公开(公告)号：US4495588A

公开(公告)日：1985-01-22

申请号：US359548

申请日：1982-03-18

申请人： Satoru Nio ,  Shinobu Sato ,  Hajime Fujii ,  Toyoji Hamashima

发明人： Satoru Nio ,  Shinobu Sato ,  Hajime Fujii ,  Toyoji Hamashima

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05B19/18 ,  G05B19/404 ,  G05B19/408 ,  G05B19/4093 ,  G05B19/42 ,  G05B13/00

CPC分类号： B25J9/161 ,  G05B19/4083 ,  G05B19/42 ,  G05B2219/36503 ,  G05B2219/45135

摘要： In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.

摘要翻译： 在机器人轨迹控制机构中，向机器人教导要由机器人处理的物体的前三个代表点和第一工作点的坐标，当机器人和物体的相对位置改变时，第二 教导与前三个代表点对应的三个代表点，根据前三个代表点与第一工作点和第二三个代表点的相对位置计算第二工作点的坐标，从而命令机器人工作 轨迹。

公开(公告)号：US4677276A

公开(公告)日：1987-06-30

申请号：US432748

申请日：1982-11-23

申请人： Satoru Nio ,  Toyoji Hamashima ,  Shinobu Sato

发明人： Satoru Nio ,  Toyoji Hamashima ,  Shinobu Sato

IPC分类号： B23K9/02 ,  G05B19/423 ,  B23K9/12

CPC分类号： G05B19/423 ,  B23K9/0216 ,  G05B2219/49384

摘要： A method of controlling a welding robot substantially comprises (i) teaching three points in the neighborhood of a teaching line to define a weaving pattern, and (ii) controlling three basic axes of a welding robot so that a welding torch tip of the robot moves on one of the surfaces of a triangular pillar formed by shifting a triangular plane defined by the above three points along the teaching line, while executing a weaving operation which is determined by a weaving amplitude, a weaving frequency, and a welding velocity. After continuing the above movement until the torch tip arrives at the end point of the teaching line, the weaving operation along the next teaching line is effected utilizing a new triangular plane which is formed by rotating the former triangular plane on an axis defined by the former teaching line and the next teaching line. By utilizing and repeating such rotation, there is no need to teach a weaving pattern at each teaching line and an operator can easily teach the welding pattern with any complex weaving pattern.

摘要翻译： 控制焊接机器人的方法基本上包括（i）教导教导线附近的三个点来定义编织图案，以及（ii）控制焊接机器人的三个基本轴线，使得机器人的焊炬尖端移动 在通过由编织振幅，编织频率和焊接速度确定的织造操作的同时沿着教导线移动由上述三个点限定的三角形平面而形成的三角柱的一个表面上。 继续上述运动直到割枪尖端到达教导线的终点，沿着下一条教导线的织造操作是利用一个新的三角形平面来实现的，该三角形平面是通过将前三角形平面旋转在由前者 教学线和下一条教学线。 通过利用并重复这种旋转，不需要在每个教导线上教导编织图案，并且操作者可以以任何复杂的编织图案容易地教导焊接图案。

公开(公告)号：US4590577A

公开(公告)日：1986-05-20

申请号：US432785

申请日：1982-12-01

申请人： Satoru Nio ,  Toyoji Hamashima ,  Shinobu Sato

发明人： Satoru Nio ,  Toyoji Hamashima ,  Shinobu Sato

IPC分类号： B23K9/127 ,  G05B19/42

CPC分类号： B23K9/1272 ,  G05B19/42 ,  G05B2219/36417

摘要： A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after completion of the locus correction.

摘要翻译： 一种焊接机器人控制方法，用于控制焊接机器人，其具有指向教导方向的尖端的焊枪和间歇地产生焊炬尖端的轨迹校正信号的传感器，包括：（1）给出轨迹校正 信号作为在与焊接线方向相交的平面上的任意数量的二维矢量的合成矢量，（2）通过在由合成矢量构成的合成矢量的方向上控制机器人的三个基本轴来校正轨迹， 当生成轨迹校正信号时，其方向平行于连接两个示教点并穿过焊炬的尖端和轨迹校正矢量的预定长度向量，（3）控制三个基本轴 机器人，使得焊炬的尖端在与连接两个教学点的线平行的线上移动，直到随后的轨迹校正信号 完成轨迹校正后，再次给出nal。

公开(公告)号：US4528632A

公开(公告)日：1985-07-09

申请号：US355657

申请日：1982-03-08

申请人： Satoru Nio ,  Shinobu Sato ,  Shigemi Nobayashi ,  Toyoji Hamashima

发明人： Satoru Nio ,  Shinobu Sato ,  Shigemi Nobayashi ,  Toyoji Hamashima

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  B25J9/00 ,  B25J13/00

CPC分类号： G05B19/41 ,  G05B2219/34037 ,  G05B2219/34167 ,  G05B2219/34179 ,  G05B2219/43006

摘要： In a control device for an industrial articulated robot, in the linear interpolation between two specified points, the distance between the two points is divided into segments, and the interpolation increments of the articulation drive axes for each interpolation internal, which correspond to the segments, are calculated for interpolation so that the interpolation increments are distributed uniformly with time.

