公开(公告)号：US5111125A

公开(公告)日：1992-05-05

申请号：US716045

申请日：1991-06-17

申请人： John A. Barrs

发明人： John A. Barrs

IPC分类号： B60R1/07 ,  G05B19/37 ,  G05B19/4061

CPC分类号： B60R1/07 ,  G05B19/371 ,  G05B19/4061 ,  G05B2219/37462 ,  G05B2219/41275 ,  G05B2219/45185 ,  G05B2219/49143

摘要： A "memory" mirror system having a mirror 19 mounted within convex-shaped mirror movement boundaries, two constant speed motors 16,18 each controlling an axis of mirror movement, position feedback signals 26,28 from each motor, push button inputs 12 and an electronic controller 10, is provided with automatic mirror repositioning that drives the mirror from a start position to a "memory" position in minimum time without colliding with any mirror movement boundaries by turning ON the motor, in the direction of the target, whose movement axis is the greatest distance from the target and turning ON the other motor, in the direction of the target, if the direction toward the target is also toward the center of the mirror movement pattern (i.e., away from the nearest boundary).

公开(公告)号：US4758961A

公开(公告)日：1988-07-19

申请号：US883951

申请日：1986-07-10

申请人： Kazuki Uemura ,  Yukio Itatsu ,  Toshikazu Sakai

发明人： Kazuki Uemura ,  Yukio Itatsu ,  Toshikazu Sakai

IPC分类号： G05B19/4061 ,  G06F15/46 ,  G05B23/02

CPC分类号： G05B19/4061 ,  G05B2219/41275 ,  G05B2219/49137 ,  G05B2219/49143

摘要： A tool move control method is disclosed. It comprises the steps of setting an interference area for an object which should not be interfered with a tool when a tool rapid move is instructed by a start point and a terminal point for the tool movement, setting an entry prohibit quadrant for prohibiting the tool entry and two or more of quadrants for permitting a move of the tool in the interference area, and controlling a move mode of the tool according to quadrants belonging to the start point and the terminal point in such a manner as to avoid the entry prohibit quadrant. A tool move control apparatus is also disclosed.

摘要翻译： 公开了一种工具移动控制方法。 它包括以下步骤：当由工具移动的起始点和终点指示工具快速移动时，设置不应该与工具干涉的物体的干涉区域，设置用于禁止工具进入的入口禁止象限 以及用于允许工具在干涉区域中移动的两个或更多个象限，并且以避免入口禁止象限的方式控制属于起点和终点的象限的工具的移动模式。 还公开了一种工具移动控制装置。

公开(公告)号：US5511933A

公开(公告)日：1996-04-30

申请号：US444857

申请日：1995-05-19

申请人： Jack F. Herklotz

发明人： Jack F. Herklotz

IPC分类号： G05B19/39 ,  B25J9/16

CPC分类号： G05B19/39 ,  G05B2219/37031 ,  G05B2219/37133 ,  G05B2219/37175 ,  G05B2219/41105 ,  G05B2219/41255 ,  G05B2219/41275 ,  G05B2219/50388

摘要： A shuttle transfer assembly (10) is able to accurately position a workarm (12) in two axes (X, Y) to a selected coordinate position. The assembly (10) include two position controllers (74, 76) each operating along a single axis for positioning the workarm (12) to the coordinate position. A central controller (86) functions to control the sequencing of the separate position controllers (74, 76). Coarse and fine sensors (62-68) are provided to allow feedback of position to the position controllers (74, 76). The coarse sensor (62, 64) operates for general positioning as an encoder on the servo drive motor. The fine sensors (66, 68) extend from the workarm (12) to produce the final, high resolution positioning.

摘要翻译： 梭子转移组件（10）能够将两个轴线（X，Y）中的工作臂（12）精确地定位到所选择的坐标位置。 组件（10）包括两个位置控制器（74,76），每个位置控制器沿着单个轴线操作，用于将工作臂（12）定位到坐标位置。 中央控制器（86）用于控制单独的位置控制器（74,76）的排序。 提供粗和精细传感器（62-68）以允许位置反馈到位置控制器（74,76）。 粗传感器（62,64）作为伺服驱动电动机上的编码器进行通用定位。 精细传感器（66,68）从工作臂（12）延伸以产生最终的高分辨率定位。

