公开(公告)号：EP3024614B1

公开(公告)日：2017-05-17

申请号：EP14747316.9

申请日：2014-07-14

申请人： Silca S.P.A.

发明人： DONADINI, Michele ,  PIGATTI, Giorgio

IPC分类号： B23C3/35 ,  B23Q35/128 ,  G05B19/18

CPC分类号： B23C3/35 ,  B23C2235/24 ,  B23C2235/32 ,  B23C2235/41 ,  G05B19/182 ,  G05B2219/45145 ,  G05B2219/45245

公开(公告)号：EP0606347B1

公开(公告)日：1998-08-19

申请号：EP92920870.0

申请日：1992-10-02

申请人： MORRISON TECHNOLOGY LIMITED

发明人： MORRISON, Kenneth ,  MITCHELL, Alexander

IPC分类号： D06H7/16 ,  D06H7/22 ,  B23Q35/128 ,  B26D5/32

CPC分类号： B26D5/32 ,  D04C5/26 ,  D06H7/16 ,  D06H7/22 ,  Y10S83/91 ,  Y10S83/94 ,  Y10T83/04 ,  Y10T83/0605 ,  Y10T83/538

摘要： Precise cutting of pattern strips and pattern pieces from lace and similar patterned fabrics requires correct mutual positioning of the fabric and fabric cutter for precise alignment with the boundary of the pattern pre-existing on the fabric. Patterned fabrics and especially loosely-woven lace are liable to randomly variable stretching and slippage which makes it impossible to cut under the direction of an externally imposed pattern programme without regard to the instantaneous location of the pattern pre-existing on the fabric. The invention comprises lace-cutting apparatus (100) and a lace-cutting method including optical scanning (180) of the lace (118), recognition of the pattern boundary (126, 128), and mutual alignment of the fabric with the fabric cutter (132) to trace the intended cut line (130). Different techniques for mutual movement of the fabric and cutter are employed according to whether the pattern boundary is re-entrant or not. Preferred forms of fabric cutter include a hot-wire cutter (132) and a laser beam cutter. The invention enables automatic high-speed cutting and trimming of lace and similar patterned fabrics.

摘要翻译： 精确切割花边和类似图案织物的花样条和花样片需要织物和织物裁切器的正确相互定位，以便与织物上预先存在的花样边界精确对齐。 图案织物特别是松散织造的花边容易随机变化拉伸和滑动，这使得不可能在外部施加的图案程序的指导下切割，而不考虑织物上预先存在的图案的瞬时位置。 本发明包括鞋带切割设备（100）和鞋带切割方法，包括鞋带（118）的光学扫描（180），识别图案边界（126,128）以及织物与织物切割器的相互对准 （132）追踪预期的切割线（130）。 根据图案边界是否可重入来采用用于织物和切割器的相互运动的不同技术。 织物切割器的优选形式包括热线切割器（132）和激光束切割器。 本发明能够自动高速切割和修剪花边和类似图案的织物。

公开(公告)号：EP0754523A1

公开(公告)日：1997-01-22

申请号：EP96108398.7

申请日：1996-05-28

申请人： Bayerische Motoren Werke Aktiengesellschaft

发明人： Gieseler, Otto ,  Lindner, Walter

IPC分类号： B23Q35/128 ,  G05B19/42

CPC分类号： B23Q35/128 ,  G05B19/4207

摘要： Bei einem Verfahren zum Vermessen einer sich etwa in einer Längsrichtung erstreckten Raumkontur mittels einer optischen Abtasteinrichtung, die die Koordinaten (X, Y, Z) von Abtastpunkten bestimmt, die wie die Raumkontur in der Oberfläche eines Formkörpers liegen, wird die Abtasteinrichtung linear und zumindest annähernd senkrecht bezüglich des Verlaufs der Raumkontur über diese hinweg bewegt und die Koordinaten einer Folge von Punkten bestimmt, die auch in den der Raumkontur benachbarten Flächen liegen. Als zugeordneter Raumpunkt wird der Schnittpunkt der beiden Flächen bestimmt, der zumindest annähernd parallel zur ersten Abtastebene die Raumkontur längs einer zweiten Abtastebene abtastet und den zugehörigen Raumpunkt bestimmt. Die längs der durch die beiden Raumpunkte festgelegte Richtung wird eine erneute Abtastung senkrecht zu dieser Richtung vorgenommen.

摘要翻译： 激光扫描单元（未示出）用于扫描表面以识别物体轮廓。 扫描路径将由一系列点ÄM1-M9Ü定义。 所采取的路径的方向最初将被手动设置，并在某些时候切割轮廓。 一个采样点ÄM6Ü将接近轮廓，而另一个采样点。 重复扫描周期，并获得其他定义点ÄN6Ü。 重复该过程。 这些点与紧邻的ÄM5，M6Ü一起用于重建轮廓

公开(公告)号：EP0494314B1

公开(公告)日：1996-07-10

申请号：EP91913115.1

申请日：1991-07-25

申请人： FANUC LTD.

