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公开(公告)号：KR100542207B1
公开(公告)日：2006-01-10
申请号：KR1020030046625
申请日：2003-07-10
Applicant: 고등기술연구원연구조합
IPC: B25J19/06
CPC classification number: B25J19/06
Abstract: 본 발명은 산업용 로봇에서 작업자와의 충돌을 방지하기 위한 로봇의 작업자 감지 안전 시스템에 관한 것으로서, 로봇에 대한 작업자의 위치를 감지하여, 작업자와 로봇의 충돌을 방지하는 로봇의 작업자 감지 안전 시스템을 제공하는 것을 그 목적으로 한다. 이러한 본 발명의 목적을 달성하기 위한 로봇의 작업자 감지 안전 시스템은 작업자에게 부착되어 일정 시간 간격으로 신호를 발신하는 송신기와, 상기 송신기에서 발신되는 신호를 수신하는 방향성 안테나와, 상기 방향성 안테나를 회전시키는 구동부와, 상기 수신 신호의 세기가 최대가 되는 방향각을 검출한 후 상기 방향성 안테나가 상기 방향각을 추종하도록 상기 구동부를 제어하는 안테나 제어부를 포함하는 서로 이격된 적어도 2개의 방향 탐지기와, 로봇의 동작을 제어하는 제어기를 포함하고, 상기 제어기는, 상기 방향 탐지기에서 검출된 방향각으로부터 작업자의 위치를 연산하여 작업자가 소정 위치에 있을 때 작업자가 안전하도록 로봇의 동작을 제어한다.
로봇, 방향성 안테나, 안전, 충돌 방지, 방향 탐지기-
公开(公告)号：KR100514990B1
公开(公告)日：2005-09-15
申请号：KR1020030015721
申请日：2003-03-13
Applicant: 고등기술연구원연구조합
IPC: B23Q15/00
Abstract: 본 발명은 초정밀 선삭기를 이용하여 가공시편을 가공할 경우에 공구대의 이송방향을 자동으로 인식하여 해당 제어 프로그램을 로딩할 수 있도록 하는 장치에 관한 것이다. 이러한 본 발명의 장치는, 적외선을 발생하는 적외선 송신부와; 적외선을 수신하는 적외선 수신부; 및 적외선 수신부로부터 수신된 신호에 의해 공구대의 이송방향을 판단하여 해당 오프라인 오차로 미소이송공구대를 제어하는 제어부로 구성되고, 적외선 수신부는 가공시작 위치와 가공종료 위치에 각각 위치하는 적어도 2개 이상의 적외선 수신소자들로 이루어지며, 상기 적외선 송신부와 서로 대향하도록 되어 있어 가공을 시작하지 않은 상태에서는 모든 적외선 수신소자들이 상기 적외선 송신부의 적외선을 수신할 수 있고, 가공시작시에는 공구가 적외선을 차단하여 적어도 하나 이상의 적외선 수신소자가 적외선을 수신하지 못하도록 배치된다. 본 발명에 따르면 가공시작시 공구의 위치를 검출하여 공구대의 이송방향(가공방향)을 판별하고, 그에 따라 해당 오프라인 오차값을 이용하여 정밀 가공할 수 있도록 함으로써 양방향으로 자유롭게 가공할 수 있어 가공속도와 정밀도를 향상시킬 수 있는 효과가 있다.
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公开(公告)号：KR1020050028138A
公开(公告)日：2005-03-22
申请号：KR1020030064460
申请日：2003-09-17
Applicant: 고등기술연구원연구조합
IPC: G06Q50/04
CPC classification number: Y02P90/30
Abstract: A system and a method for controlling coating using the AI(Artificial Intelligence) are provided to offer a target coating thickness by actively managing diverse changes of a painting condition with construction of a minimum basic database. The basic database(120) maps a shape pattern of paints having a Gaussian distribution different from each coating condition. A data input part(115) receives the coating condition. A paint shape pattern extractor(110) extracts the shape pattern of the mapped paint by finding the coating condition having a high similarity with the input coating condition from the basic database. A positional discharge calculator(125) calculates discharge of a next spaying position in order to obtain the target coating thickness made by overlap of the neighboring coating patterns, while calculating the positional discharge according to a shape of a coating target based on the extracted coating shape pattern. A control code generator(130) generates a control code for discharging the calculated positional discharge to a spay gun.
