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公开(公告)号：EP0277656A1
公开(公告)日：1988-08-10
申请号：EP88101610.9
申请日：1988-02-04
申请人： Rogozinski, Joseph , Cohen, Ilan
发明人： Rogozinski, Joseph , Cohen, Ilan
IPC分类号： G05B19/23
CPC分类号： B25J9/1641 , G05B19/237 , G05B2219/37285 , G05B2219/37323 , G05B2219/37388 , G05B2219/41036 , G05B2219/41055 , G05B2219/41059 , G05B2219/49169 , G05B2219/49292
摘要： Apparatus comprising driving apparatus (14) coupled to a load (36), sensing apparatus for sensing at least one of position (P), velocity (V) and acceleration (A) being coupled to the driving apparatus (14), apparatus for determining input power (I) to the driving apparatus (14), inaccuracy compensation control apparatus receiving a first input from the sensing apparatus and a second input from the apparatus for determining input power (I) and providing a compensated output indication indicating at least one of the position (P), velocity (V), force (F) and acceleration (A) of the load (36) on the basis of information regarding non-linearities between the driving apparatus (14) and the load (36) including information indicative of whether or not the load (36) is driving the driving apparatus (14) or the driving apparatus (14) is driving the load (36).
摘要翻译： 包括联接到负载（36）的驱动装置（14）的装置，用于感测耦合到驱动装置（14）的位置（P），速度（V）和加速度（A）中的至少一个的感测装置，用于确定 输入功率（I）到驱动装置（14），不准确性补偿控制装置从感测装置接收第一输入和来自装置的第二输入，用于确定输入功率（I）并提供经补偿的输出指示， 基于包括信息的驱动装置（14）和负载（36）之间的非线性的信息，负载（36）的位置（P），速度（V），力（F）和加速度（A） 指示负载（36）是否驱动驱动装置（14）或驱动装置（14）正在驱动负载（36）。
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公开(公告)号：EP0426264A2
公开(公告)日：1991-05-08
申请号：EP90203256.4
申请日：1987-01-27
IPC分类号： B25J9/18
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
摘要翻译： 数字控制的工业机器人包括一组单元化和集成的联合驱动模块（2,4,6,8,10,12,14），其可以串联组装以形成操纵臂。 接头有两种基本类型，俯仰接头（4,8,12）和滚动接头（2,6,10,14），后者提供围绕机械臂的纵向轴线的旋转，并且俯仰接头提供关于轴的旋转 基本上垂直于辊接头轴线并偏离辊接头轴线。 伺服控制通过感测从动构件上的动力导出反馈，并相应地补偿驱动信号。 更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。
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公开(公告)号：EP0233712A2
公开(公告)日：1987-08-26
申请号：EP87300653.0
申请日：1987-01-27
发明人： Karlen, James P. , Thompson, Jack M., Jr. , Kowalski, Keith A. , Damico, David A. , Eismann, Paul H.
