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公开(公告)号：US4815319A
公开(公告)日：1989-03-28
申请号：US133001
申请日：1987-12-15
CPC分类号： B62D55/305 , B62D55/14 , G01P3/42
摘要： A system determines the movement of a track vehicle along the ground, the track vehicle having at least a first rotatable, endless track for supporting the vehicle on the ground, a drive for causing the movement of the vehicle, and a turning system for changing the direction of the movement of the vehicle. The system has a first traction-improvement device for mounting on the track vehicle. It bears on an inner-surface side of the first track with sufficient pressure for a small-surface portion on the opposite side of the first track to engage the ground with a higher pressure than any other portion of the first track, whereby to locate a pivoting axis of the track vehicle in the vicinity thereof. A first speed sensor for mounting on the track vehicle in the vicinity of the small-surface portion on the opposite side of the first track senses the speed of movement of the track vehicle along the ground only in the direction of the rotation of the first track and provides a first information thereof, whereby the movement of the track vehicle may be deduced therefrom. Preferably the vehicle has two tracks, and the system has two such traction-improvement devices and speed sensors respectively for the two tracks.
摘要翻译： 系统确定轨道车辆沿着地面的运动，轨道车辆具有用于在车辆上支撑车辆的至少第一可旋转的环形履带，用于使车辆运动的驱动装置，以及用于改变车辆的转向系统 车辆的运动方向。 该系统具有用于安装在履带车辆上的第一牵引力提升装置。 它承载在第一轨道的内表面侧上，足够的压力用于在第一轨道的相对侧上的小表面部分以比第一轨道的任何其他部分更高的压力接合地面，由此定位 轨道车辆在其附近的枢转轴线。 用于安装在轨道车辆上的第一轨道的相对侧上的小表面部分附近的第一速度传感器仅在第一轨道的旋转方向上感测轨道车辆沿地面的移动速度 并提供其第一信息，从而可以从其推断轨道车辆的运动。 优选地，车辆具有两个轨道，并且系统具有两个这样的牵引力改进装置和分别用于两个轨道的速度传感器。
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公开(公告)号：US4617504A
公开(公告)日：1986-10-14
申请号：US663403
申请日：1984-10-22
申请人： Jean-Marie Detriche
发明人： Jean-Marie Detriche
IPC分类号： B23Q15/013 , B23K9/127 , B23Q15/22 , B23Q35/04 , B23Q35/12 , B25J9/10 , B25J9/18 , B25J13/08 , B25J15/00 , B25J17/02 , G05B19/33
CPC分类号： B25J15/0019 , B23K9/1272 , B25J13/08 , B25J17/0258 , B25J9/1015
摘要： The invention relates to an adaptive control tool holder for fixing to the end of the carrier of a robot, controlling the displacement of said end in accordance with a stored path.The tool holder defines a degree of freedom about an axis and a degree of translational freedom in a direction orthogonal to said axis. For a central translation reference position, the axis passes through the active center of the tool. A detection system rigidly fixed to the tool has preferably two detectors used for controlling the motors which control the two degrees of freedom, by means of independent feedback or control circuits. During the learning of the path prior to performing the task, the translation and the rotation are blocked in the reference position.
摘要翻译： 本发明涉及一种用于固定到机器人的载体的端部的自适应控制工具保持器，其根据存储的路径控制所述端部的位移。 工具架在垂直于所述轴线的方向上定义关于轴线的自由度和平移自由度。 对于中心平移参考位置，轴通过工具的活动中心。 刚性地固定到工具的检测系统优选地具有两个用于通过独立的反馈或控制电路控制控制两个自由度的电动机的检测器。 在执行任务之前学习路径期间，平移和旋转在参考位置被阻止。
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公开(公告)号：US5241249A
公开(公告)日：1993-08-31
申请号：US817770
申请日：1992-01-08
申请人： Jean-Marie Detriche
发明人： Jean-Marie Detriche
CPC分类号： B25J9/1664 , B25J9/1679 , G05B2219/40521
摘要： A process for controlling a robot arm having a certain number of articulations or joints (A to F), which can abut. Substitution paths are automatically defined by calculation or by the choice of intermediate objectives in order to arrive at destination points, when the direct path would involve the abutment of certain joints.
摘要翻译： 一种用于控制具有一定数量的关节或关节（A至F）的机器人臂的过程，其可以抵靠。 通过计算或通过中间目标的选择来自动定义替代路径，以便当直接路径涉及某些关节的邻接时到达目的地点。
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4.发明授权Method and apparatus for the lateral positioning of a member relative to a joint 失效一种构件相对于接头的横向定位的方法和装置
公开(公告)号：US4513195A
公开(公告)日：1985-04-23
申请号：US532394
申请日：1983-09-15
申请人： Jean-Marie Detriche
发明人： Jean-Marie Detriche
CPC分类号： B23K9/1276 , B23Q35/13
摘要： The invention relates to a method and apparatus for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities.Use is made of an eddy current sensor having at least two probes staggered in the direction of the joint. The signals supplied by each probe are processed separately to obtain a signal representing the lateral displacement. By comparing said signal with a given threshold below the amplitude of the signal in the presence of a discontinuity, it is possible to only transmit to a servomotor signals which are below this threshold, which correspond to an effective measurement of the lateral displacement.Application is to automatic welding machines.