公开(公告)号：US5509966A

公开(公告)日：1996-04-23

申请号：US142791

申请日：1993-10-22

申请人： Richard H. Sykes

发明人： Richard H. Sykes

IPC分类号： B29C31/04 ,  B29C47/00 ,  B29C47/36 ,  B44F1/06 ,  G05B19/4099 ,  B05C11/00 ,  B05B9/04 ,  B05C5/00

CPC分类号： G05B19/4099 ,  B29C31/045 ,  B29C47/36 ,  B29C47/364 ,  B44F1/063 ,  B29C47/00 ,  B29C47/0023 ,  B29K2105/0032 ,  B29K2105/0097 ,  B29K2105/16 ,  G05B2219/34186 ,  G05B2219/41275 ,  G05B2219/49015 ,  G05B2219/49056 ,  Y02P90/265

摘要： A computer aided design and manufacturing system for decorating glass and other objects using graphic arts extrusion (GAME). Adhesive material combined with pigments adding false metal coloring and thicotropic properties for application upon glass and other objects is performed to provide false metal bead lines simulating stained glass and camed glass panels. A conventional x-y plot table is equipped with a specially designed nozzle for extruding materials and a computer is provided for controlling the plot table. The computer allows for flexibility in altering designs and enables operators or artisans to develop intricate detailed designs. Multi-dimensional ridges formed on decorative objects are made in the form of patterns which are filled in with colored varnishes or lacquers to fake a stained glass appearance.

摘要翻译： 一种使用图形挤压（GAME）装饰玻璃和其他物体的计算机辅助设计和制造系统。 粘合剂材料与添加假玻璃和其他物体的假金属着色和均匀性的颜料相结合，以提供模拟彩色玻璃和凸轮玻璃面板的假金属珠粒线。 传统的x-y绘图表配有专门设计的挤出材料喷嘴，并提供了一个用于控制绘图表的计算机。 该计算机允许灵活地改变设计，并使操作员或工匠能够开发复杂的详细设计。 在装饰物上形成的多维脊形成为以彩色清漆或油漆填充的图案的形式，以伪造彩色玻璃外观。

公开(公告)号：US5260630A

公开(公告)日：1993-11-09

申请号：US449922

申请日：1989-12-15

申请人： Takashi Iwagaya ,  Takashi Kurokawa

发明人： Takashi Iwagaya ,  Takashi Kurokawa

IPC分类号： G05B19/18 ,  G05B19/408 ,  G05B19/414 ,  G05B19/416

CPC分类号： G05B19/408 ,  G05B19/4144 ,  G05B19/416 ,  G05B2219/35392 ,  G05B2219/41275 ,  Y02P90/265

摘要： A numerical control apparatus for independently controlling the rotational velocity of a plurality of spindles. One or more spindles and one spindle rotational velocity are designated by NC data outputted by an NC data generating unit (1), the data in memories (3a-3n) corresponding to spindles designated by switching unit (2) is updated by the designated spindle rotational velocity, and motors (6a-6n) of corresponding spindles are controlled to rotate at the spindle rotational velocities stored in the memories (3a-3n).

摘要翻译： PCT No.PCT / JP89 / 00356 Sec。 371日期1989年12月15日 102（e）日期1989年12月15日PCT 1989年4月4日PCT PCT。 出版物WO89 / 10587 日本特开1989年11月2日。一种用于独立地控制多个锭子的旋转速度的数值控制装置。 一个或多个主轴和一个主轴转速由NC数据产生单元（1）输出的NC数据指定，与切换单元（2）指定的主轴对应的存储器（3a-3n）中的数据由指定的主轴 旋转速度和相应主轴的马达（6a-6n）被控制为以存储在存储器（3a-3n）中的主轴旋转速度旋转。

