公开(公告)号：US20180345497A1

公开(公告)日：2018-12-06

申请号：US15775619

申请日：2016-11-09

申请人： KUKA Deutschland GmbH

发明人： Andreas Sedlmayr

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B19/0428 ,  G05B19/4067 ,  G05B23/0286 ,  G05B2219/13001 ,  G05B2219/25416 ,  G05B2219/50103

摘要： The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

公开(公告)号：US20040207356A1

公开(公告)日：2004-10-21

申请号：US10821917

申请日：2004-04-12

申请人： FANUC LTD

发明人： Takahiko Endo ,  Yasushi Takeuchi

IPC分类号： B25J009/18 ,  G05B019/19

CPC分类号： G05B19/182 ,  G05B19/19 ,  G05B2219/34344 ,  G05B2219/42186 ,  G05B2219/50103 ,  G05B2219/50234

摘要： A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount nullzIm for the master axis ZIm on a motion amount nullzIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount nullzIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs. This makes it possible to retain the positional relationship between the master axis and the slave axis, and hence easily resume the superposing control when the motion of the slave axis is restarted.

摘要翻译： 一个数值控制器，在重叠控制之后一次停止从轴后，可以轻松恢复叠加控制。 在叠加控制中，主轴的运动量和从轴的运动量分别相加于主轴的工件坐标值和从轴的工件坐标值，以更新其当前位置数据（ I2，II2）。 这些运动量也被提供给用于主轴和从轴的伺服处理（I3，II3），其中通过将主轴ZIm的运动量deltazIm叠加在从轴ZII的运动量deltazIIs上而获得的量被提供 到从轴ZII的伺服处理。 当发出从动轴运动停止命令时，停止从动轴运动，从从轴ZII的工件坐标值中减去主轴ZIm的运动量deltazIm。 这使得能够保持主轴和从轴之间的位置关系，因此当从轴的运动重新开始时容易地恢复重叠控制。

公开(公告)号：US20040158335A1

公开(公告)日：2004-08-12

申请号：US10772297

申请日：2004-02-06

申请人： Fanuc Ltd. of

发明人： Kentaro Fujibayashi ,  Tetsuo Hishikawa

IPC分类号： G05B019/18 ,  G05B011/32 ,  G06F019/00

CPC分类号： G05B19/4067 ,  G05B19/19 ,  G05B2219/50103 ,  G05B2219/50229 ,  G05B2219/50233

摘要： A position is obtained from a command movement for a controlled axis. The position of a virtual axis with respect to time and an I/O signal are obtained. The position of the controlled axis and the state of the I/O signal are stored in association with the position of the virtual axis, and cam shape data and I/O signal state data are obtained. During an electronic cam operation, the virtual axis position is controlled by means of virtual axis control means. Corresponding to the position of the virtual axis, the position of the controlled axis or the I/O signal state is read from the cam shape data and the I/O signal state data and outputted, whereby the controlled axis is driven.

摘要翻译： 从受控轴的指令移动获得位置。 获得虚拟轴相对于时间的位置和I / O信号。 控制轴的位置和I / O信号的状态与虚拟轴的位置相关联地存储，并且获得凸轮形状数据和I / O信号状态数据。 在电子凸轮操作期间，通过虚拟轴控制装置控制虚拟轴位置。 对应于虚拟轴的位置，从凸轮形状数据和I / O信号状态数据读取受控轴的位置或I / O信号状态，并输出，从而驱动受控轴。

公开(公告)号：US20020117179A1

公开(公告)日：2002-08-29

申请号：US10071258

申请日：2002-02-08

申请人： G.D SOCIETA' PER AZIONI

发明人： Daniele Bergo ,  Roberto Campanini ,  Mario Spatafora

IPC分类号： A24C005/32

CPC分类号： B65B57/16 ,  G05B19/4067 ,  G05B2219/50103

摘要： An automatic machine for processing cigarettes, whereby a control device, which can be activated when the machine is stopped, activates at least one test operating member as of a rest condition and substantially independently of the other operating members; the control device also providing for restoring the test operating member to the rest condition following activation.

摘要翻译： 一种用于处理香烟的自动机器，其中当机器停止时可以被激活的控制装置激活至少一个测试操作构件作为静止状态并基本上独立于其它操作构件; 控制装置还提供在激活之后将测试操作构件恢复到静止状态。

公开(公告)号：US4936052A

公开(公告)日：1990-06-26

申请号：US133039

申请日：1987-12-04

申请人： Noboru Nagase ,  Masao Yamaguchi

发明人： Noboru Nagase ,  Masao Yamaguchi

IPC分类号： B23Q1/01 ,  B23Q1/48 ,  B24B7/00 ,  B24B35/00 ,  B24D7/18 ,  B25J9/02 ,  B25J9/10 ,  B25J13/02 ,  B25J17/02 ,  G05B19/18 ,  G05B19/4062 ,  G05B19/427

