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公开(公告)号：US5153409A
公开(公告)日：1992-10-06
申请号：US650831
申请日：1991-02-01
申请人： Erick W. Rudaitis , Glenn M. Krcek
发明人： Erick W. Rudaitis , Glenn M. Krcek
IPC分类号： B23K26/04 , B23K26/08 , B23K26/10 , B23Q35/128 , G05B19/425
CPC分类号： B23K26/0884 , B23K26/04 , B23Q35/128 , G05B19/425 , G05B2219/35411 , G05B2219/36417 , G05B2219/36431 , G05B2219/36447 , G05B2219/45165 , G05B2219/49231
摘要： A teaching tool for programming a laser beam using a robot is provided. The teaching tool includes a sensor which emits a low energy laser beam to be focused on to a predetermined point on a masterwork piece, a photoelectric array associated with the sensor for receiving energization from the laser beam, a housing, a source of focused incandescent light so that a programmer can visually observe the point at which the laser beam is focused, a control and comparator circuit receiving signals from the photoelectric array to determined the focal length of the laser beam emitted by the sensor and a diode gate for effecting energization of a signal indicating that the low energy laser beam of said robot will effect optimize work on said workpieces.
摘要翻译： 提供了一种使用机器人编程激光束的教学工具。 该教学工具包括：发射低能量激光束以聚焦到母版件上的预定点的传感器，与传感器相关联的光电阵列，用于接收来自激光束的激励，壳体，聚焦白炽光源 使得编程器可以在目视上观察激光束聚焦的点，控制和比较器电路接收来自光电阵列的信号，以确定由传感器发射的激光束的焦距和用于实现激光束的通电的二极管门 指示所述机器人的低能量激光束将对所述工件进行优化工作的信号。
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公开(公告)号：US4786848A
公开(公告)日：1988-11-22
申请号：US78406
申请日：1987-07-27
申请人： Ellery Nickerson
发明人： Ellery Nickerson
IPC分类号： G05B19/423 , G05B19/42
CPC分类号： G05B19/423 , G05B2219/36431 , G05B2219/36494 , G05B2219/39574 , G05B2219/49231 , G05B2219/50252 , Y10T29/49758
摘要： A water jet trim head simulator has the same configuration and dimensions as a cutting or trim head nozzle on a water jet apparatus for trimming workpiece scrap. The simulator is used to guide a robot arm of the apparatus into various multi-axes trim head positions during a teaching mode of operation of the controller for the apparatus. The simulator includes mounting means for connection to the robot arm. The simulator further includes tracking means including a hollow body connected to a fiber optics bundle for directing light from a source to an objective lens for focusing a spot of light on a premarked trim path point on a master workpiece to establish one of a plurality of spatial points to be taught into the controller. The simulator further includes a feeler gauge for physically positioning the simulator with respect to the workpiece to assist the alignment of the light beam to its focused point on the workpiece.
摘要翻译： 喷水装饰头模拟器具有与用于修剪工件废料的喷水装置上的切割或装饰头喷嘴相同的构造和尺寸。 模拟器用于在装置的控制器的操作的教学模式期间将装置的机器人手臂引导到各种多轴修剪头位置。 模拟器包括用于连接到机器人臂的安装装置。 模拟器还包括跟踪装置，包括连接到光纤束的中空体，用于将来自源的光引导到物镜，用于将光点聚焦在主工件上的预先标记的修剪路径点上，以建立多个空间 指向教员进入控制器。 模拟器还包括用于将模拟器相对于工件物理定位的探测器，以帮助光束对其在工件上的聚焦点的对准。
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公开(公告)号：US20180120087A1
公开(公告)日：2018-05-03
申请号：US15792813
申请日：2017-10-25
申请人： OMRON Corporation
发明人： Hiroshi SAWARAGI
CPC分类号： G01B9/02055 , B23Q17/20 , G01B5/0021 , G01B5/046 , G01B5/24 , G01B11/24 , G01B21/20 , G05B19/401 , G05B2219/37359 , G05B2219/49231
摘要： A PLC system includes a displacement sensor, drives, and a PLC. In the PLC system, the trace control unit calculates a target position at which a distance between the displacement sensor and the object is constant based on measurement information (1D information) from which measurement noise (noise information) has been removed by the filter and positional information from the drives.
