Abstract: A forming system includes: a forming apparatus which supplies gas into a cylindrical metal pipe material having a welded portion to expand the metal pipe material; a supply device for supplying the metal pipe material to the forming apparatus; and a control device for controlling an operation of the supply device, in which in a case where a position where a distance from a center of the metal pipe material is the longest, on a surface of the die, when viewed from an extension direction of the metal pipe material in a state where the metal pipe material is disposed between the dies, is a longest position, the control device includes a control unit which controls supply of the metal pipe material to the forming apparatus such that the welded portion is not located on a straight line connecting the longest position and the center of the metal pipe material.

Abstract: The invention described herein generally pertains to a system and method related to energizing a welding wire based on a location of an electrode at an edge on a workpiece. An edge detector can be configured to identify an edge on the workpiece during a welding operation and a controller can be configured to mange a temperature of a puddle formed by the electrode by adjusting one or more welding parameters. The welding parameters can be, but are not limited to, an energizing of the welding wire, a wire feed speed, a temperature of a high intensity heat source (e.g., arc, a sub arc, a tungsten inert gas (TIG) arc, a metal inert gas (MIG) arc, a laser, a plasma arc, a metal core, or a flux core), movement speed, among others.

Abstract: A solar-powered automated system for the operation of drapery, roller blinds, and similar window coverings. The solar panel (102), or photovoltaic source provides the sole power to drive common types of window drapery and blinds in a compact system having a solar panel (photovoltaic source), actuator (104) and head rail (120). The solar panel (102) is to be mounted onto the frame of a window or elsewhere to collect sufficient light. A connecting cable links the solar panel (102) to the actuator (104) to draw electrical power from the solar panel. The actuator is attached to the head-rail (120) to provide the required driving force. The actuator (104) includes the control circuit boards, a single rechargeable battery (110), an electric motor (106) and output mechanism. An RF remote control receiver (116) is built inside the actuator (104). A low voltage control port (114) allows the actuator (104) to be accessible by a control interface.

Abstract: A moving device is provided. A first receiving device receives an emitted light from a base station and obtains a direction from a start position, which the moving device is in to the base station according to the emitted light to serve as a target direction. A driving device drives the moving device to move in the target direction from the start position. When the moving device meets a first obstacle which is disposed along the target direction and in the target area, a second receiving device obtains a distance between the moving device and the base station according to the received emitted light to serve as a middle distance. When a determination device determines that the middle distance is not equal to a predetermined distance, the driving device drives the moving device to detour around the first obstacle and move in the target direction continuously.

Abstract: A servo control device that displays, by a two-dimensional image, evaluation of control precision of a servo system, includes: an instruction unit that instructs a position instruction having periodicity; a unit that records a track of position data based on a position feedback of a servo system according to the position instruction; and a first drawing unit that draws position data based on the position feedback, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including orthogonal two axes, as the axis data of the orthogonal two axes respectively.

Abstract: A method is for detecting a possible collision of at least two objects moving with respect to each other by simulating the intended relative motion of the two objects. At least one of the objects is assigned an envelope surrounding the object, the path line represents the relative motion of the objects is covered in steps of a defined step size, and the occurrence of an overlap of the objects is detected for ascertaining a possible collision of the objects. For at least one object, the outer contour of the corresponding envelope is used as a datum for detecting an overlap. At least one object is assigned an inner and an outer envelope, of which the inner envelope surrounds the object and the outer envelope surrounds the inner envelope. The outer envelope is used as a datum for detecting an overlap of the two objects, and when an overlap is detected in a segment of the path line, the segment of the path line is re-traversed using a smaller, second step size.

