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    Automatic working machine
    1.
    发明授权
    Automatic working machine 失效
    自动加工机

    公开(公告)号：US3967242A

    公开(公告)日：1976-06-29

    申请号：US479080

    申请日：1974-06-13

    申请人： Osamu Isoo ,  Shinji Matsuoka ,  Shigeru Matsuoka ,  Takeshi Uno ,  Sadahiro Ikeda ,  Ikuro Masuda ,  Koji Kurokawa

    发明人： Osamu Isoo ,  Shinji Matsuoka ,  Shigeru Matsuoka ,  Takeshi Uno ,  Sadahiro Ikeda ,  Ikuro Masuda ,  Koji Kurokawa

    IPC分类号： B23Q35/38 ,  B25J13/08 ,  B25J19/02 ,  G06K9/64 ,  G06K9/00

    CPC分类号： G06K9/6202 ,  B23Q35/38 ,  B25J13/084 ,  B25J19/021

    摘要： An automatic working machine adapted to carry out works such as cutting, filling, tightening and loosening, which comprises a visual unit for detecting, by means of the image information, a plurality of works and obstacles existing on an object, a working unit which works against a particular work and moves in relation to the object, and a tactile sensor provided in the vicinity of the working unit, the working unit being precisely positioned by the aid of the tactile sensor when the visual unit detects the particular work, the relative position being maintained during the operation, and the working unit along with the tactile sensor being retracted when the visual unit detects an obstacle, to avoid collision thereof with the obstacle.

    摘要翻译： 一种自动加工机，适用于进行切割，填充，紧固，松动等工作，其包括：通过图像信息检测存在于物体上的多个工件和障碍物的视觉单元，工作单元，其工作 相对于物体移动的特定工件和设置在工作单元附近的触觉传感器，当视觉单元检测到特定工作时，工作单元借助于触觉传感器精确定位，相对位置 在操作期间保持，并且当视觉单元检测到障碍物时，工作单元以及触觉传感器被缩回，以避免与障碍物的碰撞。

    Noncontact tracing control device
    2.
    发明授权
    Noncontact tracing control device 失效
    非接触式追踪控制装置

    公开(公告)号：US5345687A

    公开(公告)日：1994-09-13

    申请号：US842345

    申请日：1992-03-25

    申请人： Hitoshi Matsuura ,  Eiji Matsumoto

    发明人： Hitoshi Matsuura ,  Eiji Matsumoto

    IPC分类号： G01B11/24 ,  B23Q35/127 ,  B23Q35/128 ,  B23Q35/38 ,  G01B11/245

    CPC分类号： B23Q35/128 ,  G05B2219/37422

    摘要： In a copy control device wherein a model (6) and a workpiece moved relatively with a tracer head (4) and a tool in an X-Y plane, measured distance values to the surface of the model, which are detected by first and second non-contact detectors (5a, 5b) obliquely mounted on the tracer head (4) rotatable about a Z axis are periodically sampled to obtain the coordinate values of measured points on the surface of the model, a normal vector (Nn) on the surface of the model is calculated from three coordinate values out of four measured points (P1n-1, P1n, P2n-1, P2n) successively obtained by the both detectors, and the tracer head is rotated so as to move along a projection (N1n) of the normal vector (Nn) on the X-Y plane, so that measuring axes of the detectors are controlled to be approximately vertical to the surface of the model. After two points are selected from four measured points, such a point is selected out of the remaining two measuring two points as a third point that satisfies a condition that a point of intersection between a perpendicular from such a point to a straight line passing through the previously selected two points and the above-mentioned straight line is interposed between the previously selected two points, and that satisfies a condition that the length of the above mentioned perpendicular is larger than a predetermined value.

    摘要翻译： PCT No.PCT / JP91 / 01002 Sec。 371日期：1992年3月25日 102（e）1992年3月25日PCT PCT 1991年7月25日PCT公布。 第WO92 / 01534号公报 日期：1992年2月6日。在复制控制装置中，其中模型（6）和工件相对于示踪器头（4）和工具在XY平面中移动，测量到模型表面的距离值， 由倾斜安装在可围绕Z轴旋转的示踪头（4）上的第一和第二非接触检测器（5a，5b）进行周期性采样，以获得模型表面上的测量点的坐标值，法线向量（ Nn）由两个检测器连续获得的四个测量点（P1n-1，P1n，P2n-1，P2n）中的三个坐标值计算，并且示踪头旋转以便沿着 在XY平面上的法线矢量（Nn）的投影（N1n），使得检测器的测量轴被控制为与模型的表面大致垂直。 在从四个测量点中选出两个点之后，从剩余的两个测量点中选出这样一个点作为第三点，该第三点满足以下条件：从这样一个点到垂直于该直线的直线之间的交点 先前选择的两点，并且上述直线插入在先前选择的两个点之间，并且满足上述垂直的长度大于预定值的条件。