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    Method of controlling hardening with laser beam and laser beam hardening device
    61.
    发明授权
    Method of controlling hardening with laser beam and laser beam hardening device 失效
    用激光束和激光束硬化装置控制硬化的方法

    公开(公告)号：US06922420B2

    公开(公告)日：2005-07-26

    申请号：US10280385

    申请日：2002-10-25

    申请人： Tsunehiko Yamazaki ,  Naoomi Miyagawa ,  Toshihiko Inoue ,  Toshihiko Asari ,  Masaaru Matsumura

    发明人： Tsunehiko Yamazaki ,  Naoomi Miyagawa ,  Toshihiko Inoue ,  Toshihiko Asari ,  Masaaru Matsumura

    IPC分类号： B23K26/06 ,  B23K26/08 ,  B23K26/42 ,  C21D1/09 ,  C21D11/00 ,  H01S3/10

    CPC分类号： C21D1/09 ,  B23K26/0626 ,  B23K26/082 ,  B23K26/0846 ,  B23K26/705 ,  B23K26/707 ,  C21D11/00

    摘要： A workpiece is irradiated by a laser beam scanned in an oscillating track as the workpiece is advanced along a feed path in a hardening process. Sinusoidal variations in scan velocity are offset by decreasing the laser beam power level at phases in the scanning cycles corresponding to high and low scan displacement peaks, where the scan velocity is least. The beam power is increased near the scanning center line where the scan velocity is highest. The beam energy applied per unit of area is thus equalized over the scanning cycle. The workpiece temperature can be sampled at regular phases by a non-contact temperature sensor in the optical path, and used to control beam power versus phase in a subsequent scanning cycle. Alternatively or in addition, a sinusoidal beam power pattern can be stored and used to offset scan velocity variations as a function of phase.

    摘要翻译： 当工件沿着进给路径在硬化过程中前进时，通过在振荡轨道中扫描的激光束照射工件。 扫描速度的正弦变化通过在对应于扫描速度最小的高和低扫描位移峰值的扫描周期中的相位处降低激光束功率电平来抵消。 在扫描速度最高的扫描中心线附近增加光束功率。 因此，在单位面积上施加的光束能量在扫描周期上相等。 可以通过光路中的非接触式温度传感器在常规相位对工件温度进行采样，并用于在随后的扫描周期中控制光束功率对相位。 或者或另外，可以存储正弦波束功率模式并将其用作偏移作为相位的函数的扫描速度变化。

    Cable distribution and support equipment for sensor in robot system
    62.
    发明申请
    Cable distribution and support equipment for sensor in robot system 审中-公开
    机器人系统中传感器的电缆分配和支持设备

    公开(公告)号：US20050103148A1

    公开(公告)日：2005-05-19

    申请号：US10989431

    申请日：2004-11-17

    申请人： Toshihiko Inoue ,  Toshinari Tamura ,  Atsushi Aizawa

    发明人： Toshihiko Inoue ,  Toshinari Tamura ,  Atsushi Aizawa

    IPC分类号： B25J19/00 ,  B25J19/02 ,  B25J17/00

    CPC分类号： B25J19/021 ,  B25J19/0029 ,  Y10T74/20311

    摘要： Cable distribution and support equipment for a sensor, in a robot system including a robot and the sensor attached to the wrist region of the robot, to lay a sensor cable connected to the sensor in the robot. The cable distribution and support equipment includes a sensor cable comprised of a signal cable and a power cable; an umbilical member comprised of at least one of a control cable of a drive motor of a wrist axis of a robot, a control cable of a hand attached to the robot and a pneumatic-mechanism driving compressed-air hose; and a protective tube through which the sensor cable and the umbilical member are passed. The protective tube is configured to be laid through a cavity formed in a hollow forearm of the robot. The signal cable may be comprised of an image signal cable and a control signal cable, provided for a visual sensor. Alternatively, the signal cable may be comprised of a detection-data transmission signal cable of a strain gauge provided for a force sensor.

