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    Automatic manipulation system and method
    72.
    发明授权
    Automatic manipulation system and method 失效
    自动操纵系统及方法

    公开(公告)号：US5017084A

    公开(公告)日：1991-05-21

    申请号：US249404

    申请日：1988-09-23

    申请人： Jerome H. Lemelson

    发明人： Jerome H. Lemelson

    IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  G07D7/12 ,  G07D7/20 ,  B25J17/02

    CPC分类号： B25J5/005 ,  B25J15/0491 ,  B25J19/023 ,  B25J9/041 ,  G05B19/425 ,  G07D7/12 ,  G07D7/20 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/41249 ,  G05B2219/45045 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/45213 ,  G05B2219/49395 ,  Y10T29/5107 ,  Y10T483/10 ,  Y10T483/1793

    摘要： An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automatically changed and received either from storage on the manipulator or adjacent the manipulator. In a fourth form, the tool head is composed of a turret containing a plurality of different tools and manipulating devices, which turret is automatically operated to bring a selected tool or fixture into an operative location on the manipulator.

    摘要翻译： 一种能够执行各种程序和自动控制操作的自动操纵器，包括关于工作的操作。 提供自动换刀装置，其中操纵器相对于其工具夹具，工具头或头部改变工具。 在一种形式中，待使用的多个工具被支撑在与机械手相邻的机架上，并且操纵器被自动操作以实现一个或多个工具从其操作头的脱离，并且一个或多个工具相对于其的联接 操作头。 在另一种形式中，这些工具由操纵器本身支撑，并且自动控制操纵器来实现工具在其操作头和工具的存储位置之间的传送。 在第三种形式中，工具头自身被自动地改变并且从操纵器上的存储器或者与操纵器相邻接收。 在第四种形式中，工具头由包含多个不同工具和操纵装置的转台组成，该转台被自动操作以使选定的工具或固定装置进入操纵器上的操作位置。

    Dynamic correction of servo following errors in a computer-numerically controlled system and fixed cycle utilizing same
    73.
    发明授权
    Dynamic correction of servo following errors in a computer-numerically controlled system and fixed cycle utilizing same 失效
    在计算机数控系统中的伺服跟随误差的动态校正和使用相同的固定循环

    公开(公告)号：US5005135A

    公开(公告)日：1991-04-02

    申请号：US327324

    申请日：1989-03-22

    申请人： Alfred H. Morser ,  Walter M. Gildemeister ,  David M. Farmer

    发明人： Alfred H. Morser ,  Walter M. Gildemeister ,  David M. Farmer

    IPC分类号： G05B13/02 ,  G05B19/18 ,  G05B19/37 ,  G05B19/404 ,  G05B19/4061 ,  G05B19/4155 ,  G05B19/416

    CPC分类号： G05B19/373 ,  G05B2219/33119 ,  G05B2219/33338 ,  G05B2219/34206 ,  G05B2219/34419 ,  G05B2219/35245 ,  G05B2219/35263 ,  G05B2219/35279 ,  G05B2219/35287 ,  G05B2219/35294 ,  G05B2219/35373 ,  G05B2219/35394 ,  G05B2219/36168 ,  G05B2219/36395 ,  G05B2219/37619 ,  G05B2219/41113 ,  G05B2219/41192 ,  G05B2219/41219 ,  G05B2219/42062 ,  G05B2219/42152 ,  G05B2219/43199 ,  G05B2219/45215 ,  G05B2219/45216 ,  G05B2219/49376 ,  G05B2219/50109 ,  G05B2219/50113 ,  G05B2219/50208 ,  Y10T409/30056

    摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path of relative movement between a tool and a workpiece, wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes. The invention provides apparati and methods for correcting path radius errors to facilitate rapid and accurate movement along the curve. In a preferred embodiment, such path radius correction is applied to a fixed cycle for machining inside circles preferably incorporating such path radius correction and providing substantially tangential engagement between the tool and a machining locus orbited by the tool to avoid abrupt accelerations or decelerations while the tool is in contact with the workpiece. In addition to avoiding surface blemishes, this facilitates machining a broader range of hole sizes with a given sized tool thereby reducing the need for frequent tool changes. The invention carries out path radius correction by generating position commands received by the servo using corrected radius data, the difference between which and the desired radius to be machined compensates for at least a portion of the path radius error that would otherwise be generated by the servo. Apparatus and methods for threading holes using a non-helical threading tools with or without path radius correction are also disclosed.