摘要翻译： 本发明涉及一种用于相对于在两个金属表面之间形成的并且具有不连续性的接头侧向定位的方法和装置。 使用涡流传感器，其具有沿接头方向交错的至少两个探头。 由每个探针提供的信号被单独处理以获得表示横向位移的信号。 通过在存在不连续性的情况下将所述信号与低于信号振幅的给定阈值进行比较，可以仅传输低于该阈值的伺服电机，该信号对应于侧向位移的有效测量。 适用于自动焊接机。
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5.发明授权
公开(公告)号：US5233526A
公开(公告)日：1993-08-03
申请号：US626946
申请日：1990-12-13
IPC分类号： G05D1/02
CPC分类号： G05D1/0261 , G05D1/0272
摘要： A process for relocking a driverless, robotized vehicle (1) on a theoretical trajectory (T.sub.th2) in which during the passage of the vehicle through a joining section (S.sub.1), the curvature of the trajectory of the vehicle (1) is progressively modified as a function of the instantaneous curvature and the heading or course (.theta.). Thus, there are no orientation discontinuities along the trajectory, which imposes no impossible operating conditions on the drive members of the vehicle, but still makes it possible to converge rapidly with the theoretical trajectory.
摘要翻译： 将无人驾驶的机动车辆（1）重新锁定在理论轨迹（Tth2）上的过程，其中在车辆通过接合部分（S1）期间，车辆（1）的轨迹的曲率被逐渐修改为 瞬时曲率和航向或航向（θ）的函数。 因此，沿着轨迹没有定向不连续性，这在车辆的驱动部件上施加了不可能的操作条件，但仍然使得可以与理论轨迹快速收敛。
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6.发明授权Apparatus for scanning a member in a plane perpendicular to its forward moving direction 失效用于在与其向前移动方向垂直的平面中扫描构件的装置
公开(公告)号：US4689469A
公开(公告)日：1987-08-25
申请号：US731972
申请日：1985-05-08
申请人： Jean-Marie Detriche , Didier Houche
发明人： Jean-Marie Detriche , Didier Houche
CPC分类号： B23K9/0216
摘要： The present apparatus scans a torch or other member in two directions contained in a scanning plane perpendicular to its advance direction. The apparatus includes means for controlling the speed of the torch in one direction and a means for controlling the position of the torch in the other direction are provided. There is also a position coder in accordance with the first direction supplying a signal which is compared with a reference amplitude, the result of the comparison supplying a signal for synchronizing the movements of the torch in said direction. Regulating means for defining the path of the torch in the scanning plane are also provided.
摘要翻译： 本装置在垂直于其前进方向的扫描平面中包含的两个方向上扫描割炬或其它构件。 该装置包括用于在一个方向上控制割炬速度的装置和用于控制割炬在另一个方向上的位置的装置。 还有一个位置编码器根据第一方向提供与参考幅度进行比较的信号，比较结果提供用于使所述方向上的割炬的运动同步的信号。 还提供了用于限定扫描平面中的割炬的路径的调节装置。
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公开(公告)号：US4651093A
公开(公告)日：1987-03-17
申请号：US577149
申请日：1984-02-06
CPC分类号： G01N27/9046 , G01N27/904
摘要： The invention relates to a multiple coil eddy current probe equipped with a coil balancing device. This probe comprises several coils forming an eddy current probe supplying in each case one signal. Each coil is regulated to overvoltage by a regulating unit, which acts on the frequency of the high frequency oscillator supplying each coil. Application is to the automatic positioning of a welding torch and to the inspection of the weld.