Abstract: A method of controlling an electronic cam type rotary cutter or sealer driven by a servo motor. The method comprises preparing a correct position pattern for a whole region including cutting or sealing and non-cutting or non-sealing zones. An electronic cam curve of a cubic function is used as a position pattern for the non-cutting or nonsealing zone. An electronic cam curve of a quadratic function is used as a speed pattern. A position loop is formed in the whole region on the basis of the electronic cam curve. A position control is performed at every moment on the basis of said prepared correct position pattern, whereby a control is enabled causing a single algorithm to automatically cope with a long and short cutting or sealing operations and a change of a line speed.

Abstract: A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.

Abstract: A detector and tracker using a three coil sensor for is disclosed. The detector detects eddy current variations caused by differences in electromagnetic characteristics in two adjacent materials. The eddy current variations are measured and compared to determine the magnitude and direction the detector may be from the center of one of the adjacent materials. The magnitude and direction determination by the detector can be used to drive a process controller to position the sensor.

Abstract: A tracing control system for tracing a groove counter can easily measure the groove contour formed on a three-dimensional model surface. A tracer head is provided with a stylus having a size enabling the stylus to slide in a groove formed on the model surface in the state that the stylus receives a load from three axial directions. Amount of displacement sensing means senses the amount of displacement of the stylus. Displacement vector calculation means calculates the displacement vector of the stylus based on the sensed amount of displacement of the stylus. Movement control means controls the positional movement of the tracer head so that the displacement vector is equal to a predetermined vector value at all times. Position sensing means senses the present position of the tracer head. Data creation means creates digitized data based on the sensed present position of the tracer head and the amount of displacement of the stylus.

Abstract: A seam-tracking apparatus for a welding system has a welding arm which directs an energy beam toward a seam. The seam-tracking apparatus includes an eddy current sensor formed by an array of eddy current elements, each producing a respective electrical signal when positioned adjacent to the seam to be tracked. An eddy current signal processor receives each respective electrical signal so as to generate position data indicative of the location of the seam. A controller is responsive to the position data so as to align the eddy current sensor and the welding arm over the seam so that the energy beam continuously impinges on the seam, as the welding arm advances along the seam. The eddy current sensor may be flexible, in which case the seam-tracking apparatus can track a seam between workpieces having curved surfaces.

Abstract: There is disclosed a device for the duplication of irregular shapes that must be reproduced on a surface but cannot be traced directly on the surface. The device includes a stylus, a length of chain or the like attached to the stylus, and a duplicator attached to the other end of the chain. The duplicator contains a programmable memory, such as a RAM chip, and servo-type motor to vary the length of the chain as the program is run.

Abstract: In an numerical control machining system, a plurality of parts on a work are cut into predetermined shapes with one cutting tool by moving back and forth the cutting tool a plurality of times for each part to be cut. When determining a tool running path, a cutting trajectory of the cutting tool for each of the parts is obtained, all the end points of the cutting trajectory which can be a tool inlet end or a tool outlet end for each of the parts are stored, the part the cutting trajectory for which has an end point which is the nearest to the tool outlet end of the cutting trajectory for one of the parts as measured along the path of movement of the tool is determined to be the part to be cut next, and said nearest end point is determined to be the tool inlet end of the cutting trajectory for the part to be cut next.

Abstract: Disclosed is a control robot having a machining tool comprising a rotatable tool for grinding at the distal end of the robot arm thereof so as to carry out grinding work with pressing the machining tool against the surface of a work to be machined under predetermined pressure, comprising a posture control shaft for controlling the posture of the machining tool provided at the robot arm; a rotation shaft of the rotatable tool: and arrangement in which the posture control shaft and the rotation shaft of the rotatable tool are respectively arranged in different axial directions.

Abstract: A method and an apparatus for automatically steering a vehicle intermittently associated with a stationary guide structure. A sensor detects the distance between the vehicle and the guide structure to provide an actual value signal, which is compared with a reference signal to effect feedback control over vehicle movement. The referenece signal is adjustably controlled periodically when required, e.g., when the vehicle has completed a circuit within the area of interest.