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公开(公告)号：US07351290B2
公开(公告)日：2008-04-01
申请号：US10622063
申请日：2003-07-17
申请人： Stephen Francis Rutkowski , Canan Uslu Hardwicke , Michael Francis Xavier Gigliotti , Melvin Robert Jackson
发明人： Stephen Francis Rutkowski , Canan Uslu Hardwicke , Michael Francis Xavier Gigliotti , Melvin Robert Jackson
IPC分类号： B05C11/10
CPC分类号： B44B1/006 , B05B13/0431 , B05C5/0216 , B43K8/00 , B43K8/22 , G05B2219/37212 , G05B2219/37215 , G05B2219/49231
摘要： A robotic pen includes a computer numerically controlled machine having a multiaxis stage for mounting a workpiece, and a cooperating elevator which translates relative thereto. A pen tip is rotatably mounted to the elevator. And, a dispenser is joined in flow communication with the pen tip for ejecting a stream of material atop the workpiece as the workpiece moves relative thereto for maintaining a substantially constant gap between said pen tip and the workpiece during relative movement therebetween.
摘要翻译： 机器人笔包括具有用于安装工件的多轴阶段的计算机数字控制机器以及相对于其转换的协作电梯。 笔尖可旋转地安装在电梯上。 并且，分配器与笔尖流动连通地连接，用于当工件相对于其移动时喷射工件顶部的材料流，以在它们之间的相对运动期间保持所述笔尖和工件之间的基本恒定的间隙。
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5.发明授权
公开(公告)号：US5694324A
公开(公告)日：1997-12-02
申请号：US399208
申请日：1995-03-06
IPC分类号： G05B19/4099 , G06F19/00
CPC分类号： B29C67/0055 , G05B19/4099 , G05B2219/49015 , G05B2219/49016 , G05B2219/49231 , Y02P90/265 , Y10T156/1798
摘要： This invention defines a system and method for manufacturing three-dimensional articles from a design created on a CAD item. The article is made using particle deposition of a fluent material to a build-up on a servo assembly base. The fluent material is deposited in the form of droplets from a dispensing head of a head assembly by moving the assembly up and down in a reciprocating motion according to the three-dimensional design coordinator. A droplet of fluent material forms as the dispensing head moves downward and makes contact with the article being formed, as the head reaches its lowest position of travel. The surface tension and capillarity of the fluent material is used to form the mass and shape of the droplet at the top surface of the article as the dispensing is moved upwards. The size and shape of each droplet may also be controlled by the type of fluent material used as well as its temperature and pressure and the size of the dispensing head orifice.