    摘要翻译： 本发明涉及适于接收部件程序指令的伺服驱动的计算机数字控制系统，该程序指令限定了工具和工件之间的相对运动的期望路径，其中该路径可包括要实现的内部或外部弯曲部分 通过沿着至少两个正交线性轴的机器构件的协调线性运动。 本发明提供了用于校正路径半径误差的装置和方法，以促进沿着曲线的快速和准确的移动。 在优选实施例中，将这种路径半径校正应用于用于在圆内进行加工的固定循环，优选地包括这种路径半径校正并且在工具与由工具轨道运动的加工轨迹之间提供基本上切向的接合以避免突然加速或减速，同时工具 与工件接触。 除了避免表面瑕疵之外，这有助于使用给定尺寸的工具加工更宽范围的孔尺寸，从而减少频繁更换刀具的需要。 本发明通过产生由伺服使用校正的半径数据接收的位置命令来执行路径半径校正，其中加工的所需半径和所需半径之间的差补偿由伺服器产生的路径半径误差的至少一部分 。 还公开了使用具有或不具有路径半径校正的非螺旋穿线工具穿孔的装置和方法。

    Embroidering machine
    74.
    发明授权
    Embroidering machine 失效
    绣花机

    公开(公告)号：US5001996A

    公开(公告)日：1991-03-26

    申请号：US222100

    申请日：1988-07-20

    申请人： Ikuo Tajima ,  Hideo Hasegawa

    发明人： Ikuo Tajima ,  Hideo Hasegawa

    IPC分类号： D05C5/04 ,  G05B19/4093

    CPC分类号： D05C5/04 ,  G05B19/4093 ,  G05B19/40936 ,  G05B2219/35241 ,  G05B2219/36395 ,  G05B2219/45196

    摘要： Control data such as data designating the order of changing color of thread, conversion parameter designating reducing or enlarging of an embroidery design and data designating the number of repetitions of the same design are set to desired states and these control data are stored in a memory in correspondence to storage of stitch data of a desired embroidery design. By designating a desired embroidery design when this embroidery design should be embroidered, the control data sorted in correspondence to this design are read from the memory and controlling of the embroidering operation and changing of stitch data are made in accordance with the read out data. When stitch data of an embroidery design is input from an external memory device to an internal memory device, stitch data of plural embroidery designs can be combined into stitch data of a single embroidery design and this combined stitch data can be stored in the internal memory device. Further, for editing the embroidery design, running of the embroidering machine can be temporarily stopped at a desired stitch during running for actual embroidering operation to change the operation mode to an embroidery design data editing mode while confirming an actually embroidered design pattern. During this temporary stopping, data editing processing such as changing, deletion or insertion of stitch data at the desired stitch is executed.

    摘要翻译： 控制数据，例如指定线程颜色变化的顺序的数据，指定减少或放大刺绣设计的转换参数以及指定相同设计的重复次数的数据被设置为期望的状态，并且这些控制数据被存储在存储器 对应于所需刺绣设计的针迹数据的存储。 通过在绣花设计时指定所需的绣花设计，从存储器读取对应于该设计分类的控制数据，并根据读出的数据进行绣花操作的控制和针数的改变。 当从外部存储装置向内部存储装置输入刺绣设计的针迹数据时，可以将多个刺绣设计的针迹数据组合成单个刺绣设计的针迹数据，并且该组合针迹数据可以存储在内部存储装置 。 此外，为了编辑刺绣设计，在进行实际绣花操作的过程中，刺绣机的运行可以暂时停止在所需的针脚处，以便在确认实际绣花设计图案的同时将操作模式改变为刺绣设计数据编辑模式。 在该临时停止期间，执行数据编辑处理，例如在期望的针迹处改变，删除或插入针迹数据。

    Method of loading control program for numerical control apparatus
    75.
    发明授权
    Method of loading control program for numerical control apparatus 失效
    数控装置控制程序加载方法

    公开(公告)号：US4999554A

    公开(公告)日：1991-03-12

    申请号：US440164

    申请日：1989-11-21

    申请人： Shigeaki Naka

    发明人： Shigeaki Naka

    IPC分类号： G06F9/445 ,  G05B19/18 ,  G05B19/408 ,  G05B19/4155 ,  G06F13/00

    CPC分类号： G05B19/408 ,  G05B2219/35573 ,  G05B2219/36309 ,  G05B2219/36395

    摘要： The present invention discloses a method of loading a control program for a numerical control apparatus, wherein the control program is composed of a plurality of load modules. Each module contains a judgment codes, such as a version number, at the head portion thereof, and is stored in a read/write operation enabling memory, so that each of the judgment codes can be compared with a corresponding judgment code received from an external apparatus by a judgment code comparing means. When the comparison detects different judgment codes, transmission of the new load module corresponding to the discorded judgment codes requested by a modified load module requesting means. Only the substantive portion of the load modules corresponding to the discorded judgment codes received through the comparing means and requesting means need be loaded onto the memory by way of a load means.

