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    Method of generating an adaptive tool path for manufacture or repair of an aerofoil
    4.
    发明公开
    Method of generating an adaptive tool path for manufacture or repair of an aerofoil 有权
    用于产生自适应刀具路径的翼型件的制造或修补方法和装置

    公开(公告)号：EP2793090A1

    公开(公告)日：2014-10-22

    申请号：EP14159361.6

    申请日：2014-03-13

    申请人： Rolls-Royce plc

    发明人： Buchanan, Alistair ,  Heason, Christopher

    IPC分类号： G05B19/4099 ,  G05B19/41

    CPC分类号： B23K26/34 ,  B23K26/035 ,  G05B19/41 ,  G05B2219/32228 ,  G05B2219/33031 ,  G05B2219/34083 ,  G05B2219/34135

    摘要： A method of determining an adaptive tool path for additive deposition to an aerofoil having a leading edge, a trailing edge and suction and pressure surfaces extending between the leading and trailing edges, the method comprising the steps: providing an aerofoil with a deposition plane; determining for the deposition plane points corresponding the leading edge, the trailing edge and the centre of a circle constrained by both the suction surface and the pressure surface when they are at their greatest distance apart; determining the position of the centre point of a circle the edge of which passes through the deposition plane points; determining a trailing edge reference line extending from the centre point of the circle through the trailing edge point, a leading edge reference line extending from the centre point of the circle through the leading edge point and one or more mid reference lines extending from the centre point of the circle through one or more mid reference points between the leading edge point and the trailing edge point; trimming each mid reference line to the bounds of the suction surface and pressure surface and determining the length of each mid reference line; applying an adaptive factor to the length of each mid reference line to provide an adaptive point for each mid reference line; determining an spline extending through the leading edge point, the trailing edge point and each adaptive point; and traversing a tool along the spline or a path offset from the spline by a predetermined factor.

    摘要翻译： 在自适应刀具路径确定性采矿的用于添加剂沉积在机翼具有前缘，后缘和吸力面和压力面的前缘和后缘之间延伸的方法，所述方法包括以下步骤：在与沉积平面机翼提供; 确定性采矿用于沉积平面上的点对应的前缘，后缘，并通过这两个吸入表面和压力表面，当他们在离开他们最大距离限制的圆的中心; 确定性采矿圆哪个的边缘穿过沉积平面上的点的中心点的位置; 确定性挖掘后缘基准线穿过后缘点从圆的中心点延伸的前缘基准线穿过前缘点和一个或多个中间参考线从中心点延伸从圆的中心点延伸 穿过前缘点和后缘点之间的一个或多个中间的参考点的圆的; 微调每个中间参考线到吸力面和压力面和确定性采矿每个中间参考线的长度的边界; 施加到自适应系数与每个中间参考线的长度，以提供自适应的点为每个中间参考线; 花键穿过前缘点，后缘点和每个点自适应扩展的确定性开采; 以及遍历沿花键或一个路径通过一个预定的系数从花键偏移的工具。

    CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM OF ARTICULATED ROBOT
    5.
    发明公开
    CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM OF ARTICULATED ROBOT 审中-公开
    STEUEREINHEIT，STEUERVERFAHREN UND STEUERPROGRAMMFÜREINEN GELENKROBOTER

    公开(公告)号：EP2684649A1

    公开(公告)日：2014-01-15

    申请号：EP12755662.9

    申请日：2012-03-02

    申请人： Kabushiki Kaisha Kobe Seiko Sho

    发明人： OONE Tsutomu ,  NISHIMURA Toshihiko

    IPC分类号： B25J9/10 ,  B23K9/12 ,  G05B19/4103

    CPC分类号： B25J9/10 ,  B25J9/1664 ,  G05B19/4103 ,  G05B19/423 ,  G05B2219/34083 ,  G05B2219/40333 ,  G05B2219/45104 ,  Y10S901/41

    摘要： In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected from said plurality of candidates and made to serve as the angle of the wrist shaft, the angles of other shafts that correspond to this angle are recalculated and made to serve as the subsequent interpolation point, and the articulated robot is driven.