摘要翻译： 本发明定义了从CAD项目上创建的设计制造三维制品的系统和方法。 该物品是使用流动材料的颗粒沉积制成伺服组件基座上的积聚物。 通过根据三维设计协调器以往复运动方式将组件上下移动，流动材料以液滴的形式从头组件的分配头部沉积。 随着头部到达其行进的最低位置，分配头向下移动并与正在形成的物品接触，形成流畅材料的液滴。 当分配向上移动时，流动材料的表面张力和毛细作用被用于在制品的顶部表面形成液滴的质量和形状。 每个液滴的尺寸和形状也可以通过使用的流动材料的类型以及其温度和压力以及分配头孔的尺寸来控制。
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公开(公告)号：US5239159A
公开(公告)日：1993-08-24
申请号：US820683
申请日：1992-01-24
申请人： Teruo Masuda
发明人： Teruo Masuda
IPC分类号： B23K26/00 , B23K26/08 , G05B19/408 , G05B19/41
CPC分类号： G05B19/41 , B23K26/08 , B23K26/0884 , G05B19/4086 , G05B2219/45165 , G05B2219/49231
摘要： Disclosed is a nozzle movement system for a laser machining equipment for moving the nozzle of a CNC laser machining equipment when carrying out a three-dimensional machining of a machining surface of a workpiece. A hand coordinate system composed of the axial direction of the nozzle and the plane perpendicular to the axis of the nozzle is provided, and a movement command on the hand coordinate system is output by using a machine operation panel (31). A matrix creation means (38) creates a conversion matrix from the hand coordinate system to a basic coordinate system, based on the rotational position data stored in registers (39a, 39b) of an .alpha.-axis and .beta.-axis exhibiting the attitude of the nozzle. A coordinate conversion means (37) converts movement commands (.DELTA.xh, .DELTA.yh and .DELTA.zh) on the hand coordinate system to amounts of movement (.DELTA.x, .DELTA.y and .DELTA.z) on the basic coordinate system, by using the conversion matrix, and moves the nozzle. With this arrangement, the nozzle can be simply moved without changing the distance between the nozzle and the machining surface of a workpiece. Further, the distance between the nozzle and the workpiece can be adjusted by moving the nozzle perpendicularly with respect to the machining surface.
摘要翻译： PCT No.PCT / JP91 / 00644 Sec。 371日期：1992年1月24日 102（e）日期1992年1月24日PCT提交1990年5月31日PCT公布。 WO91 / 18706 PCT公开号 日期为1991年12月12日。公开了一种用于激光加工设备的喷嘴移动系统，用于在对工件的加工表面进行三维加工时，移动CNC激光加工设备的喷嘴。 提供由喷嘴的轴向和与喷嘴的轴线垂直的平面构成的手坐标系，并且通过使用机械操作面板（31）输出手坐标系上的移动指令。 矩阵创建装置（38）基于存储在表现出姿势的α轴和β轴的寄存器（39a，39b）中的旋转位置数据，从手坐标系创建到基本坐标系的转换矩阵 喷嘴。 坐标转换装置（37）通过使用转换矩阵将手坐标系上的运动命令（DELTA xh，DELTA yh和DELTA zh）转换为基本坐标系上的移动量（DELTA x，DELTA y和DELTA z） ，并移动喷嘴。 通过这种布置，可以简单地移动喷嘴而不改变喷嘴和工件的加工表面之间的距离。 此外，可以通过相对于加工面垂直移动喷嘴来调节喷嘴和工件之间的距离。
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公开(公告)号：US4870336A
公开(公告)日：1989-09-26
申请号：US245048
申请日：1988-09-16
申请人： Ellery Nickerson
发明人： Ellery Nickerson
IPC分类号： G05B19/423
CPC分类号： G05B19/423 , G05B2219/36431 , G05B2219/36494 , G05B2219/39574 , G05B2219/49231 , G05B2219/50252 , Y10T29/49758
摘要： A water jet trim head simulator has the same configuration and dimensions as a cutting or trim head nozzle on a water jet apparatus for trimming workpiece scrap. The simulator is used to guide a robot arm of the apparatus into various multi-axes trim head positions during a teaching mode of operation of the controller for the apparatus. The simulator includes mounting means for connection to the robot arm. The simulator further includes tracking means including a hollow body connected to a fiber optics bundle for directing light from a source to an objective lens for focusing a spot of light on a premarked trim path point on a master workpiece to establish one of a plurality of spatial points to be taught into the controller. The simulator further includes a feeler gauge for physically positioning the simulator with respect to the workpiece to assist the alignment of the light beam to its focused point on the workpiece.