Abstract: In tracer control equipment which controls the relative feed rate between a tracer head (1) and a model by controlling a motor (12X to 12Z) according to a displacement signal (.epsilon..sub.x to .epsilon..sub.z) from the tracer head, a deceleration control circuit (18) is provided to perform deceleration control corresponding to the configuration of the model at a jerk point thereof. The deceleration control circuit (18) compares a plurality of threshold values with variation of the displacement signal (.epsilon..sub.x to .epsilon..sub.z) per unit time, and controls the relative feed rate between the tracer head and the model depending upon which region defined by the plurality of threshold values includes the amount of variation of the displacement signal.

Abstract: A tool positioning system comprises a discontinuity detection means, such as an eddy current system, for detecting a discontinuity within a workpiece resulting from a joint between a first piece of material relative to a second piece of material, the discontinuity being detected from the back side of the second piece of material. The discontinuity is detected at a plurality of points by translating an eddy current probe over the back side of the second piece of material, the individual points thereafter being utilized to compute line elements that define the joint between the first and second pieces of material in a continuous fashion over the surface of the second piece of material. Thereafter a tool, such as a laser welding tool, is guided along the computed position along the backside of the second piece of material such that the first and second pieces of material are welded together along the joint.

Abstract: A method of cutting a contour in an image film according to the present invention includes a rough contour-selecting and recording step in which a rough contour of required portions in the image film are memorized in the form of coordinates X, Y; and error-detecting step for establishing a true contour from a concentration-difference of an image taken by a picture-taking element, which is controllably driven by memory output of the recorded rough contour, by determining the magnitude of a deviation between the true contour and the rough contour and the direction of the deviation; a step of correcting the record of the rough contour by the determined value and memorizing the true contour in another memory medium as a collection of new X, Y coordinates; and a step of cutting the film by a cutter controlled by output from the memory medium.

Abstract: In a thermal cutting machine provided with an NC system of the type having a manual pulse generator allowing the operator to manually adjust the working head height from a workpiece a profile control apparatus is provided to maintain a reference distance between the head and a non-flat workpiece. The profile control apparatus is installed in the cutting machine, by adding only a head distance sensor and a Z-axis controller in parallel with the manual pulse generator via a selector switch. The Z-axis controller generates a pulse signal having a frequency proportional to a differential voltage between a reference head height determined by the NC system and an actual head height detected by the head distance sensor to correct the reference head height from the non-flat workpiece. The V-F conversion characteristics of the Z-axis controller are of Z-type, in particular, to reduce the profile error.

Abstract: The invention relates to an adaptive control tool holder for fixing to the end of the carrier of a robot, controlling the displacement of said end in accordance with a stored path.The tool holder defines a degree of freedom about an axis and a degree of translational freedom in a direction orthogonal to said axis. For a central translation reference position, the axis passes through the active center of the tool. A detection system rigidly fixed to the tool has preferably two detectors used for controlling the motors which control the two degrees of freedom, by means of independent feedback or control circuits. During the learning of the path prior to performing the task, the translation and the rotation are blocked in the reference position.

Abstract: An automatic tracking welding machine includes a pair of rotatably mounted sensors 6a, 6b disposed in advance of a welding torch 3 and coaxial therewith for detecting magnetic leakage flux across a weld line gap 10. The sensors are driven to equalize their outputs by a reversible stepping motor 15 supplied with drive pulses whose frequency is proportional to the sensor output difference up to a fixed limit, thereby implementing slowdown as the center or zero differential point is approached. Alternatively, a greater number of fixed sensors may be peripherally spaced around the torch housing and their outputs sequentially scanned and peak detected to track the weld line gap. In another embodiment a spaced pair of sensors 116a, 116b is laterally and bidirectionally driven by a reversible d.c. motor 123 supplied with a voltage proportional to the off-center distance detected by the sensors, thus also implementing slowdown as the zero point approaches.