发明人： MATSUURA, Hitoshi ,  MATSUMOTO, Eiji, Fanuc Dai-3 Vira-karamatsu

IPC分类号： B23Q35/128 ,  G01B11/24

CPC分类号： B23Q35/128 ,  G05B2219/37422

摘要： In a copy control device wherein a model (6) and a work are moved relatively with a tracer head (4) and a tool in an X - Y plane, measured distance values to the surface of the model, which are detected by first and second non-contact detectors (5a, 5b) obliquely mounted on the tracer head (4) rotatable about a Z axis are periodically sampled to obtain the coordinate values of measured points on the surface of the model, a normal vector (Nm) on the surface of the model is calculated from three coordinate values out of four measured points (P1n-1, P1n, P2n-1, P2n) successively obtained by the both detectors, and the tracer head is rotated so as to move along a projection (N1n) of the normal vector (Nn) on the X - Y plane, so that measuring axes of the detectors are controlled to be approximately vertical to the surface of the model. After two points are selected from four measured points, such a point is selected out of the remaining two measuring two points as a third point that satisfies a condition that a point of intersection between a perpendicular from such a point to a straight line passing through the previously selected two points and the above-mentioned straight line is interposed between the previously selected two points, and that satisfies a condition that the length of the above-mentioned perpendicular is larger than a predetermined value.

公开(公告)号：EP0406785B1

公开(公告)日：1996-03-13

申请号：EP90112635.9

申请日：1990-07-03

申请人： SHACHIHATA KOGYO KABUSHIKI KAISHA ,  IIDA KOGYO KABUSHIKI KAISHA

发明人： Kondo, Hiroaki, c/o Iida Kogyo Kabushiki Kaisha

IPC分类号： B23Q35/128

CPC分类号： B23Q35/128 ,  B23K26/03 ,  B23K26/032

公开(公告)号：EP0696491A1

公开(公告)日：1996-02-14

申请号：EP95850134.8

申请日：1995-07-27

申请人： HITACHI ZOSEN CORPORATION

发明人： Sunayama, Kazuyuki, c/o Hitachi Zosen Corp. ,  Miyawaki, Kunio, c/o Hitachi Zosen Corp. ,  Ohno, Minoru, c/o Hitachi Zosen Corp. ,  Miyazaki, Tatsuo, c/o Hitachi Zosen Corp.

IPC分类号： B23K9/127 ,  B23Q35/128

CPC分类号： B23K9/1274 ,  B23Q35/128 ,  G05B2219/42309 ,  G05B2219/4704 ,  G05B2219/4706

摘要： There is disclosed a method for the plasma arc welding of corrugate membranes, which can prevent a welding failure from occurring around the corrugate portion. In this welding method, NC data for robot control are modified so as to gradually change a torch angle around the R portions at a rate not greater than the maximum angular velocity and increase a welding speed around the R portions of foot regions of corrugate portions 1B and 2B and the R portion of an apex 22 before a welding torch 12 reaches the R portions. Three parameters are prepared for determining the deformation of the corrugate portions 1B and 2B in terms of height, width of the foot regions and the swell of the trunk portion. Data indicative of the height and foot width of the corrugate portion measured by a laser displacement sensor 15 are compared with standard corrugation NC data, and the NC data for robot control are modified to correct the height, foot width and swell degree thereof by utilizing the parameters.

摘要翻译： 公开了一种用于等离子体电弧焊接波纹膜的方法，其可以防止在波纹部分周围发生焊接故障。 在这种焊接方法中，修改用于机器人控制的NC数据，以便以不大于最大角速度的速率逐渐改变围绕R部分的割炬角度，并且增加波纹部分1B的脚部区域周围的焊接速度 焊炬12到达R部分之前的顶点22的R部分和顶部22的R部分。 根据高度，足部区域的宽度和躯体部分的膨胀，准备三个参数用于确定波纹部分1B和2B的变形。 将表示由激光位移传感器15测量的波纹部分的高度和足部宽度的数据与标准波纹NC数据进行比较，并且通过利用用于机器人控制的NC数据来修正其数据，以校正其高度，脚宽和膨胀度 参数。 $$

公开(公告)号：EP0358661B1

公开(公告)日：1993-12-01

申请号：EP88903598.6

申请日：1988-03-23

申请人： CATERPILLAR INC.

发明人： ABSHIRE, James, B.