    摘要翻译： 用于传感器的电缆分配和支持设备，在包括机器人的机器人系统和附接到机器人的手腕区域的传感器的机器人系统中，布置连接到机器人中的传感器的传感器电缆。 电缆分配和支持设备包括由信号电缆和电力电缆组成的传感器电缆; 脐部构件，其由机器人的手腕轴的驱动马达的控制缆索，附接到机器人的手的控制缆索和驱动压缩空气软管的气动机构中的至少一个构成; 以及传感器电缆和脐带部件通过的保护管。 保护管构造成通过形成在机器人的空心前臂中的空腔铺设。 信号电缆可以由为视觉传感器提供的图像信号电缆和控制信号电缆组成。 或者，信号电缆可以由为力传感器提供的应变仪的检测数据传输信号电缆组成。

    Numerically controlled method
    63.
    发明申请
    Numerically controlled method 有权

    公开(公告)号：US20050071020A1

    公开(公告)日：2005-03-31

    申请号：US10995625

    申请日：2004-11-23

    申请人： Tsunehiko Yamazaki ,  Kohei Ohnishi ,  Naoomi Miyagawa ,  Toshihiko Inoue

    发明人： Tsunehiko Yamazaki ,  Kohei Ohnishi ,  Naoomi Miyagawa ,  Toshihiko Inoue

    IPC分类号： G05B19/408 ,  G05B19/18

    CPC分类号： G05B19/4086 ,  G05B2219/34089 ,  G05B2219/37323 ,  G05B2219/41436

    摘要： In a numerically controlled method of moving an object to be controlled along a predetermined locus, controlling control axes, the locus is made approximate to a spatial polynomial, a polynomial is converted into a polynomial as time function, the polynomial converted as time function is distributed to each control axis, control command in each control axis is produced on the basis of the polynomial distributed to each axis as time function, and the object to be controlled is moved along the locus, controlling each control axis on the basis of the control command. The velocity, the acceleration and the jerk of the object to be controlled can be easily obtained concerning each control axis in advance by differentiating the polynomial expressed by time function. The object to be controlled is controlled so as to move along the locus expressed by the polynomial, feeding irregularity or position shift is reduced and curved face machining at high accuracy is possible.

    Linear motor
    64.
    发明授权
    Linear motor 失效
    直线电机

    公开(公告)号：US06661130B2

    公开(公告)日：2003-12-09

    申请号：US10228570

    申请日：2002-08-26

    申请人： Tsunehiko Yamazaki ,  Kohei Ohnishi ,  Naoomi Miyagawa ,  Toshihiko Inoue

    发明人： Tsunehiko Yamazaki ,  Kohei Ohnishi ,  Naoomi Miyagawa ,  Toshihiko Inoue

    IPC分类号： H02K4100

    CPC分类号： H02K41/031 ,  H02K9/04

    摘要： A linear motor has a stationary member shaped as a channel and a moving member therein, with a magnet and an armature producing force for displacing the moving member along the channel. A first air flow path for cooling is defined along the path of the moving member in the channel. The moving member can have channels allowing cooling air to flow through. The channel can be closed over by a cover band passing through a slit in the moving member and closed or lifted by rollers on the moving member. The channel can be supplied with forced air flow by a blower and/or an exhaust fan, and preferably includes a filter for excluding metallic particles from the first air flow path.

