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67 条记录 (耗时 0.019 秒)

    Wire harness fabrication apparatus
    3.
    发明授权
    Wire harness fabrication apparatus 失效
    线束制造装置

    公开(公告)号：US4608746A

    公开(公告)日：1986-09-02

    申请号：US591365

    申请日：1984-03-20

    申请人： Tibor Csakvary

    发明人： Tibor Csakvary

    IPC分类号： H01B13/012 ,  B23Q41/00

    CPC分类号： H01B13/01236 ,  Y10T29/514

    摘要： The invention is a wire harness fabrication apparatus for use in the manual fabrication of wire harnesses and as a wire receiving member for use in combination with an automated factory cell. The apparatus is a rotatable cylindrical member with a continuous surface upon which the wire is disposed. The wire is secured to the continuous surface by clamps and the various branches of the harness are defined by further clamps and routing pins. The various lengths of wire are secured to the surface as the cylindrical member rotates about a generally horizontal axis. Upon completion of the fabrication of the wire harness, the cylindrical member is rotated in the opposite direction to remove the wire harness.

    摘要翻译： 本发明是一种线束制造装置，用于手工制造线束和用作与自动化工厂电池组合使用的电线接收部件。 该装置是具有连续表面的可旋转的圆柱形构件，其上布置线。 线通过夹具固定到连续表面，并且线束的各个分支由另外的夹具和布线引脚限定。 当圆柱形构件围绕大致水平的轴线旋转时，各种长度的线固定到表面。 在完成线束的制造之后，圆柱形构件沿相反的方向旋转以移除线束。

    Weld gun repositioning system for programmable manipulator
    4.
    发明授权
    Weld gun repositioning system for programmable manipulator 失效
    用于可编程机械手的焊枪重新定位系统

    公开(公告)号：US4447697A

    公开(公告)日：1984-05-08

    申请号：US471304

    申请日：1983-03-02

    申请人： Maurice J. Dunne ,  Klaus W. Nielsen

    发明人： Maurice J. Dunne ,  Klaus W. Nielsen

    IPC分类号： B23K11/11 ,  B23K11/25 ,  G05B19/42 ,  B23K11/10

    CPC分类号： B23K11/253 ,  B23K11/11 ,  G05B19/42 ,  G05B2219/36417 ,  G05B2219/45135

    摘要： A weld gun mounted on the end of the manipulator arm of a programmable manipulator is repositioned with respect to the initially taught path in accordance with variations in the dimensions of successive workpieces on which a series of spot welds are to be made.A sensing means carried by the weld gun is employed to measure the position of the welding tips relative to the edge of the flanges which are to be welded. The output of this sensing means is employed to reposition the weld gun prior to the next weld. Repositioning may be accomplished by moving the weld gun bodily with respect to the end of the manipulator arm while the manipulator arm remains stationary at the taught position, or by modifying the command signal for the appropriate axis so that the manipulator arm is itself moved to a different position than the initially taught position.

    摘要翻译： 安装在可编程机械手的操纵臂端部的焊枪相对于初始教导的路径被重新定位，根据其上将要制成一系列点焊的连续工件的尺寸的变化。 采用由焊枪承载的检测装置来测量焊头相对于待焊接的凸缘的边缘的位置。 该传感装置的输出用于在下一次焊接之前重新定位焊枪。 重新定位可以通过相对于操纵臂的端部身体移动焊枪来实现，同时操纵臂在教导位置处保持静止，或者通过修改适当轴线的命令信号，使得操纵臂本身被移动到 不同于最初教授的职位。

    Signal modification device for memory controlled manipulator apparatus
    5.
    再颁专利
    Signal modification device for memory controlled manipulator apparatus 失效
    用于记忆控制的机械手装置的信号修改装置

    公开(公告)号：USRE31208E

    公开(公告)日：1983-04-12

    申请号：US33482

    申请日：1979-04-26

    申请人： Takehiko Watanabe

    发明人： Takehiko Watanabe

    IPC分类号： B25J9/16 ,  G05B19/425

    CPC分类号： G05B19/425 ,  B25J9/161 ,  G05B2219/36078 ,  G05B2219/40387

    摘要： The invention discloses a digital position instruction signal modification device for use with a memory controlled manipulator apparatus of the type in which, during a teaching operation, a desired position of manipulator arm means is stored in memory means, and the stored position is read out during repetitive work cycles to cause the manipulator apparatus to reproduce a series of motions taught during the teaching operation. The digital position instruction or command read out from the memory means may be modified by a modifying value entered by a modifying value setting device so that all or desired digital position command or instruction signals stored in the memory means may be modified without repeating the teaching operation.