Abstract translation: 提供使用AI（人工智能）控制涂层的系统和方法，通过积极地管理绘制条件的多样变化，构建最小基础数据库来提供目标涂层厚度。 基本数据库（120）映射具有不同于每个涂覆条件的高斯分布的涂料的形状图案。 数据输入部（115）接收涂布状态。 油漆形状图案提取器（110）通过从基本数据库中找到与输入涂布条件具有高相似性的涂布条件来提取所绘制的涂料的形状图案。 位置放电计算器（125）计算下一个喷洒位置的放电，以便根据涂覆目标的形状计算出基于所提取的涂层形状的涂布目标的位置放电，从而获得由相邻涂层图案重叠的目标涂层厚度 模式。 控制码发生器（130）产生用于将计算出的位置放电排放到喷枪的控制码。
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公开(公告)号：KR1020050006701A
公开(公告)日：2005-01-17
申请号：KR1020030046624
申请日：2003-07-10
Applicant: 고등기술연구원연구조합
IPC: B23K37/04
CPC classification number: B23K37/053 , B23Q3/062
Abstract: PURPOSE: A free-form curve welding device is provided to perform welding along the free-form curve welding line generated on the boundary faces of welding workpieces by coordinating linear motion of a welding torch according to rotational motion of a welding material and a cam whose a radius is changed. CONSTITUTION: A free-form curve welding device comprises a cam mechanism(11) having a cam profile corresponding to the welding line of a free-form curve, a follower(12) linearly moving along the cam surface of the cam, a welding torch(13) connected with the follower and welding a welding workpiece moving linearly with the follower, and a welding workpiece moving mechanism for moving the welding workpiece to move the welding line in the direction across the linear motion of the welding torch.
Abstract translation: 目的：提供一种自由曲线焊接装置，通过根据焊接材料和凸轮的旋转运动协调焊炬的直线运动，沿着焊接工件边界面上产生的自由曲线焊接线进行焊接， 半径变化。 构造：自由曲线焊接装置包括具有对应于自由曲线的焊接线的凸轮轮廓的凸轮机构（11），沿着凸轮的凸轮表面线性移动的从动件（12），焊炬 （13），与跟随器连接并焊接与跟随器直线移动的焊接工件，以及焊接工件移动机构，用于移动焊接工件以使焊接线沿着焊接线的直线运动的方向移动。
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Patent Agency Ranking
公开(公告)号：KR1020040107710A
公开(公告)日：2004-12-23
申请号：KR1020030036966
申请日：2003-06-10
Applicant: 고등기술연구원연구조합
IPC: B25J13/02
Abstract: PURPOSE: An object sensing robot gripper is provided to stably grip an object without damaging or falling the object by detecting the position of the object and automatically tracing, transferring and gripping the object. CONSTITUTION: An object sensing robot gripper comprises plural jaws(10a,10b) including two jaws for gripping an object(50) having a planar part, a light emitting unit(21) emitting at least one lights to the planar part of the object, at least one light receiving units(31a,31b) detecting optical signals by receiving the lights reflected on the planar part of the object, and a controller controlling the movement of a robot gripper and the opening and shutting of the jaws.
Abstract translation: 目的：提供物体检测机器人夹持器，通过检测物体的位置并自动跟踪，传送和夹持物体来稳定地夹持物体而不会损坏物体。 构成：物体检测机器人夹持器包括多个钳口（10a，10b），其包括用于夹持具有平面部分的物体（50）的两个钳口，向该物体的平面部分发射至少一个光的发光单元（21） 至少一个光接收单元（31a，31b），其通过接收在物体的平面部分上反射的光来检测光信号，以及控制器，其控制机器人夹持器的移动以及开启和关闭夹爪。
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公开(公告)号：KR1020040099665A
公开(公告)日：2004-12-02
申请号：KR1020030031712
申请日：2003-05-19
Applicant: 고등기술연구원연구조합
IPC: B23K26/04 , B23K26/044
Abstract: PURPOSE: A laser welding control device and a control method thereof are provided to improve welding quality by adjusting the position of the welding head without changing the track by a robot controller according to difference from the reference distance. CONSTITUTION: A laser welding control device comprises a welding head transfer unit(21) formed in the end of a robot joint(12) connected to a supporting unit(11) to move a welding head(13); a position detecting unit(22) detecting the position of the welding head transferred by the welding head transfer unit; a distance detecting element(23) installed in the end of the welding head to measure the distance between the welding head and the work piece; a driving unit(24) operating the welding head transfer unit; a signal detecting unit(26) outputting the signal from the distance detecting element to a position control unit(25); and the position control unit comparing the distance between the welding head and the work piece with the reference distance, and adjusting the position of the welding head by controlling the welding head transfer unit.