    摘要翻译： 为了抑制目标坐标系中的姿势角的特定成分的波动，同时保持手腕前缘的位置，手腕的前缘的移动速度以及在速度抑制期间轴的容许速度 ，在计算教学路径上的插补点中的位置时移动的关节式机器人，提供每个轴的姿态和角度，其中判断腕轴的速度是否超过允许极限，并且如果 超过许可极限，计算将维持速度保持在允许极限内的腕轴角度的多个候选，并且从焊接线坐标系的姿势角的特定分量中具有最小波动的候选选自 所述多个候选者被用作角度的腕轴，其他轴的角度对应于t 重新计算角度并作为随后的插补点，并且关节式机器人被驱动。

    CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM OF ARTICULATED ROBOT
    7.
    发明公开
    CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM OF ARTICULATED ROBOT 审中-公开
    控制单元，一个联合机器人控制方法和控制方案

    公开(公告)号：EP2684649A4

    公开(公告)日：2016-05-18

    申请号：EP12755662

    申请日：2012-03-02

    申请人： KOBE STEEL LTD

    发明人： OONE TSUTOMU ,  NISHIMURA TOSHIHIKO

    IPC分类号： B23K9/12 ,  B25J9/16 ,  G05B19/4103

    CPC分类号： B25J9/10 ,  B25J9/1664 ,  G05B19/4103 ,  G05B19/423 ,  G05B2219/34083 ,  G05B2219/40333 ,  G05B2219/45104 ,  Y10S901/41

    摘要： In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected from said plurality of candidates and made to serve as the angle of the wrist shaft, the angles of other shafts that correspond to this angle are recalculated and made to serve as the subsequent interpolation point, and the articulated robot is driven.

    Verfahren zum Steuern der dreidimensionalen Relativbewegung eines Roboters gegenüber einem an einem Werkstückträger befestigten Werkstück
    9.
    发明公开
    Verfahren zum Steuern der dreidimensionalen Relativbewegung eines Roboters gegenüber einem an einem Werkstückträger befestigten Werkstück 失效
    一种用于控制机器人相对于以固定的三维相对移动到工件托架的工件的方法。

    公开(公告)号：EP0271691A1

    公开(公告)日：1988-06-22

    申请号：EP87116245.9

    申请日：1987-11-04

    申请人： SIEMENS AKTIENGESELLSCHAFT

    发明人： Höhn, Georg, Dipl.-Ing. ,  Hoos, Gerd, Dipl.-Ing. ,  Meier, Christof, Dr.

    IPC分类号： G05B19/417

    CPC分类号： G05B19/4182 ,  G05B2219/34083 ,  G05B2219/39101 ,  Y02P90/04 ,  Y02P90/083 ,  Y02P90/20

    摘要： Das Verfahren erlaubt es, sowohl translatorisch und/oder rota­torisch bewegte als auch unbewegte Werkstücke (W2) mit orts­festen oder mobilen Robotern (R2,R3,R) zu bearbeiten. Dabei wird die Eigenbewegung des Werkstücks (W2) programm-, steue­rungs- und regelungstechnisch vom Roboter (R2,R3,R) berück­sichtigt. Die für die Technologieanwendungen notwendige Bahn­treue und Bahngeschwindigkeit wird am bewegten Werkstück (W2) eingehalten. Das Steuerungsproblem wird transformatorisch über eine Kettung von Koordinatensystemen (ROS,KS1,KS2,KS3,ZAS) gelöst. Wesentlich ist, daß die Gesamttransformation über Parameter (VBE1...n, ZA1...n) je nach Systemkonfiguration vom Anwender frei projektierbar ist.

    摘要翻译： 该方法允许对平移和/或旋转移动和不动的工件（W2），以通过固定或移动机器人（R2，R3，R）进行加工。 在工件（W2）的这个自身运动由机器人使用编程，开环和闭环控制技术（R2，R3，R）考虑在内。 必要时作技术应用的轨迹精度和路径进料速率保持在移动后的工件（W2）。 的控制问题，通过使用坐标系的链（ROS，KS1，KS2，KS3，ZAS）相变的方式来解决。 最重要的是做了整体改造，可以由用户使用参数的自由策划出来的（V.sub.BE1 ... N，Z A1 ... n）的gemäß系统配置。