    摘要翻译： 本发明公开了一种加载数控装置的控制程序的方法，其中控制程序由多个加载模块组成。 每个模块在其头部包含诸如版本号的判断代码，并且存储在使能存储器的读/写操作中，使得每个判断代码可以与从外部接收的相应的判断代码进行比较 装置由判断码比较装置。 当比较检测到不同的判断代码时，与由修改的加载模块请求装置请求的不一致判断代码相对应的新加载模块的传输。 只有通过比较装置和请求装置接收的与不正确的判断代码相对应的加载模块的实质部分需要通过加载装置加载到存储器上。

    Robotic workcell control system having improved input/output interfacing for better workcell operation
    77.
    发明授权
    Robotic workcell control system having improved input/output interfacing for better workcell operation 失效
    机器人工作单元控制系统具有改进的输入/输出接口，以实现更好的工作单元操作

    公开(公告)号：US4896087A

    公开(公告)日：1990-01-23

    申请号：US304972

    申请日：1989-01-31

    申请人： Eimei M. Onaga ,  Richard J. Casler, Jr. ,  James A. Hart ,  Kim N. Trinh ,  Kenneth E. Daggett

    发明人： Eimei M. Onaga ,  Richard J. Casler, Jr. ,  James A. Hart ,  Kim N. Trinh ,  Kenneth E. Daggett

    IPC分类号： B25J9/18 ,  G05B19/418

    CPC分类号： G05B19/41845 ,  G05B19/4185 ,  G05B2219/33187 ,  G05B2219/36112 ,  G05B2219/36371 ,  G05B2219/36395 ,  Y02P90/16 ,  Y02P90/18 ,  Y02P90/185

    摘要： A control system is provided for a workcell having a plurality of electric robots and a plurality of workcell equipment items in turn having a plurality of control and sensor devices associated therewith.Respective electronic robot controllers are disposed at respective workcell locations to operate robots as a part of the workcell process. Each robot controller has a floppy disk or other means for loading program data for one of the robot controllers.A first input/output control module is disposed at another workcell location and it has connected thereto as inputs a first group of the sensor devices and as outputs a first group of the control devices. Second and third input/output control modules are disposed at additional workcell locations and have connected thereto as inputs second and third groups of the sensor devices and as outputs second and third groups of the control devices.Additional input/output control modules are associated with the other robot controllers, and are similarly connected and placed in spaced workcell locations.A serial local area network connects each robot controller and its associated input/output modules to provide for program and process data communication. Each of the input/output modules has means including a microprocessor for operating the module in accordance with a system operating program downloadable from the associated robot controller to the module and for processing inputs and outputs in accordance a user process program downloadable from the associated robot controller to the module.

    Autosampler
    78.
    发明授权
    Autosampler 失效
    自动进样器

    公开(公告)号：US4816730A

    公开(公告)日：1989-03-28

    申请号：US944749

    申请日：1986-12-22

    申请人： Robert E. Wilhelm, Jr. ,  John R. Reader, Jr. ,  Kenneth W. Gormley, Sr. ,  Kendall B. Hendrick ,  Richard J. Celeste

    发明人： Robert E. Wilhelm, Jr. ,  John R. Reader, Jr. ,  Kenneth W. Gormley, Sr. ,  Kendall B. Hendrick ,  Richard J. Celeste

    IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/40 ,  G05B19/42

    CPC分类号： G05B19/40 ,  B25J9/161 ,  G05B2219/36395 ,  G05B2219/40006 ,  G05B2219/50042

    摘要： An apparatus for handling and moving a plurality of objects such as containers each holding a sample to be analyzed by an analytical instrument contains the following:a. a robotic arm assembly capable of vertical, horizontal and rotational movement;b. gripper mechanism for holding objects attach to the arm of the assembly;c. stepper motors for driving the robotic arm assembly;d. a power source that drives the stepper motors electrically coupled to the motors;e. a sensing system with a feedback loop that monitors the movement of arm assembly, the objects being manipulated by the arm assembly and the force applied to the objects by the gripper mechanism;f. a computer electrically interfaced with the linear stepper motors, the power means and the sensing system with the feedback loop andg. a means for providing operating data input to the computer;operating data is provided to the computer for operation of the autosampler and the autosampler moves the object as directed.