摘要翻译： 喷水装饰头模拟器具有与用于修剪工件废料的喷水装置上的切割或装饰头喷嘴相同的构造和尺寸。 模拟器用于在装置的控制器的操作的教学模式期间将装置的机器人手臂引导到各种多轴修剪头位置。 模拟器包括用于连接到机器人臂的安装装置。 模拟器还包括跟踪装置，包括连接到光纤束的中空体，用于将来自源的光引导到物镜，用于将光点聚焦在主工件上的预先标记的修剪路径点上，以建立多个空间 指向教员进入控制器。 模拟器还包括用于将模拟器相对于工件物理定位的探测器，以帮助光束对其在工件上的聚焦点的对准。
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公开(公告)号：US20160129466A1
公开(公告)日：2016-05-12
申请号：US14534783
申请日：2014-11-06
CPC分类号： B25J9/1679 , B05B3/1014 , B05B5/0407 , B05B12/08 , B05B12/14 , B05B13/0431 , G05B2219/45013 , G05B2219/49231 , Y10S901/02 , Y10S901/09
摘要： A paint robot system includes a paint spray gun configured to spray paint onto a workpiece. The paint spray gun has a nozzle where the paint exits the paint spray gun. A robot arm moves the paint spray gun relative to the workpiece. A processor module receives a color input relating to a color of paint for the workpiece. The processor module determines a paint spray gun distance based on the color input, where different colors have different paint spray gun distances. The processor module controls the robot arm to position the nozzle at the paint spray gun distance.
摘要翻译： 油漆机器人系统包括配置成将涂料喷涂到工件上的喷漆枪。 喷漆枪有一个喷嘴，油漆喷出喷漆枪。 机器人手臂相对于工件移动喷漆枪。 处理器模块接收与工件颜色相关的颜色输入。 处理器模块基于颜色输入确定喷漆枪距离，其中不同的颜色具有不同的喷漆枪距离。 处理器模块控制机器人臂将喷嘴定位在喷漆枪的距离处。
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公开(公告)号：US20050013926A1
公开(公告)日：2005-01-20
申请号：US10622063
申请日：2003-07-17
CPC分类号： B44B1/006 , B05B13/0431 , B05C5/0216 , B43K8/00 , B43K8/22 , G05B2219/37212 , G05B2219/37215 , G05B2219/49231
摘要： A robotic pen includes a computer numerically controlled machine having a multiaxis stage for mounting a workpiece, and a cooperating elevator which translates relative thereto. A pen tip is rotatably mounted to the elevator. And, a dispenser is joined in flow communication with the pen tip for ejecting a stream of material atop the workpiece as the workpiece moves relative thereto for maintaining a substantially constant gap between said pen tip and the workpiece during relative movement therebetween.
摘要翻译： 机器人笔包括具有用于安装工件的多轴阶段的计算机数字控制机器以及相对于其转换的协作电梯。 笔尖可旋转地安装在电梯上。 并且，分配器与笔尖流动连通地连接，用于当工件相对于其移动时喷射工件顶部的材料流，以在它们之间的相对运动期间保持所述笔尖和工件之间的基本恒定的间隙。
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公开(公告)号：US06374158B1
公开(公告)日：2002-04-16
申请号：US09504196
申请日：2000-02-15
IPC分类号： G05B1904
CPC分类号： G05B19/425 , B23K10/027 , B23K2101/001 , B23Q17/24 , B25J19/022 , G05B19/401 , G05B2219/35347 , G05B2219/37048 , G05B2219/37067 , G05B2219/37275 , G05B2219/37555 , G05B2219/45104 , G05B2219/49231
摘要： A robotic machine includes a machine tool removably supported in a mount for following a programmable path over a workpiece. A calibration pointer includes a housing configured like the tool for being supported in the mount, and a laser is affixed in the housing for emitting a laser beam at the workpiece. In a method of operation, the laser beam is projected from the laser in a focused spot at the workpiece at an offset therefrom. The spot permits accurate programming of the machine without contacting the workpiece.
摘要翻译： 机器人机器包括可拆卸地支撑在用于跟随工件上的可编程路径的安装件中的机床。 校准指示器包括被构造为类似于用于支撑在安装件中的工具的壳体，并且激光器固定在壳体中，用于在工件处发射激光束。 在一种操作方法中，激光束在与工件偏离的工件处的聚焦点处从激光投影。 该位置可以准确地对机器进行编程，而不会接触工件。
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