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
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公开(公告)号：EP0277656B1
公开(公告)日：1992-05-20
申请号：EP88101610.9
申请日：1988-02-04
申请人： Rogozinski, Joseph , Cohen, Ilan
发明人： Rogozinski, Joseph , Cohen, Ilan
IPC分类号： G05B19/23
CPC分类号： B25J9/1641 , G05B19/237 , G05B2219/37285 , G05B2219/37323 , G05B2219/37388 , G05B2219/41036 , G05B2219/41055 , G05B2219/41059 , G05B2219/49169 , G05B2219/49292
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公开(公告)号：EP0412635A2
公开(公告)日：1991-02-13
申请号：EP90305164.7
申请日：1990-05-14
发明人： Wood, David B. III
CPC分类号： G05B19/404 , B23Q15/16 , B23Q2039/002 , G05B2219/41047 , G05B2219/45124 , G05B2219/49165 , G05B2219/49284 , G05B2219/49292 , Y10T82/2531 , Y10T82/2533 , Y10T82/2541 , Y10T82/2543 , Y10T82/2549
摘要： There is provided a high-production machining device (10, 110) having first (76, 176) and second (77, 177) spindles rotatably mounted on a headstock (75, 175). A carriage (17, 117) is slidably mounted on the machine bed, and in a preferred embodiment a first drive assembly (20, 120) is provided for sliding the carriage across the upper face of the bed along a transverse axis thereof. First (25, 125) and second (30, 130) slides are slidably mounted on the carriage for movement in a direction normal to the transverse axis, with the first and second slides each adapted to carry a machine tool and each being attached to a common second drive (40, 140) assembly for moving the slides in that normal direction. A linear sensor (66, 166) monitors the positions of the first and second slides relative one another, and an independent compensating assembly (60, 160) is provided for adjusting the position of one of the slides relative the other in the normal direction, whereby positions of the first and second slides in the normal direction can be effectively independently controlled. In a preferred embodiment, the machining device further includes an independent adjustment device (93, 193) for moving one of the spindles relative the other in a direction parallel to the transverse axis, whereby the positions of the first and second slides in the transverse direction can be effectively independently controlled.
摘要翻译： 提供了具有可旋转地安装在主轴箱（75,175）上的第一（76,176）和第二（77,177）主轴的高生产加工装置（10,110）。 托架（17,117）可滑动地安装在机床上，并且在优选实施例中，提供第一驱动组件（20,120），用于沿着其横向轴线滑动托架穿过床的上表面。 第一（25,125）和第二（30,130）滑块可滑动地安装在滑架上以沿垂直于横向轴线的方向运动，第一和第二滑块各自适于承载机床，并且每个都附接到 公共第二驱动器（40,140）组件，用于在正常方向上移动滑块。 线性传感器（66,166）彼此相对地监视第一和第二滑块的位置，并且提供独立的补偿组件（60,160），用于在正常方向上相对于另一个滑块调整其中一个滑块的位置， 从而可以有效地独立地控制第一和第二滑块沿法线方向的位置。 在优选实施例中，加工装置还包括一个独立的调整装置（93,193），用于在平行于横向轴线的方向上相对于彼此相对移动一个心轴，从而使第一和第二滑块在横向上的位置 可以有效地独立控制。
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公开(公告)号：EP0399032B1
公开(公告)日：1995-07-05
申请号：EP90900709.8
申请日：1989-11-29
申请人： SCHONLAU, William J.
发明人： SCHONLAU, William J.
IPC分类号： G05B19/414
CPC分类号： G05B19/4141 , B25J9/08 , B25J9/161 , G05B2219/33161 , G05B2219/33254 , G05B2219/39335 , G05B2219/42129 , G05B2219/49292
摘要： A modular robotic system (10) is provided with one or more robotic arm sets (14) constructed from modular components and controlled by a central processor (12) to displace an end effector or tool (20) through a desired movement or movements as a function of time. Each arm set comprises a custom assembled combination of passive and active members of selected sizes and shapes, wherein each active member includes a drive motor (64) for rotating a driven member (36) with one degree of mechanical freedom. The active members of each arm set are connected to the central processor (12) via a common communications cable (22) for receiving position commands in the form of end effector position signals. The active members include individual on-board microprocessors (16) for translating each end effector position signal to obtain individualized displacements of the active members which, in combination, result in the desired end effector displacement.
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公开(公告)号：EP0399032A4
公开(公告)日：1991-10-23
申请号：EP90900709
申请日：1989-11-29
申请人： SCHONLAU, WILLIAM J.
发明人： SCHONLAU, WILLIAM J.
