用于实现每个机器人程序运动命令的运动曲线。 轨迹程序根据预定类型的路径移动或者根据曲线路径轨迹并根据可应用于当前路径段的时间轮廓沿着当前路径段生成位置命令。

公开(公告)号：EP0268490A2

公开(公告)日：1988-05-25

申请号：EP87310245.3

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Casler, Richard James, Jr. ,  Vercellotti, Leonard Charles ,  Onaga, Eimei Ming ,  Johnson, Richard Arthur

IPC分类号： B25J9/00

CPC分类号： G05B19/237 ,  B25J13/088 ,  G05B2219/33337 ,  G05B2219/34466 ,  G05B2219/37313 ,  G05B2219/41123 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256 ,  G05B2219/45083

摘要： A digital control [Fig. 2] for a multiaxis robot [Fig. 1] includes a pulse width modulation (PWM) circuit [Fig. 58] which drives the arm joint motors (21-26) through a motor control loop. Pulse width modulated control signals (A1, A2, B1, B2) operate power switches in a power bridge [Fig. 5 or Fig. 11 B] to control the current to each robot joint motor. In addition, the PWM circuit provides time stabilized current sampling [Fig. 12] synchronized to the sampling frequency of position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor (59 or 63) independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers. Moreover, the PWM circuitry may be adapted for controlling either a brush [Fig. 5] or brushless [Fig. 11A] type DC arm joint motor.

摘要翻译： 一种数字控制图。 2]用于机器人多轴[图 1]包括脉冲宽度调制（PWM）电路图。 图5B]，其驱动通过一个电机控制回路的臂关节马达（21-26）。 脉冲宽度调制控制信号（A1，A2，B1，B2）中的功率桥[图操作电源开关。 5或图11B]，以控制电流到每个机器人关节马达。 此外，PWM电路提供时间稳定电流取样[图 12]同步到的位置和速度环的机器人控制的采样频率。 PWM方案通过独立的腿的数量的单个电流检测电阻器（59或63）中的功率放大器的配置的使用使得能够进行准确的电动机电流的测量。 此方案允许可商购的，成本低，电源块将被用于实现机器人控制系统的功率放大器。 更上方时，PWM电路可以angepasst用于控制任一刷[图 5]或无刷[图 图11A]型直流电动机臂关节。

公开(公告)号：EP0178930A1

公开(公告)日：1986-04-23

申请号：EP85307493.8

申请日：1985-10-17

申请人： UNIMATION INC.

发明人： Shulman, Burt Howard

IPC分类号： B23K9/02

CPC分类号： B23K9/0956

摘要： Programmable welding apparatus with an image sensing unit and a welding torch hand includes a programmable manipulator apparatus. During a sensing operation the sensing unit emerges from a protective enclosure which surrounds the welding torch and moves linearly downwardly to a sensing position outside the protective enclosure. During the welding operation, the sensing unit is retracted back into the protective enclosure and staging doors, which are pivotally mounted on the bottom edge of the protective enclosure and are closed so as to completely shield the sensing components from the welding fumes and splatter. In addition, when the sensing assembly is in the retracted position within the protective housing, air under pressure is supplied to the interior of the enclosure to provide a purge in the enclosure during the welding cycle to prevent fumes from entering and damaging the optical components of the sensing assembly.

摘要翻译： 具有图像感测单元和焊枪的可编程焊接装置包括可编程机械手装置。 在感测操作期间，感测单元从围绕焊炬的保护壳体露出并且线性向下移动到保护外壳外部的感测位置。 在焊接操作期间，感测单元被缩回到防护外壳和分级门中，转动门枢转地安装在保护外壳的底部边缘上并且被封闭，以便完全屏蔽感测部件免受焊接烟雾和飞溅。 此外，当感测组件处于保护壳体内的缩回位置时，在压力下的空气被供应到外壳的内部，以在焊接周期期间在外壳中提供吹扫，以防止烟雾进入并损坏光学部件 传感组件。

公开(公告)号：EP0121909A1

公开(公告)日：1984-10-17

申请号：EP84103800.3

申请日：1984-04-05

申请人： UNIMATION INC.

发明人： Engelberger, Joseph F.