公开(公告)号：US4929878A

公开(公告)日：1990-05-29

申请号：US372500

申请日：1989-06-27

申请人： Randall F. Hansen

发明人： Randall F. Hansen

IPC分类号： G05B19/37

CPC分类号： G05B19/371 ,  G05B2219/37462 ,  G05B2219/41275 ,  G05B2219/45185 ,  G05B2219/49143

摘要： A mirror control system for electrically powered and positioned mirrors (FIG. 1) of the "memory" type for, for example, moving an automotive side view mirror from its current position to a desired "memory" position, and a special algorithm therefor (FIG. 2), which initially moves the mirror toward the final, desired position at a forty-five (45.degree.) degree angle to the vertical and horizontal axes (NE, NW, SW or SE; FIG. 6), for a mirror whose two directional motors have equal speeds (X=Y). If no obstruction (e.g., the mirror's edge) is encountered (FIG. 3), the mirror is moved by both motors until either the vertical or horizontal axis of the final position is encountered, at which axis intersection point the mirror is moved by only the appropriate one of the motors until the final point along the remaining axis is reached; this is the "normal" mode of the algorithm. However, if an obstruction is encountered (left side of FIG. 2; FIGS. 4 and 5), the mirror is moved at a 45.degree. degree angle toward its center point (or a "safe" central position) until its reaches either the center point's vertical (FIG. 4) or horizontal (FIG. 5) axis, and then a single motor is used until the center point is reached. THe analogous "normal" mode is then used to move the mirror to its final position. If the speeds of the horizontal axis and vertical axis direction motors are not equal (X.noteq.Y, respectively), then the angle for the initial movement(s) is "arc tangent (Y.div.X)".

摘要翻译： 用于例如将汽车侧视镜从其当前位置移动到期望的“存储器”位置的“存储器”类型的电动和定位镜（图1）的镜面控制系统及其专用算法（ 图2），其最初以与垂直和水平轴线（NE，NW，SW或SE;图6）成45度（45度）的角度朝着最终期望位置移动镜子，用于镜子 其双向电动机具有相等的速度（X = Y）。 如果没有遇到障碍物（例如，镜子的边缘）（图3），则镜子将被两个电机移动，直到遇到最终位置的垂直轴或水平轴为止，在该轴交叉点仅将镜子移动 直到到达剩余轴的最后点为止; 这是算法的“正常”模式。 然而，如果遇到障碍物（图2的左侧;图4和图5），则反射镜朝向其中心点（或“安全”中心位置）以45度角移动，直到其到达 中心点的垂直（图4）或水平（图5）轴，然后使用单个电机直到达到中心点。 然后使用类似的“正常”模式将镜子移动到其最终位置。 如果水平轴和垂直轴方向电机的速度不相等（X分别为Y），则初始运动的角度为“反正切（Y DIVIDED X）”。

公开(公告)号：US5357598A

公开(公告)日：1994-10-18

申请号：US946791

申请日：1992-09-18

申请人： Katsumi Ishihara ,  Masateru Yasuhara

发明人： Katsumi Ishihara ,  Masateru Yasuhara

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05D3/12 ,  G05B19/18

CPC分类号： B25J9/1676 ,  G05B2219/34388 ,  G05B2219/36031 ,  G05B2219/39084 ,  G05B2219/39088 ,  G05B2219/40397 ,  G05B2219/41275 ,  G05B2219/49143

摘要： There are provided method and apparatus for controlling a robot, in which when the robot is continuously controlled in different directions such that from the movement in the horizontal direction to the movement in the vertical direction, the movements in the horizontal and vertical directions from a predetermined position are executed in parallel during the movement in the horizontal direction. In the method, target movement positions in the horizontal and vertical directions are input, a first distance which is necessary to move the robot in only the vertical direction is input, and the predetermined position is determined on the basis of the target movement positions in the horizontal and vertical directions and the first distance. The movements in the horizontal and vertical directions include the equal acceleration motion and the equal deceleration motion. With this method, the operator can easily perform the programming and teaching of the robot such that the robot can reach a desired final target position while avoiding obstacles without colliding therewith in the shortest time.

摘要翻译： 提供了一种用于控制机器人的方法和装置，其中当机器人在不同方向上被连续地控制时，使得从水平方向的运动到垂直方向上的运动，水平和垂直方向上的运动都是从预定的 在水平方向移动期间平行执行位置。 在该方法中，输入水平和垂直方向上的目标移动位置，输入仅在垂直方向上移动机器人所需的第一距离，并且基于目标移动位置确定预定位置 水平和垂直方向和第一距离。 水平和垂直方向上的运动包括相等的加速运动和相等的减速运动。 通过这种方法，操作者可以容易地执行机器人的编程和教导，使得机器人能够在最短时间内避免障碍物而不与其碰撞而达到期望的最终目标位置。

公开(公告)号：US5142209A

公开(公告)日：1992-08-25

申请号：US739533

申请日：1991-08-02

申请人： John A. Barrs

发明人： John A. Barrs

IPC分类号： G05B19/35

CPC分类号： G05B19/351 ,  G05B2219/37462 ,  G05B2219/41275 ,  G05B2219/45185 ,  G05B2219/49137 ,  G05B2219/49143

摘要： A memory mirror system having a mirror 19 mounted within concave-shaped mirror movement boundaries, two constant speed motors 16, 18 each controlling an axis of mirror movement, position feedback signals 26,28 from each motor, push button inputs 12 and an electronic controller 10, is provided with automatic mirror repositioning that drives the mirror from a start position to a memory position in minimum time without colliding with any mirror movement boundaries by driving the mirror position toward the target along the axis farthest from the target and driving the mirror toward the origin along the other axis until the mirror position is within a predetermined safe region along that axis or the current position is 45 degrees from the target, then driving the mirror in the direction of the target along an axis for which the distance to the target is not less than the distance to the target along the other axis or in which the direction toward the target is also toward the origin.