CPC分类号： B25J9/026 ,  B23Q1/012 ,  B23Q1/48 ,  B24B35/005 ,  B24B7/005 ,  B24D7/18 ,  B25J13/02 ,  B25J17/02 ,  B25J17/0208 ,  B25J17/0241 ,  B25J9/1005 ,  G05B19/182 ,  G05B19/4062 ,  G05B19/427 ,  G05B2219/35438 ,  G05B2219/36078 ,  G05B2219/36159 ,  G05B2219/36162 ,  G05B2219/50103 ,  G05B2219/50353 ,  Y10S451/913

摘要： A grinding apparatus comprising: the frame (1) being composed of a pair of supports (3) standing in opposing relation to each other and a support frame (4) which is stretched between and secured to the respective upper end portions of the supports (3); first moving structure (16) provided on the support frame (4) in such a manner that the first moving structure (16) is reciprocatable in one horizontal direction; second moving structure (21) provided on the first moving structure (16) in such a manner that the second moving structure (21) is reciprocatable in a horizontal direction which intersects the direction of movement of the first moving structure (16) at right angles; third moving structure (37) provided on the second moving structure (21) in such a manner that the third moving structure (37) is reciprocatively movable in the vertical direction; and a wheel head (48) provided on the third moving structure (37).

摘要翻译： PCT No.PCT / JP87 / 00201 Sec。 371日期1987年12月4日第 102（e）日期1987年12月4日PCT PCT 1987年4月1日PCT公布。 出版物WO87 / 05846 日本1987年10月8日。一种研磨装置，包括：所述框架（1）由相对于彼此相对设置的一对支撑件（3）和支撑框架（4）构成，所述支撑框架（4）在所述框架 支撑件（3）的上端部分; 第一移动结构（16），其设置在所述支撑框架（4）上，使得所述第一移动结构（16）能够在一个水平方向上往复运动; 第二移动结构（21），其设置在第一移动结构（16）上，使得第二移动结构（21）能够在垂直于第一移动结构（16）的移动方向的水平方向上往复运动 ; 设置在第二移动结构（21）上的第三移动结构（37），使得第三移动结构（37）能够在垂直方向上往复运动; 以及设置在第三移动结构（37）上的轮头（48）。

公开(公告)号：US4575791A

公开(公告)日：1986-03-11

申请号：US591429

申请日：1984-03-20

申请人： Ernst Schwefel

发明人： Ernst Schwefel

IPC分类号： G05B19/4067 ,  G05B19/41 ,  G05B19/18 ,  G06F15/46

CPC分类号： G05B19/41 ,  G05B2219/50103 ,  G05B2219/50109 ,  G05B2219/50112

摘要： A method for restarting a tool on a workpiece contour in a numerically controlled processing machine of the type having a display unit for alphanumerical and/or graphical representation of processing information. After a program interruption, the program is executed anew in a control mode without machine movement from a predetermined starting point, and the resulting workpiece contour is continuously, graphically represented on the display unit. The operator utilizes this graphic display to determine an end point of the control mode program execution. The machine is then transferred into its axial positions and its function state to the program state of the end point, and the processing program with machine movements is continued from this end point, thereby starting the tool onto the desired tool path.

摘要翻译： 一种用于在具有用于处理信息的字母数字和/或图形表示的显示单元的类型的数控处理机中重新启动工件轮廓上的工具的方法。 在程序中断之后，在没有机器从预定起点移动的情况下以控制模式重新执行程序，并且所得到的工件轮廓在显示单元上连续地以图形方式表示。 操作员使用该图形显示来确定控制模式程序执行的终点。 然后将机器转移到其轴向位置并将其功能状态转移到终点的程序状态，并且从该端点继续机器运动的处理程序，从而将工具启动到期望的刀具路径上。

公开(公告)号：US4445022A

公开(公告)日：1984-04-24

申请号：US356152

申请日：1982-03-08

申请人： Shunji Mori

发明人： Shunji Mori

IPC分类号： B23K9/095 ,  B23K9/12 ,  G05B19/41

CPC分类号： G05B19/41 ,  B23K9/0953 ,  B23K9/12 ,  G05B2219/34365 ,  G05B2219/50103 ,  G05B2219/50111

摘要： An arc welding robot control system in which a control console stores the welding conditions upon the completion of a welding cycle. When a suspension of the welding cycle is commanded during its execution, the welding cycle is effected under the stored welding conditions and its robot is stopped at a suspension point. The control console may further include two memories for respectively storing the position of the suspension point and a current and the next position of the robot with coefficients for a linear interpolation. When the welding cycle is restarted after the robot has been displaced from the suspension point to another point, the torch is automatically returned back to the suspension point along a line passed through the two points and points interpolated through calculations of the content of the memories. The torch is moved through taught points and a similarly interpolated point.