IPC分类号： B23K11/10

CPC分类号： B23K11/31 ,  B23K11/318

摘要： An industrial robot is employed to perform single electrode spot welding operations by providing a fixed back up plate (20) spaced from the workpiece (14) and shaped to conform to the contour of the workpiece. A single welding electrode (16) is mounted on one piston of a dual piston cylinder (30) which is carried by the manipulator arm (32) and is positioned between the workpiece (14) and the back up plate (20) in alignment with a desired spot weld point. When fluid under pressure is supplied to the cylinder (30), one piston moves the welding electrode (16) down into engagement with the workpiece (14) and the other piston moves upwardly into engagement with the back up plate (20). With this arrangement the arm moving means of the industrial robot is not called upon to develop or withstand the large force exerted on the welding electrode (16), which is necessary to develop a suitable spot weld.

摘要翻译： 采用工业机器人进行单电极点焊操作，通过提供与工件（14）间隔开的固定的备用板（20）并成形为符合工件的轮廓。 单个焊接电极（16）安装在双重活塞气缸（30）的一个活塞上，该活塞由操纵臂（32）承载并位于工件（14）和后支撑板（20）之间，与 所需的点焊点。 当压力下的流体被供应到气缸（30）时，一个活塞将焊接电极（16）向下移动以与工件（14）接合，而另一个活塞向上移动以与后备板（20）接合。 利用这种布置，工业机器人的臂移动装置不被要求开发或承受施加在焊接电极（16）上的大的力，这是需要开发合适的点焊。

公开(公告)号：EP0203830B1

公开(公告)日：1990-01-31

申请号：EP86304140.6

申请日：1986-05-30

申请人： UNIMATION INC.

发明人： Casler, Richard James ,  Shulman, Burt Howard

IPC分类号： B05B13/04 ,  B25J11/00 ,  B05B15/10

CPC分类号： B05B3/028 ,  B05B3/02 ,  B05B13/0431 ,  B25J9/105 ,  B25J19/0029

公开(公告)号：EP0269374A3

公开(公告)日：1988-08-24

申请号：EP87310244

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Jalbert, Vincent P.

IPC分类号： B25J09/18

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A modular digital robot control includes an electronic arm interface board for performing robot arm control dependent functions, an electronic torque processor board with paired microprocessors for operating the respective torque control loops for the robot joint motors, and an electronic servo control board with paired microprocessors for operating position and velocity control loops for the respective joint motors, said electronic boards being interfaced together by a digital bus. A system resource facility is provided for supporting communication between the microprocessors of the various boards and with input/output devices and other systems. A motion program which uses trajectory planning and interpolation to generate position commands In accordance with predefined moves set forth in a robot program is stored on the servo control board in a basic control configuration or is stored on an additional system control board in an expanded control configuration. A communication interface for the paired microprocessors of each board includes first and second memory banks which are cross-switched at a control sampling rate to provide a coordinated exchange of information between its respective pair of microprocessors.

公开(公告)号：EP0268491A3

公开(公告)日：1988-08-03

申请号：EP87310246

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Penkar, Rajan Chandrakant ,  Tan, Neil ,  Casler, Richard James, Jr. ,  Skewis, Timothy P.

IPC分类号： B25J09/18

CPC分类号： G05B19/416 ,  G05B2219/33337 ,  G05B2219/34135 ,  G05B2219/34142 ,  G05B2219/42256

摘要： A digital robot control employs planning and trajectory programs which generate the trajectory plan and trajectory position commands with the use of an acceleration profile and a deceleration profile selected from at least squarewave and sine wave profiles. In one embodiment, the planning program generates a time profile including acceleration, slew and deceleration time segments and the trajectory program generates position commands in accordance with the time profile applicable to the current move segment. In an alternate embodiment the planning program generates a motion profile for implementing each robot program motion command in accordance with specified time for acceleration, slew and deceleration. The trajectory program generates position commands along the present path segment either in accordance with a predefined type of path move or in accordance with a curved path trajectory and in accordance with a time profile applicable to the present path segment.

公开(公告)号：EP0269374A2

公开(公告)日：1988-06-01

申请号：EP87310244.6

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Jalbert, Vincent P.