摘要翻译： 本发明涉及一种配备有线圈平衡装置的多线圈涡流探头。 该探头包括形成涡流探针的多个线圈，每个情况下都提供一个信号。 每个线圈通过调节单元调节为过电压，调节单元作用于提供每个线圈的高频振荡器的频率。 适用于焊枪的自动定位和焊缝的检查。
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8.发明授权Process for the resetting of the path of a member and apparatus for performing this process 失效用于复位用于执行该处理的成员和装置的路径的处理
公开(公告)号：US4642447A
公开(公告)日：1987-02-10
申请号：US731973
申请日：1985-05-08
申请人： Jean-Marie Detriche
发明人： Jean-Marie Detriche
IPC分类号： B25J9/16 , B23K9/12 , B23K9/127 , B25J9/10 , G05B19/18 , G05B19/404 , G05B19/425
CPC分类号： G05B19/425 , G05B2219/36417 , Y10T428/24372 , Y10T428/24802 , Y10T428/24893 , Y10T428/24942 , Y10T428/2495 , Y10T428/24967 , Y10T428/31551
摘要： Apparatus for resetting the path of a member comprises a member and a position detector, fixed to a carrier via a system comprising at least one carriage. The position detector supplies at least one signal representing the distance between the member and the line to be followed in a given direction. The apparatus includes for each direction, a carriage for translation of the member in said direction, a position coder associated with the carriage, a servocontrol arrangement to position the member in said direction and switches for locking the position of the member relative to the carrier for making the member dependent either on a reference position with respect to the carrier, or on a reference position with respect to the line to be followed by cancelling out the distance variation signals from the position detector. The process steps carried out by the apparatus are also disclosed.
摘要翻译： 用于复位构件的路径的装置包括构件和位置检测器，其经由包括至少一个托架的系统固定到载体。 位置检测器提供表示在给定方向上要跟随的构件和线之间的距离的至少一个信号。 该装置包括用于每个方向的用于沿所述方向平移构件的滑架，与滑架相关联的位置编码器，用于将构件定位在所述方向上的伺服控制装置和用于锁定构件相对于载体的位置的开关 使得该构件在相对于载体的参考位置或相对于要跟随的线的参考位置处依赖于从位置检测器取消距离变化信号。 还公开了由该装置执行的处理步骤。
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公开(公告)号：US5503513A
公开(公告)日：1996-04-02
申请号：US297710
申请日：1994-08-29
申请人： Jean-Marie Detriche
发明人： Jean-Marie Detriche
CPC分类号： B25J9/1615 , G05B2219/36159 , G05B2219/40294
摘要： A robotic system for use with at least two working stations and for carrying out tasks, is provided. At least one of the two working stations is mobile. The system according to the present invention comprises a controller for permitting the system to be controlled via a system interface located on the working stations, which interface is connected to an emission/receiver for exchanging information with the robotic system and the interface. A device for supplying energy to the system is provided which is comprised within the working stations. The system is self-propelled to permit autonomous movement between the two stations. Also, included are mechanical and electrical connections for permitting the system to be interchangeably disconnected from one of the working stations and reconnected to another working station.
摘要翻译： 提供了一种与至少两个工作站一起使用并用于执行任务的机器人系统。 两个工作站中至少有一个是移动的。 根据本发明的系统包括一个控制器，用于允许通过位于工作站上的系统接口来控制系统，该接口连接到用于与机器人系统和接口交换信息的发射/接收器。 提供了一种用于向系统提供能量的装置，其包括在工作站内。 该系统是自行推进的，允许两站之间自动运动。 还包括机械和电气连接，用于允许系统与其中一个工作站互换地断开并重新连接到另一个工作站。
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10.发明授权Process and apparatus for the lateral positioning of a member relative to a joint 失效一种构件相对于接头的横向定位的方法和装置
公开(公告)号：US4441010A
公开(公告)日：1984-04-03
申请号：US371268
申请日：1982-04-23
申请人： Jean Cornu , Jean-Marie Detriche , Pierre Gil , Paul Marchal , Jean Vertut
发明人： Jean Cornu , Jean-Marie Detriche , Pierre Gil , Paul Marchal , Jean Vertut
IPC分类号： B23Q35/127 , B23K9/127 , B23Q35/13 , B23K9/12
CPC分类号： B23Q35/13 , B23K9/1276
摘要： Process for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities and using at least one eddy current probe, wherein the signal supplied by each of the probes are processed to obtain at least one positioning signal varying with the displacement of the axis of the corresponding probe relative to the axis of the joint and at least one signal indicating the presence of a discontinuity and transmitted when the corresponding probe faces a discontinuity of the joint, wherein the member is laterally displaced as a function of variations of the positioning signal and wherein the control of the displacement of said member is interrupted as a function of variations of the positioning signal when a signal indicating the presence of a discontinuity is transmitted.The invention also relates to an apparatus for performing this process.
摘要翻译： 一种用于相对于形成在两个金属表面之间并且具有不连续性并且使用至少一个涡流探针的接头的侧向定位的方法，其中由每个探针提供的信号被处理以获得至少一个与 相应探针的轴线相对于关节轴线的位移和至少一个指示不连续的存在的信号，并且当相应的探针面向接头的不连续部分时发送，其中该部件被横向移位作为变化的函数 并且其中当发送指示存在不连续性的信号时，所述构件的位移的控制作为定位信号的变化的函数被中断。 本发明还涉及一种用于执行该过程的装置。
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