    摘要翻译： 用于处理和移动诸如容器的多个物体的装置，每个容器通过分析仪器保持待分析的样品包含以下内容：a。 能够进行垂直，水平和旋转运动的机器臂组件; b。 用于保持物体的夹持机构附着到组件的臂上; C。 用于驱动机器臂组件的步进电机; d。 电动机驱动步进电动机电耦合到电动机; e。 具有反馈回路的感测系统，其监测臂组件的运动，由臂组件操纵的物体和由夹持机构施加到物体的力; F。 与线性步进电机电连接的计算机，功率装置和具有反馈回路的传感系统和g。 用于向计算机提供输入的操作数据的装置; 操作数据被提供给计算机以用于自动进样器的操作，并且自动进样器按指示移动对象。

    Manipulator apparatus
    79.
    发明授权
    Manipulator apparatus 失效
    机械手装置

    公开(公告)号：US4518308A

    公开(公告)日：1985-05-21

    申请号：US354780

    申请日：1982-03-01

    申请人： Bohdan Grzybowski ,  Mark T. Horbal

    发明人： Bohdan Grzybowski ,  Mark T. Horbal

    IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J17/02 ,  G05B19/414 ,  G05B19/425 ,  B66C23/00

    CPC分类号： B25J17/0241 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1005 ,  B25J9/1025 ,  G05B19/4141 ,  G05B19/425 ,  F01L2001/3521 ,  G05B2219/31151 ,  G05B2219/33337 ,  G05B2219/34205 ,  G05B2219/34396 ,  G05B2219/36043 ,  G05B2219/36117 ,  G05B2219/36395 ,  G05B2219/41326 ,  G05B2219/45083 ,  G05B2219/49292 ,  G05B2219/50083 ,  Y10T74/19

    摘要： A manipulator apparatus comprises an elongated member having a number of arm sections interconnected by rotary actuators and supported by a vertical member rotatably mounted on a console. The other end of the elongated member terminates in a terminal motion actuator adapted to support an article handling member. Each rotary actuator comprises a stepping motor coupled to a harmonic drive device, wherein control pulses fed into the stepping motor will initiate motion which is reduced by the harmonic drive device and then imparted to the respective arm section. The vertical member is similarly controlled. The terminal motion actuator comprises a stepping motor rotatably supported by a rotary actuator comprising a combination of a stepping motor and a harmonic drive device. The terminal motion actuator has mounting means for supporting article handling members. The vertical member is rotatably supported in such manner that free play is totally eliminated. A control arrangement comprises a computer having hardware and software and interconnected with a CRT screen and a control panel. The computer is connected by a cable to bus means which intercouple a plurality of axes controlling devices, modulator connector devices, and data input devices. The computer has an address system to control the operation of the devices which have respective addresses. Each axis controlling device includes a microstep indexer interconnecting the axis controlling device with a motor driver which is connected to a respective stepping motor. The modular connector devices are connected to a plurality of modules which are associated with a particular type of external equipment which cooperates with the operation of the manipulator apparatus.

    摘要翻译： 操纵器装置包括细长构件，其具有多个由旋转致动器互连并由可旋转地安装在控制台上的垂直构件支撑的臂部分。 细长构件的另一端终止于适于支撑物品处理构件的终端运动致动器。 每个旋转致动器包括耦合到谐波驱动装置的步进电机，其中馈送到步进电机中的控制脉冲将启动由谐波驱动装置减小的运动，然后施加到相应的臂部分。 垂直构件也同样受到控制。 端子运动致动器包括由包括步进电机和谐波驱动装置的组合的旋转致动器可旋转地支撑的步进电机。 端子运动致动器具有用于支撑物品处理构件的安装装置。 垂直构件被可旋转地支撑，从而完全消除了自由游隙。 控制装置包括具有硬件和软件并与CRT屏幕和控制面板互连的计算机。 计算机通过电缆连接到总线装置，该总线装置相互耦合多个轴控制装置，调制器连接器装置和数据输入装置。 计算机具有用于控制具有相应地址的设备的操作的地址系统。 每个轴控制装置包括将轴控制装置与连接到相应的步进电机的电动机驱动器相互连接的微步进分度器。 模块化连接器装置连接到多个模块，这些模块与与机械手装置的操作配合的特定类型的外部设备相关联。