IPC分类号： B25J9/18

CPC分类号： G05B19/4141 ,  G05B2219/31094 ,  G05B2219/33053 ,  G05B2219/33167 ,  G05B2219/33169 ,  G05B2219/33209 ,  G05B2219/33337 ,  G05B2219/34044 ,  G05B2219/34076 ,  G05B2219/34194 ,  G05B2219/34196 ,  G05B2219/34225 ,  G05B2219/34428 ,  G05B2219/35585 ,  G05B2219/40523 ,  G05B2219/42062 ,  G05B2219/45083 ,  Y02P90/18

摘要： A modular digital robot control includes an electronic arm interface board for performing robot arm control dependent functions, an electronic torque processor board with paired microprocessors for operating the respective torque control loops for the robot joint motors, and an electronic servo control board with paired microprocessors for operating position and velocity control loops for the respective joint motors, said electronic boards being interfaced together by a digital bus. A system resource facility is provided for supporting communication between the microprocessors of the various boards and with input/output devices and other systems. A motion program which uses trajectory planning and interpolation to generate position commands In accordance with predefined moves set forth in a robot program is stored on the servo control board in a basic control configuration or is stored on an additional system control board in an expanded control configuration. A communication interface for the paired microprocessors of each board includes first and second memory banks which are cross-switched at a control sampling rate to provide a coordinated exchange of information between its respective pair of microprocessors.

摘要翻译： 模块化数字机器人控制装置包括用于执行机器人手臂控制相关功能的电子手臂接口板，具有成对微处理器的电子扭矩处理器板以操作用于机器人关节马达的相应扭矩控制回路，以及具有成对微处理器的电子伺服控制板， 用于各个关节马达的操作位置和速度控制回路，所述电子板通过数字总线连接在一起。 提供系统资源设施用于支持各种板的微处理器之间的通信以及输入/输出设备和其他系统之间的通信。 使用轨迹规划和插补生成位置指令的运动程序根据机器人程序中规定的预定义移动，将以基本控制组态存储在伺服控制板上，或以扩展控制组态存储在其他系统控制板上 。 用于每个板的成对微处理器的通信接口包括以控制采样率交叉切换的第一和第二存储体，以提供其各自微处理器对之间的信息的协调交换。

公开(公告)号：EP0268495A2

公开(公告)日：1988-05-25

申请号：EP87310254.5

申请日：1987-11-19

申请人： UNIMATION INC.

发明人： Daggett, Kenneth Edward ,  Onaga, Eimei Mind ,  Casler, Richard James, Jr. ,  Booth, Barrett Lawrence ,  Penkar, Rajan Chandrakant ,  Vercellotti, Leonard Charles

IPC分类号： B25J9/18

CPC分类号： B25J9/1633 ,  G05B19/4141 ,  G05B2219/33337 ,  G05B2219/41426 ,  G05B2219/42237 ,  G05B2219/42256

摘要： A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.
Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.
Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microproces­sors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque com­mands and the current feedback signals.
Pulse width modulators generate digital motor control signals for each of the robot axes at the sampling rate in response to the voltage commands. The digital control signals for each axis are coupled to control terminals of the corresponding power switches to control on/off switch time and satisfy the motor voltage commands and thereby satisfy the position commands.

摘要翻译： 完全数字机器人控制以预定的采样速率运行。 机器人臂具有多个接头，每个接头都由电刷或刷式直流电动机驱动，电动马达或电刷型直流电动机通过连接在其中的功率开关的功率放大器桥式电路提供驱动电流，以在前进或后退中提供电动机绕组电流 方向。 增量式或绝对式编码器和转速计提供与采样速率同步产生的数字位置和速度反馈信号。 数字电机电流反馈信号也与采样率同步产生。 配对位置/速度微处理器响应于位置指令和位置和速度反馈信号以采样速率为每个机器人轴产生转矩指令。 配对扭矩微处理器响应于转矩指令和电流反馈信号以采样速率为每个机器人轴生成电动机电压指令。 脉冲宽度调制器响应于电压指令以采样速率为每个机器人轴生成数字电机控制信号。 每个轴的数字控制信号耦合到相应的电源开关的控制端，以控制开/关时间，满足电机电压指令，从而满足位置指令。