CPC分类号： G05B19/4141 , B25J9/08 , B25J9/161 , G05B2219/33161 , G05B2219/33254 , G05B2219/39335 , G05B2219/42129 , G05B2219/49292
摘要： A modular robotic system (10) is provided with one or more robotic arm sets (14) constructed from modular components and controlled by a central processor (12) to displace an end effector or tool (20) through a desired movement or movements as a function of time. Each arm set comprises a custom assembled combination of passive and active members of selected sizes and shapes, wherein each active member includes a drive motor (64) for rotating a driven member (36) with one degree of mechanical freedom. The active members of each arm set are connected to the central processor (12) via a common communications cable (22) for receiving position commands in the form of end effector position signals. The active members include individual on-board microprocessors (16) for translating each end effector position signal to obtain individualized displacements of the active members which, in combination, result in the desired end effector displacement.
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公开(公告)号：EP0426264A3
公开(公告)日：1991-08-21
申请号：EP90203256.4
申请日：1987-01-27
IPC分类号： B25J9/18
CPC分类号： B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , B25J17/02 , B25J17/0241 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14), the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
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公开(公告)号：EP0412635A3
公开(公告)日：1991-04-10
申请号：EP90305164.7
申请日：1990-05-14
发明人： Wood, David B. III
CPC分类号： G05B19/404 , B23Q15/16 , B23Q2039/002 , G05B2219/41047 , G05B2219/45124 , G05B2219/49165 , G05B2219/49284 , G05B2219/49292 , Y10T82/2531 , Y10T82/2533 , Y10T82/2541 , Y10T82/2543 , Y10T82/2549
摘要： There is provided a high-production machining device (10, 110) having first (76, 176) and second (77, 177) spindles rotatably mounted on a headstock (75, 175). A carriage (17, 117) is slidably mounted on the machine bed, and in a preferred embodiment a first drive assembly (20, 120) is provided for sliding the carriage across the upper face of the bed along a transverse axis thereof. First (25, 125) and second (30, 130) slides are slidably mounted on the carriage for movement in a direction normal to the transverse axis, with the first and second slides each adapted to carry a machine tool and each being attached to a common second drive (40, 140) assembly for moving the slides in that normal direction. A linear sensor (66, 166) monitors the positions of the first and second slides relative one another, and an independent compensating assembly (60, 160) is provided for adjusting the position of one of the slides relative the other in the normal direction, whereby positions of the first and second slides in the normal direction can be effectively independently controlled. In a preferred embodiment, the machining device further includes an independent adjustment device (93, 193) for moving one of the spindles relative the other in a direction parallel to the transverse axis, whereby the positions of the first and second slides in the transverse direction can be effectively independently controlled.
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公开(公告)号：EP0399032A1
公开(公告)日：1990-11-28
申请号：EP90900709.0
申请日：1989-11-29
申请人： SCHONLAU, William J.
发明人： SCHONLAU, William J.
CPC分类号： G05B19/4141 , B25J9/08 , B25J9/161 , G05B2219/33161 , G05B2219/33254 , G05B2219/39335 , G05B2219/42129 , G05B2219/49292
摘要： On décrit un système robotique modulaire (10) doté d'un ou de plusieurs ensembles de bras robotiques (14) composés d'éléments modulaires et commandés par un processeur central (12) afin de déplacer un effecteur ou outil terminal (20) dans un ou des mouvements désirés en fonction du temps. Chaque ensemble de bras comprend une combinaison, assemblée à la demande, d'éléments passifs et actifs de tailles et de formes sélectionnées, chaque élément actif comportant un moteur d'entraînement (64) faisant tourner un élément entraîné (36) avec un degré donné de liberté mécanique. Les éléments actifs de chaque ensemble de bras sont reliés au processeur central (12) via un câble de communications commun (22), pour recevoir des ordres de positionnement se présentant sous la forme de signaux de positionnement d'effecteur terminal. Les éléments actifs comprennent des microprocesseurs intérieurs individuels (16) traduisant chaque signal de positionnement d'effecteur afin d'obtenir des déplacements individualisés desdits éléments actifs qui, de manière combinée, se traduisent par le déplacement recherché de l'effecteur terminal.
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