    摘要翻译： 线性电动机具有形成为通道的固定构件和其中的移动构件，具有磁体和用于沿着通道移动移动构件的电枢产生力。 用于冷却的第一气流通道沿着通道中的移动构件的路径被限定。 移动构件可以具有允许冷却空气流过的通道。 通道可以通过穿过移动构件中的狭缝的盖带封闭，并通过移动构件上的辊闭合或提升。 该通道可以通过鼓风机和/或排气风扇供应强制空气流，并且优选地包括用于从第一空气流动路径排除金属颗粒的过滤器。

    Operation line tracking device using sensor
    65.
    发明授权
    Operation line tracking device using sensor 失效
    操作线跟踪装置采用传感器

    公开(公告)号：US06445979B1

    公开(公告)日：2002-09-03

    申请号：US09705885

    申请日：2000-11-06

    申请人： Toshihiko Inoue ,  Mitsuhiro Okuda ,  Akihiro Terada

    发明人： Toshihiko Inoue ,  Mitsuhiro Okuda ,  Akihiro Terada

    IPC分类号： G05B1500

    CPC分类号： B25J9/1684 ,  G05B2219/37009 ,  G05B2219/4719

    摘要： An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of detection of an unexpected line, an algorithm for detecting the operation line is replaced with another one. Thus, the detecting condition is automatically changed or reset in accordance with the cause of the detection failure, and the tracking operation of the robot is automatically restarted.

    摘要翻译： 一种用于机器人的操作线跟踪装置，用于使用安装在机器人上的工具执行操作，同时使用传感器跟踪操作线，其中当传感器的传感器自动改变或重置传感器的检测条件时，传感器的检测故障恢复 未能检测到操作线。 如果因激光传感器的光接收元件入射过多或过少的光线而导致检测失败，则激光输出强度自动变化。 如果由于撞击光量的基础而发生检测故障，则激光传感器的方位自动调整。 如果在激光传感器的视野中对操作线的位置偏置的原因发生检测失败，则自动调整激光传感器的位置。 如果检测到意外行的检测失败，则用另一个检测操作线的算法进行替换。 因此，根据检测失败的原因自动地改变或复位检测条件，并且机器人的跟踪操作被自动重启。

    Method and apparatus for searching for a fiducial point of machining relating to C-axis
    68.
    发明授权
    Method and apparatus for searching for a fiducial point of machining relating to C-axis 失效
    用于搜索与C轴相关的加工基准点的方法和装置

    公开(公告)号：US4736325A

    公开(公告)日：1988-04-05

    申请号：US847316

    申请日：1986-04-02

    申请人： Akimitsu Nagae ,  Toshihiko Inoue ,  Kimimasa Ishiguro

    发明人： Akimitsu Nagae ,  Toshihiko Inoue ,  Kimimasa Ishiguro

    IPC分类号： B23Q17/22 ,  B23Q16/00 ,  G05B19/401 ,  G06F15/00

    CPC分类号： G05B19/401 ,  G05B2219/49119 ,  G05B2219/49121 ,  Y10S82/903

    摘要： A method of and apparatus for searching for a fiducial point of machining in relation to the C-axis in a lathe capable of carrying out machining by C-axis control based on the C-axis origin. In a machining work applied to a workpiece having a C-axis-value-prescribed configuration whose C-axis value in relation to the fiducial point of machining is prescribed by a first angle, and second and third angles between the C-axis origin and each point of measurement located on the opposite sides of the C-axis-value-prescribed configuration facing the C-axis are measured, the angle between the fiducial point of machining and the C-axis origin is obtained on the basis of the second and third angles measured and the first angle prescribed between the C-axis-value-prescribed configuration and the fiducial point of machining, thus detecting the fiducial point of machining with respect to the workpiece having the C-axis-value-prescribed configuration.

    摘要翻译： 一种用于在车床中相对于C轴进行加工的基准点的方法和装置，其能够通过基于C轴原点的C轴控制进行加工。 在对具有C轴值规定构造的C轴值相对于加工基准点规定第一角度的C轴值的第二角度和C轴原点与 测量位于面向C轴的C轴值规定构造的相对侧上的每个测量点，基于第二和第二轴获得加工基准点与C轴原点之间的角度，并且 测量第三角度和C轴值规定构造与基准加工点之间规定的第一角度，从而检测相对于具有C轴值规定构造的工件的基准点。