公开(公告)号：US4510565A

公开(公告)日：1985-04-09

申请号：US420561

申请日：1982-09-20

申请人： Ernst Dummermuth

发明人： Ernst Dummermuth

IPC分类号： G05B19/414 ,  G06F15/46

CPC分类号： G05B19/4147 ,  G05B2219/33129 ,  G05B2219/34208 ,  G05B2219/34286 ,  G05B2219/34396 ,  G05B2219/34448 ,  G05B2219/41275 ,  G05B2219/43009 ,  G05B2219/43041

摘要： A programmable controller for closed-loop positioning control has a main processor unit, and an I/O interface rack in which a master I/O positioning module and three satellite I/O modules are mounted and connected to servomechanisms to control motion along three axes of a controlled machine. Move data is transmitted from the main processor unit to the master I/O positioning module in data blocks, with the number of transmissions varying, depending upon a mode of axis coupling that is used in controlling the particular machine. The master I/O positioning module converts move data from a user program format to a binary format and transfers it to the satellite I/O modules, each of which performs closed-loop positioning control of a respective axis of motion. The processor on each satellite I/O module also determines a position prior to the end of each move to apply a user-programmed deceleration when needed to blend moves having different velocities.

摘要翻译： 用于闭环定位控制的可编程控制器具有主处理器单元和I / O接口架，其中主I / O定位模块和三个卫星I / O模块被安装并连接到伺服机构以控制沿着三个轴的运动 的受控机器。 移动数据从主处理器单元发送到数据块中的主I / O定位模块，传输次数根据用于控制特定机器的轴耦合模式而变化。 主I / O定位模块将移动数据从用户程序格式转换为二进制格式，并将其传送到卫星I / O模块，每个模块执行相应运动轴的闭环定位控制。 每个卫星I / O模块上的处理器还确定每次移动结束之前的位置，以在需要混合具有不同速度的移动时应用用户编程的减速度。

公开(公告)号：US4419612A

公开(公告)日：1983-12-06

申请号：US340410

申请日：1982-01-18

申请人： Kazimierz J. Reda ,  Victor F. Dzewaltowski ,  Richard H. Gile

发明人： Kazimierz J. Reda ,  Victor F. Dzewaltowski ,  Richard H. Gile

IPC分类号： B24B49/00 ,  B25J9/18 ,  G05B19/24

CPC分类号： B24B49/00 ,  G05B2219/33129 ,  G05B2219/34287 ,  G05B2219/34422 ,  G05B2219/37473 ,  G05B2219/41047 ,  G05B2219/41255 ,  G05B2219/41275 ,  G05B2219/45159 ,  G05B2219/45161 ,  G05B2219/49382 ,  G05B2219/50313

摘要： An electro-mechanical control system for controlling all of the movements of one or more slides on a single workhead grinding machine. A programmable controller is interfaced with a digital to analog converter or feed control which in turn controls a drive motor that is directly connected to a screw actuator means that directly controls the movements and positions of a slide. The positioning accuracy of the control system is derived from the accuracy of the electronic control components and the stability of the machine. The control system can control the operative movements of each slide in a compound slide assembly, simultaneously or independently, for a part of a grinding machine cycle. The compound slide assembly may alternatively carry a rotating grinding wheel or a workhead that is reciprocated at high speed for a grinding operation on a workpiece.

摘要翻译： 一种机电控制系统，用于控制单个工作头研磨机上的一个或多个滑块的所有运动。 可编程控制器与数模转换器或进给控制器连接，数模转换器或进给控制器又控制直接连接到直接控制滑块的运动和位置的螺杆致动器装置的驱动马达。 控制系统的定位精度来源于电子控制部件的精度和机器的稳定性。 控制系统可以同时或独立地控制复合滑动组件中每个滑块对于一部分研磨机循环的操作运动。 复合滑动组件可以替代地携带旋转的砂轮或高速往复运动的工作头，用于对工件进行研磨操作。