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公开(公告)号：US20140228631A1
公开(公告)日：2014-08-14
申请号：US13941934
申请日：2013-07-15
发明人： No San Kwak , Hee Kuk Lee , Woong Kwon
CPC分类号： B25J9/1697 , A61B1/00009 , A61B1/0005 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2090/064 , G05B2219/37076 , G05B2219/39528 , G05B2219/45117 , Y10S901/47
摘要： A surgical robot and a control method for the enables measurement of external force applied to a surgical tool of a slave device. In the surgical robot, the slave device may include an external force measurement unit, an image capture unit, and a controller. The external force measurement unit may include a force sensor attached to a surgical instrument to measure external force applied to a surgical tool provided at the surgical instrument, and a visual information display unit connected to the force sensor to display visual information corresponding to the external force output from the force sensor. The image capture unit acquires an image with regard to the visual information. The controller extracts the visual information from the image using image processing, and converts the extracted visual information into corresponding external force information.
摘要翻译： 一种外科手术机器人和用于能够测量施加于从属装置的外科手术工具的外力的控制方法。 在外科手术机器人中，从属装置可以包括外力测量单元，图像捕获单元和控制器。 外力测量单元可以包括附接到手术器械以测量施加到设置在手术器械上的外科手术工具的外力的力传感器，以及连接到力传感器以显示对应于外力的视觉信息的视觉信息显示单元 从力传感器输出。 图像捕获单元获取关于视觉信息的图像。 控制器使用图像处理从图像中提取视觉信息，并将提取的视觉信息转换为对应的外力信息。
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公开(公告)号：US20160170401A1
公开(公告)日：2016-06-16
申请号：US14907989
申请日：2014-07-29
发明人： Kenji Mori , Jin Fukumitsu , Akihiro Nemoto , Takuro Kidani
CPC分类号： B23B41/12 , B23B29/03478 , B23B41/04 , B23B2215/242 , B23B2251/241 , G05B15/02 , G05B19/31 , G05B19/404 , G05B2219/37076 , G05B2219/37617 , G05B2219/50336
摘要： A round hole machining method and a round-hole machining device in which machining can be accurately performed regardless of the wear of an edge tool. A non-round hole machining device includes: a machining load data acquisition section for obtaining machining load data corresponding to a machining load acting on the cutting edge of a cutting tool when boring a bore in a cylinder block; a machined shape prediction section for predicting a machined shape of the workpiece by utilizing the obtained machining load data and elastic deformation amounts at respective positions on the workpiece; and a motor control section for machining the workpiece so as to form an inverted shape, that is, a shape formed by inverting the predicted machined shape with respect to a target shape.
摘要翻译： 圆孔加工方法和圆孔加工装置，其中可以精确地进行加工，而不管边缘工具的磨损。 一种非圆孔加工装置包括：加工载荷数据获取部分，用于获得与在气缸体中钻孔时作用在切削工具的切削刃上的加工载荷相对应的加工载荷数据; 加工形状预测部，用于通过利用所获得的加工载荷数据和在工件上的各个位置处的弹性变形量来预测加工的加工形状; 以及马达控制部分，用于加工所述工件以形成倒置的形状，即通过使所述预测加工形状相对于目标形状反转形成的形状。
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公开(公告)号：US20160354933A1
公开(公告)日：2016-12-08
申请号：US15175039
申请日：2016-06-07
申请人： FANUC CORPORATION
发明人： Takashi SATO
IPC分类号： B25J13/08
CPC分类号： B25J9/1633 , B24B27/0038 , B25J9/1671 , B25J11/0065 , G05B2219/35327 , G05B2219/37076 , G05B2219/37086 , G05B2219/37091
摘要： A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.
摘要翻译： 一种机器人控制器，通过该机器人控制器，操作者可以在视觉或直观上了解施加到工件的任意部分的实际力的方向和/或大小。 控制器控制机器人的运动，使得工作工具和工件中的一个相对于另一个移动，并且执行预定的操作。 控制器具有力检测部，其检测作用在作业工具与工件之间的力; 以及显示机器人的模拟图像或视频的显示部。 显示部显示工件上的工作点的轨迹，并且力检测部检测当工件通过工作点时施加到每个工作点的力。 显示部显示检测出的力作为从工作点或工作点附近的点延伸的线段等。
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公开(公告)号：US09889561B2
公开(公告)日：2018-02-13
申请号：US15175039
申请日：2016-06-07
申请人： FANUC CORPORATION
发明人： Takashi Sato
CPC分类号： B25J9/1633 , B24B27/0038 , B25J9/1671 , B25J11/0065 , G05B2219/35327 , G05B2219/37076 , G05B2219/37086 , G05B2219/37091
摘要： A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.