摘要翻译： 一种电弧焊接机器人控制系统，其中控制台在焊接周期完成时存储焊接条件。 当执行焊接循环的暂停时，焊接周期在存储的焊接条件下进行，其机器人停止在悬挂点处。 控制台还可以包括两个存储器，用于分别存储悬架点的位置和机器人的当前位置和下一个位置用于线性内插的系数。 当机器人已经从悬挂点移动到另一点之后重新启动焊接周期时，手电筒将自动地沿着穿过两点的线路返回到悬挂点，并通过计算存储器的内容进行内插。 手电筒通过教导点和类似的内插点移动。

公开(公告)号：US4437150A

公开(公告)日：1984-03-13

申请号：US257559

申请日：1981-04-27

申请人： William V. Dahlgren, Jr. ,  Lewis S. Silverstein ,  Edward W. Claire

发明人： William V. Dahlgren, Jr. ,  Lewis S. Silverstein ,  Edward W. Claire

IPC分类号： B44B3/00 ,  G05B19/4093 ,  G05B19/42 ,  B23Q17/18

CPC分类号： G05B19/4093 ,  B44B3/009 ,  G05B2219/34388 ,  G05B2219/35263 ,  G05B2219/35426 ,  G05B2219/36078 ,  G05B2219/36377 ,  G05B2219/41326 ,  G05B2219/45212 ,  G05B2219/50103 ,  Y02P90/265 ,  Y10T409/30112

摘要： A method and apparatus for manipulating an engraving tool in the processing of a plurality of jobs wherein an intelligent terminal processes data supplied by a user, the processed data being transferred to a control unit wherein the data is used to modify instructions from a master font located therein. Within the control unit, the modified master font instructions are transformed into drive signals which are then relayed to a mechanical tool manipulating means, wherein the mechanical tool is manipulated in response to the drive instructions.

摘要翻译： 一种用于在多个作业的处理中操纵雕刻工具的方法和装置，其中智能终端处理由用户提供的数据，所处理的数据被传送到控制单元，其中所述数据用于修改来自所位于的主字体的指令 其中。 在控制单元内，修改的主字体指令被转换成驱动信号，然后将其传送到机械工具操纵装置，其中响应于驱动指令操纵机械工具。

公开(公告)号：US20180173189A1

公开(公告)日：2018-06-21

申请号：US15829374

申请日：2017-12-01

申请人： FANUC CORPORATION

发明人： Iwao MAKINO

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B19/4067 ,  G05B2219/34427 ,  G05B2219/37077 ,  G05B2219/50103 ,  G05B2219/50109

摘要： A numerical control device that controls a machine tool that machines work by moving a tool relatively to the work on the basis of a machining program includes a analyzing unit that analyzes the machining program and generates movement command data, a detecting unit that detects abnormality during the machining, a retract control unit that supplies, when abnormality is detected, an operation command for a retract operation for retracting the tool from the work, and an integrating unit that integrates a movement amount of the tool based on the supplied operation command. The analyzing unit executes a tool retraction program for moving the tool or the work to a predetermined position after adding the movement amount of the tool integrated by the integrating unit to a coordinate value of the tool on the machining program to update the coordinate value at a point in time when the retract operation ends.

公开(公告)号：US09354626B2

公开(公告)日：2016-05-31

申请号：US12361555

申请日：2009-01-29

申请人： Gunter Boerner ,  Dietmar Eickmeyer

发明人： Gunter Boerner ,  Dietmar Eickmeyer

IPC分类号： G05B19/18 ,  G05B19/4067 ,  B25J9/16

CPC分类号： G05B19/4067 ,  B25J9/1679 ,  G05B2219/50103

摘要： A method for restarting a robot after a premature interruption of a processing program, which controls it, at an interruption point. The robot has an atomizer apparatus for automatic coating of workpieces, and the processing program is used to preset a nominal movement of the atomizer apparatus with respect to a workpiece, which is to be coated and can be moved by means of a feed device, and to preset the associated nominal atomizer parameters. After the interruption of the processing program, the atomizer apparatus is first of all moved to a restarting point, which is located on the nominal movement path and is located ahead of the interruption point. After this, the atomizer apparatus is then moved on the nominal movement path, corresponding to a predeterminable velocity function, to a transfer point which is located on the nominal movement path and is located behind the interruption point. The atomizer apparatus is switched on again between the restarting point and the transfer point. The nominal atomizer parameters which are provided by the processing program are matched and are applied at least once, between the restarting point and the transfer point, to the respective current velocity of the atomizer apparatus, in relation to the nominal velocity preset, and all of the nominal movement parameters and nominal atomizer parameters in the processing program are used when the transfer point is reached.

摘要翻译： 一种用于在中断点处理程序的过早中断之后重新启动机器人的方法，该方法控制它。 机器人具有用于自动涂覆工件的雾化器装置，并且处理程序用于预设雾化器装置相对于待涂覆并可通过进给装置移动的工件的标称运动，以及 以预设相关的标称雾化器参数。 在处理程序中断之后，雾化装置首先被移动到位于标称移动路径上并位于中断点之前的重启点。 此后，雾化器装置然后在对应于预定速度函数的标称移动路径上移动到位于标称移动路径上且位于中断点后面的转移点。 雾化装置在重启点和转移点之间再次接通。 由处理程序提供的标称雾化器参数在重新启动点和转移点之间至少一次施加到雾化器装置的相应当前速度，相对于预设的标称速度，并且全部 当达到传输点时，使用处理程序中的标称运动参数和标称雾化器参数。