摘要翻译： 在用于工业铰接机器人的控制装置中，在两个指定点之间的线性插补中，两点之间的距离被划分成段，并且对应于段的每个插值内部的关节运动轴的插值增量， 被计算用于插值，使得插值增量随时间均匀分布。

公开(公告)号：US4728974A

公开(公告)日：1988-03-01

申请号：US868752

申请日：1986-05-30

申请人： Satoru Nio ,  Hajime Fujii

发明人： Satoru Nio ,  Hajime Fujii

IPC分类号： B25J19/04 ,  B23K9/095 ,  B23K9/12 ,  B23K9/127 ,  B25J19/00 ,  B25J19/02 ,  G03B29/00

CPC分类号： B25J19/025 ,  B23K9/0956 ,  B25J19/0025

摘要： According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

摘要翻译： 根据本发明，纤维镜被插入到高度刚性的管中，并且该管被机器手腕（或纤维镜支撑装置）和相机支撑装置夹紧为刚性构件，从而允许照相机支撑装置和管移动 与机器人手腕整合。 因此，在机械手腕轴的工作范围内不会发生纤维范围的扭转。 此外，即使在机械手腕轴的工作范围内的任何位置，光纤范围的弯曲角度也可以保持在低于光纤范围的允许弯曲角度的恒定值。 因此，可以实现能够显着提高被加工物和光学系统之间的干涉的摄像装置。

公开(公告)号：US4761596A

公开(公告)日：1988-08-02

申请号：US868738

申请日：1986-05-30

申请人： Satoru Nio ,  Hitoshi Wakisako

发明人： Satoru Nio ,  Hitoshi Wakisako

IPC分类号： B25J19/04 ,  B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  G05B19/18 ,  G05B19/404 ,  G05B19/4063 ,  G05B19/4155 ,  G05B19/10

CPC分类号： B25J9/1684

摘要： A method of detecting and controlling a work start point of a robot of the teaching playback control type is disclosed. The robot has an interpolating function and responds to a position sensor, and a work tool is attached to the robot wrist to be accurately positioned to a work start point of a work object. A shadow of the work tool is produced by an illumination source. The work line of the object, the work tool, and the shadow thereof are image-recognized by a visual sensor. The visual sensor generates position correcting signals along the first and second correcting directions on the basis of the image recognized. The edge of the work tool is moved along the first correcting direction in response to a position correcting signal so as to reduce the distance between the work line and an edge of the work tool on the image recognized. The edge of the work tool is moved along the second correcting direction in response to a position correcting signal so as to reduce the distance between the work tool edge and an edge of the shadow of the work tool on the image recognized. The operations to move the work tool edge in the first and second correcting directions are repeated until the work line, the work tool edge, and the edge of the shadow thereof all coincide on the image recognized.

摘要翻译： 公开了一种检测和控制教学重放控制类型的机器人的工作起始点的方法。 机器人具有内插功能并对位置传感器进行响应，并且将工作工具附接到机器人手腕以准确地定位到工作对象的工作起点。 工作工具的阴影由照明源产生。 物体的工作线，作业工具及其阴影由视觉传感器进行图像识别。 视觉传感器基于所识别的图像沿着第一和第二校正方向产生位置校正信号。 响应于位置校正信号，沿着第一校正方向移动作业工具的边缘，以便减少所识别的图像上的工作线与作业工具的边缘之间的距离。 响应于位置校正信号，沿着第二校正方向移动作业工具的边缘，以便减少作业工具边缘与所识别的图像上作业工具的阴影边缘之间的距离。 重复在第一和第二校正方向上移动作业工具边缘的操作，直到工作线，工作工具边缘和其阴影的边缘都全部与所识别的图像重合。

公开(公告)号：US06627850B1

公开(公告)日：2003-09-30

申请号：US09936269

申请日：2001-10-10

申请人： Yasuhiro Koga ,  Shinji Okumura ,  Takahide Hirayama ,  Satoru Nio ,  Haruki Nakashima ,  Tsuneo Mita

发明人： Yasuhiro Koga ,  Shinji Okumura ,  Takahide Hirayama ,  Satoru Nio ,  Haruki Nakashima ,  Tsuneo Mita

IPC分类号： B23K912

CPC分类号： B23K9/0956 ,  B23K9/124

摘要： The welding method according to the present invention is adapted to carry out a welding operation by feeding a welding wire to a material to be welded, and generating an arc between the material to be welded and welding wire, in which the welding is done with the welding wire feeding speed increased and reduced during the welding operation, the welding wire feeding speed being reduced after the occurrence of short-circuiting is detected, the welding wire feeding speed being increased after the cancellation of the short-circuiting and the transfer of the welding operation to the formation of the arc are detected.

摘要翻译： 根据本发明的焊接方法适于通过将焊丝馈送到待焊接的材料，并且在被焊接材料和焊丝之间产生电弧进行焊接操作，其中焊接完成时 在焊接操作期间焊丝进给速度增加和减少，检测到发生短路后焊丝进给速度降低，在取消短路和焊接之后焊丝进给速度增加 检测到形成电弧的操作。