    Programmable manipulator with dynamic feedback apparatus for stabilization
    7.
    发明授权
    Programmable manipulator with dynamic feedback apparatus for stabilization 失效
    具有动态反馈装置的可编程操纵器，用于稳定

    公开(公告)号：US4132937A

    公开(公告)日：1979-01-02

    申请号：US732977

    申请日：1976-10-18

    申请人： Joseph F. Engelberger ,  Maurice J. Dunne ,  Peter F. Rogers

    发明人： Joseph F. Engelberger ,  Maurice J. Dunne ,  Peter F. Rogers

    IPC分类号： G05D3/12 ,  B25J9/16 ,  B25J13/08 ,  G05B19/19 ,  G05B19/31 ,  G05B19/42 ,  G05B11/18

    CPC分类号： G05B19/318 ,  B25J9/161 ,  G05B19/42 ,  G05B2219/37388

    摘要： A programmable manipulator apparatus having an arm movable in a plurality of axes employs a feedback signal representing the dynamic behavior of the end of the manipulator arm for use in stabilizing a positional servo loop especially where the position sensing is performed at a location on the manipulator apparatus which is physically closer to the drive apparatus than the end of the arm. The manipulator apparatus includes encoders for developing position signals representing the position of the manipulator in each of the axes which are stored in a memory. The stored digital signals are utilized as command signals and are compared with the encoder signals to develop an error signal utilized to control movement of the manipulator apparatus. The dynamic feedback signal is selectively combined with the positional error signal in a predetermined manner to stabilize the control and operation of the manipulator arm by providing a high negative dynamic feedback signal during deceleration and a low signal during the acceleration phase thereby avoiding conflict between the positional error signal and the dynamic feedback signals.

    Programmed manipulator apparatus
    8.
    发明授权
    Programmed manipulator apparatus 失效
    编程操纵器装置

    公开(公告)号：US3661051A

    公开(公告)日：1972-05-09

    申请号：US3661051D

    申请日：1970-08-18

    申请人： UNIMATION INC

    发明人： DUNNE MAURICE J ,  ENGELBERGER JOSEPH F ,  GARDNER HORACE L ,  LINDBOM TORSTEN H

    IPC分类号： B25J9/18 ,  B25J13/02 ,  F15B21/02 ,  G05B19/425 ,  G05D3/20

    CPC分类号： B25J13/02 ,  F15B21/02 ,  G05B19/425 ,  G05B2219/34236 ,  G05B2219/34237 ,  G05B2219/35238 ,  G05B2219/41301 ,  G05B2219/50048 ,  G05D3/20

    摘要： A programmed manipulator apparatus employs a continuously rotating memory drum in which may be stored signals representing a number of steps in a desired sequence of operations. A portable teach control assembly is employed during the teaching operation to establish a desired position of the manipulator arm which is then recorded on the memory drum. During repetitive work cycles, the recorded signals are used as command signals and are compared with encoder signals representing absolute position to move the manipulator arm to each set of positions in sequence. The manipulator arm may be moved over curved paths by employing artificial coincidence signals which are developed while large error signals still exist in the controlled axes. A common comparator and digital-to-analog converter is employed for all of the controlled axes which provides coincidence signals representing different magnitudes of error.

    摘要翻译： 编程的机械手装置采用连续旋转的存储鼓，其中可以存储表示所需操作顺序的步骤数目的信号。 在教学操作期间采用便携式教学控制组件来建立操纵器臂的期望位置，然后将其记录在存储鼓上。

    Programmed manipulator apparatus with artificial end-of-program facilities
    9.
    发明授权
    Programmed manipulator apparatus with artificial end-of-program facilities 失效
    具有人为的程序终止设备的编程操纵装置

    公开(公告)号：US3654613A

    公开(公告)日：1972-04-04

    申请号：US3654613D

    申请日：1970-02-11

    申请人： UNIMATION INC

    发明人： DUNNE MAURICE J ,  MUNSON GEORGE E JR

    IPC分类号： G05B19/42 ,  G06F15/46 ,  B25J9/00

    CPC分类号： G05B19/42 ,  G05B2219/36498

    摘要： A programmed manipulator apparatus is provided with partial program repetition teaching facilities so that a predetermined portion of the total program may be repeated a selectable number of times after which the total program is performed. The point at which the partial program is to be repeated is employed to develop an artificial end-of-program signal which is employed to restart the total program. Counter means are provided for disabling the artificial end-of-program signal after a number of repetitions of the partial program. The manipulator apparatus is also arranged to cooperate with an externally produced artificial end-of-program signal which may be responsive to the presence or absence of a part carried by the manipulator arm, a characteristic such as the temperature of the part carried by the arm, or the like, and is employed to restart the total program if an undesired characteristic is sensed.

    摘要翻译： 编程的机械手装置具有部分程序重复教学设备，使得总程序的预定部分可以重复执行总程序的可选次数。 采用重复部分节目的点来开发用于重新启动总节目的人为程序结束信号。 提供了计数器装置，用于在部分程序的重复次数之后禁止人为程序结束信号。 机械手装置还被配置为与外部产生的人工程序结束信号协同工作，该程序信号可以响应于由操纵臂承载的部件的存在或不存在，诸如由臂承载的部件的温度 等，并且如果感测到不期望的特性，则用于重新启动总程序。