Abstract translation: 目的：提供一种激光焊接控制装置及其控制方法，通过根据与参考距离的差异，通过机器人控制器调整焊接头的位置而不改变轨道来提高焊接质量。 一种激光焊接控制装置，包括形成在连接到支撑单元（11）上以移动焊接头（13）的机器人接头（12）的端部中的焊接头传送单元（21）。 位置检测单元（22），检测由焊接头传送单元传送的焊接头的位置; 距离检测元件（23），安装在焊接头的端部，以测量焊接头与工件之间的距离; 操作所述焊接头传送单元的驱动单元（24）; 信号检测单元（26），其将来自距离检测元件的信号输出到位置控制单元（25）; 并且位置控制单元将焊接头与工件之间的距离与参考距离进行比较，并且通过控制焊接头传送单元来调整焊接头的位置。
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公开(公告)号：KR1020040087621A
公开(公告)日：2004-10-14
申请号：KR1020030022073
申请日：2003-04-08
Applicant: 고등기술연구원연구조합
IPC: B23Q15/00
Abstract: PURPOSE: A device for controlling a CNC machine tool is provided to precisely cutting a workpiece by precisely controlling the feed rate of a spindle. CONSTITUTION: A device for controlling a CNC machine tool is composed of a spindle motor(1), a bed(2), a clamping plate(4) coupled to a shaft of the spindle motor, a tool(5) opposite to the clamping plate and cutting a workpiece(3) attached to the clamping plate, a feed-rate control unit(6) for controlling the feed rate of a spindle, a contact sensor installed at the front end of the tool, a signal amplifying unit(8), and a feed-rate compensating unit(9). The feed-rate compensating unit compensates the feed rate of the spindle.
Abstract translation: 目的：通过精确控制主轴的进给速度，提供了一种用于控制CNC机床的装置，用于精确地切割工件。 构成：用于控制CNC机床的装置由主轴电动机（1），床（2），联接到主轴电动机的轴的夹板（4），与夹紧件相对的工具（5）组成 板和切割附接到夹板的工件（3），用于控制主轴进给速率的进给速度控制单元（6），安装在工具前端的接触传感器，信号放大单元（8） ）和馈送速率补偿单元（9）。 进给速率补偿单元补偿主轴的进给速度。
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公开(公告)号：KR1020040080756A
公开(公告)日：2004-09-20
申请号：KR1020030015720
申请日：2003-03-13
Applicant: 고등기술연구원연구조합
IPC: B23Q11/00
CPC classification number: B23Q15/18
Abstract: PURPOSE: An apparatus for compensating the thermal distortion of a workpiece by a delay unit is provided to improve machining precision by compensating the thermal distortion of the workpiece. CONSTITUTION: An apparatus for compensating the thermal distortion of a workpiece is provided to a displacement sensor(221) for detecting the thermal distortion of the workpiece(210), a delay unit(222), and a tool position control unit(223). The delay unit receives a signal from the displacement sensor, compares the detected position of the workpiece with the position of a tool(224), and outputs a compensation voltage. The tool position control unit controls the position of the tool according to the output of the delay unit.
Abstract translation: 目的：提供用于通过延迟单元补偿工件的热变形的装置，以通过补偿工件的热变形来提高加工精度。 构成：用于补偿工件的热变形的装置被提供给用于检测工件（210）的热变形的位移传感器（221），延迟单元（222）和工具位置控制单元（223）。 延迟单元从位移传感器接收信号，将检测到的工件位置与工具（224）的位置进行比较，并输出补偿电压。 刀具位置控制单元根据延迟单元的输出来控制刀具的位置。
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公开(公告)号：KR1020040061059A
公开(公告)日：2004-07-07
申请号：KR1020020086836
申请日：2002-12-30
Applicant: 고등기술연구원연구조합
IPC: B23Q17/22
Abstract: PURPOSE: A device and method for cutting a workpiece according to the compensation of an in-line error is provided to precisely cut the workpiece by detecting the shape error of the workpiece in real time. CONSTITUTION: A device for cutting a workpiece according to the compensation of an in-line error is composed of a high-precision optical surface sensor(34) for detecting the shape error of the workpiece, a fast tool servo, and a position control unit(39). The fast tool servo includes a tool, a position sensor(38) for detecting a precision cutting position, and a driving unit(37) for driving the tool. The position control unit receives the shape error from the surface sensor, and outputs a control signal.
Abstract translation: 目的：提供根据在线误差补偿来切割工件的装置和方法，通过实时检测工件的形状误差来精确切割工件。 构成：用于根据在线误差的补偿来切割工件的装置由用于检测工件的形状误差的高精度光学表面传感器（34），快速刀具伺服机构和位置控制单元 （39）。 快速刀具伺服包括工具，用于检测精密切割位置的位置传感器（38）和用于驱动工具的驱动单元（37）。 位置控制单元从表面传感器接收形状误差，并输出控制信号。
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