IPC分类号： B23Q35/128

CPC分类号： B23Q35/128

摘要： A system (10) determines the surface (12) profile of an object (14). Systems of this kind are used in industrial robots, such as automatic welders. The severe operating environment requires a vision system (10) with noise immunity along with accuracy. A beam splitter enables the use of discrete optical detectors which eliminate many problems inherent with previously used detectors, such as diode arrays and TV cameras. Additionally, an automatic gain control (33) alters the intensity of a generated optical beam (18) in response to the reflectivity of the surface (12). These features increase the accuracy and noise immunity of an optical vision system (10) for use in severe industrial applications.

公开(公告)号：EP0565264A1

公开(公告)日：1993-10-13

申请号：EP93302165.1

申请日：1993-03-22

申请人： KOIKE SANSO KOGYO CO., LTD

发明人： Koike, Yasuo ,  Tanaka, Tokuji

IPC分类号： B23Q35/128

CPC分类号： B23Q35/128

摘要： A figure 1 is taken by a camera having optical/electrical elements arrayed in matrix, signals of pixels of the picture taken by the camera 2 are converted into binary data in a binary circuit 11, and the binary data is temporarily stored in a binary data storage device 12. The reference point O is determined on the edge of the figure, and plural coaxial cycle scanning lines A, B about the reference point O which differs from each other in radius are set. In the arithmetic circuit 15, coordinate data of pixels on the circle scanning lies A, B is operated. In the detector 16, binary data of the pixels on the cycle scanning lines A, B is detected. In the decision circuit 17, the vectors of from the reference point O to the detected pixels on the cycle scanning lines A, B, and vector angle between the obtained vectors is operated. speed signal according to the vector angle is generated for driving the first and second drive 7, 8.

摘要翻译： 图1由具有以矩阵排列的光/电元件的相机拍摄，由相机2拍摄的图像的像素的信号在二进制电路11中被转换为二进制数据，并且二进制数据被临时存储在二进制数据中 参考点O在图的边缘上确定，并且设置围绕半径不同的参考点O的多个同轴周期扫描线A，B。 在算术电路15中，圆扫描上的像素坐标数据位于A，B被操作。 在检测器16中，检测周期扫描线A，B上的像素的二进制数据。 在判定电路17中，从循环扫描线A，B的基准点O到检测像素的矢量与获得的矢量之间的矢量角度被动作。 产生用于驱动第一和第二驱动器7,8的根据向量角度的速度信号。

公开(公告)号：EP0506966A1

公开(公告)日：1992-10-07

申请号：EP91914670.4

申请日：1991-08-23

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： B23Q35/128

CPC分类号： B23Q35/128 ,  G05B19/41

摘要： A non-contact copy control device for profile working on a work while following the contour of a model in non-contact therewith. Coordinate values of a plurality of points on the surface of the model are obtained from values measured by two non-contact distance detectors (1a, 1b) provided on a tracer head of a copying machine tool (3) at the times of a plurality of samplings. The non-contact copy control device (1) selects three points arranged in a shape closest to a regular triangle out of the aforesaid points. A normal vector is determined by use of coordinate values of said three vertices, and a command (SC) for rotating the tracer head (4) in a direction of projecting this normal vector onto an X-Y plane is issued. This command (SC) passes through a D/A converter (17c), is amplified in an amplifier (18c), and drives a motor (32c) to rotate the tracer head (4). Measuring axes of the non-contact distance detectors (5a,5b) are directed in a most possible perpendicular direction to the surface of the model, so that the distance measuring with high accuracy can be performed.

摘要翻译： 一种非接触式复印控制装置，用于在与工件非接触的同时沿着工件轮廓工作的工件轮廓。 根据设置在复印机床（3）的示踪头上的两个非接触式距离检测器（1a，1b）在多个时刻测量的值获得模型表面上多个点的坐标值 采样。 非接触式复印控制装置（1）从上述要点中选择以最接近正三角形的形状排列的三个点。 通过使用所述三个顶点的坐标值确定法向矢量，并且发出用于在将该法向矢量投影到X-Y平面上的方向上旋转示踪头（4）的命令（SC）。 该命令（SC）通过D / A转换器（17c），在放大器（18c）中放大，驱动马达（32c）使示踪头（4）旋转。 非接触式距离检测器（5a，5b）的测量轴被引导到与模型表面最可能垂直的方向，从而可以执行高精度的距离测量。

公开(公告)号：EP0163076B1

公开(公告)日：1991-11-13

申请号：EP85104269.7

申请日：1985-04-09

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Okada, Gensuke ,  Iijima, Gouhei

IPC分类号： B23Q35/128 ,  G05B19/42 ,  G03C9/08

CPC分类号： G05B19/4207 ,  G05B2219/37048 ,  G05B2219/49011