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5.发明授权Machine tool graphical display device for displaying machine load relative to tool position 失效机床图形显示装置，用于显示相对于刀具位置的机床负载
公开(公告)号：US5663886A
公开(公告)日：1997-09-02
申请号：US460674
申请日：1995-06-02
申请人： Keith W. Lueck
发明人： Keith W. Lueck
IPC分类号： G05B19/4069 , G06F19/00 , G06G7/64 , G06G7/66
CPC分类号： G05B19/4069 , G05B2219/35327 , G05B2219/37076 , G05B2219/37285 , G05B2219/45161 , G05B2219/45237
摘要： A machine tool display device provides a continuous real time display of a machine tool load as a function of position of a tool relative to a work surface being machined. Position is displayed on a first axis and load is displayed on a second axis perpendicular to the first axis. A mirror image of the display may be provided about a third axis perpendicular to the first axis so that a cross sectional representation of the working surface is displayed. The machine tool includes means for manual or automatic adjustment of the position of the tool relative to the work surface in order to achieve a predetermined final work surface profile.
摘要翻译： 机床显示装置提供作为工具相对于被加工的工作表面的位置的函数的机床负载的连续实时显示。 位置显示在第一个轴上，载荷显示在垂直于第一个轴的第二个轴上。 可以围绕垂直于第一轴线的第三轴线提供显示器的镜像，使得显示工作表面的横截面图。 机床包括用于手动或自动调整工具相对于工作表面的位置以便实现预定的最终工作表面轮廓的装置。
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公开(公告)号：US09914177B2
公开(公告)日：2018-03-13
申请号：US14907989
申请日：2014-07-29
发明人： Kenji Mori , Jin Fukumitsu , Akihiro Nemoto , Takuro Kidani
IPC分类号： G06F19/00 , B23B41/12 , G05B19/404 , B23B41/04 , B23B29/034 , G05B15/02 , G05B19/31
CPC分类号： B23B41/12 , B23B29/03478 , B23B41/04 , B23B2215/242 , B23B2251/241 , G05B15/02 , G05B19/31 , G05B19/404 , G05B2219/37076 , G05B2219/37617 , G05B2219/50336
摘要： A round hole machining method and a round-hole machining device in which machining can be accurately performed regardless of the wear of an edge tool. A non-round hole machining device includes: a machining load data acquisition section for obtaining machining load data corresponding to a machining load acting on the cutting edge of a cutting tool when boring a bore in a cylinder block; a machined shape prediction section for predicting a machined shape of the workpiece by utilizing the obtained machining load data and elastic deformation amounts at respective positions on the workpiece; and a motor control section for machining the workpiece so as to form an inverted shape, that is, a shape formed by inverting the predicted machined shape with respect to a target shape.
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公开(公告)号：US20140257717A1
公开(公告)日：2014-09-11
申请号：US14189564
申请日：2014-02-25
发明人： Shinya KUMAZAKI , Kazuya FURUKAWA
IPC分类号： G01N19/08
CPC分类号： G01N19/08 , B23Q17/0961 , G01N3/58 , G05B19/4065 , G05B2219/34464 , G05B2219/34465 , G05B2219/37076 , G05B2219/37342
摘要： A tool abnormality detection system corrects a monitoring range for a load on a tool in an Mth cycle by using load data of at least one of 1st to (M−1)th cycles (where M is an integer of 2 or more), wherein processing work on a single workpiece corresponds to a single cycle, and the load data is data about the load on the tool in the cycle.
摘要翻译： 工具异常检测系统通过使用第1至第（M-1）个周期（其中M为2以上的整数）中的至少一个的负载数据，校正第M次循环中的工具上的负载的监视范围，其中 在单个工件上的加工工作对应于单个循环，负载数据是关于工具在循环中的负载的数据。
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