Abstract: An acoustic sensor and method of using same for determining the position of a tool from a workpiece are disclosed in which a piezoelectric transducer having a curved surface emits a sound wave which strikes the workpiece and is reflected back to the sensor. The sensor and tool are positioned relative to one another so that the workpiece will be near the focal point of the curved surface when the tool is operating. This positioning substantially overcomes the attenuation problems of high frequency sound waves transmitted through air.

Abstract: The invention relates to a method and apparatus for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities.Use is made of an eddy current sensor having at least two probes staggered in the direction of the joint. The signals supplied by each probe are processed separately to obtain a signal representing the lateral displacement. By comparing said signal with a given threshold below the amplitude of the signal in the presence of a discontinuity, it is possible to only transmit to a servomotor signals which are below this threshold, which correspond to an effective measurement of the lateral displacement.Application is to automatic welding machines.

Abstract: The profile measurement control comprises a potentiometer adjustable by means of a lever. The voltage tapped-off the potentiometer is attenuated via a resistance network proportional to the radius of the base circle disc and additionally via an encoding switch and a voltage attenuating circuit when a certain pre-selected diagram length transmission or translation is exceeded. Thus a voltage is always supplied to the drive motor driving a generating carriage or slide which ensures for an optimum paper feed rate when the lever is located to engage a stop. Hence, the lever can be always adjusted to engage the stop without the preselected diagram length translation or the radius of the selected base circle disc having to be taken into account. Consequently, the measuring rate during series testing of gear profiles can be considerably increased.

Abstract: There is disclosed a system for guiding, positioning, and measuring through robot control, a tool and a work zone relative to each other, by a noncontacting probe of at least one transceiver for generating shock waves, and for sensing their reflections, with one or more multiple apertured lenses for focusing and concentrating such shock waves and their reflections.

Abstract: Process for the lateral positioning of a member relative to a joint formed between two metal surfaces and having discontinuities and using at least one eddy current probe, wherein the signal supplied by each of the probes are processed to obtain at least one positioning signal varying with the displacement of the axis of the corresponding probe relative to the axis of the joint and at least one signal indicating the presence of a discontinuity and transmitted when the corresponding probe faces a discontinuity of the joint, wherein the member is laterally displaced as a function of variations of the positioning signal and wherein the control of the displacement of said member is interrupted as a function of variations of the positioning signal when a signal indicating the presence of a discontinuity is transmitted.The invention also relates to an apparatus for performing this process.

Abstract: Apparatus for cutting a metal workpiece including pipe in any desired shape and in a cutting cycle governed by a numerical controller having a plurality of separate output control signal channels. The apparatus is highly versatile and automatically operable to cut any preselected contour in accordance with control or program instructions carried on a control tape. In an illustrative embodiment of the cutting apparatus, a metal cutting torch is supported on a first support and the workpiece to be cut is mounted on a second support so arranged relative to the first support that the relative movement between the workpiece and the torch allows a cut to be made along X and Y axes at right angles to one another. The cutting torch is power driven about its own longitudinal or W axis by a reversible motor and is power driven about a fourth or Z axis to vary the bevel of the cut.

Abstract: Probe method and means are disclosed for guiding and positioning a robot-actuated tool, such as a gripper or a welding head, through at least one transceiver for generating and sensing focused shockwaves, the probe being associated with the tool for relative movement with respect to the object or objects being sensed, without physically contacting the same.

Abstract: An arrangement for automatically tracking systems to the center of weld gaps, weld joints or weld reinforcements, in which one or more electrically scanning probes receive signals reflected by a workpiece surface as long as this surface is substantially parallel to the acting surface of the probe. The signals breakdown spontaneously when the surface clearly deviates from the parallel as in the case with the flanks of gaps, joints or reinforcements. The breakdown of the signal is applied for storing an electrical value corresponding to the instantaneous probe position, the probe position for the left flank when traveling from left to right and for the right flank when traveling from right to left. The center of the gap, of the joint or of the reinforcement is computed from the stored electronic position values in a series-connected electronic device, by means of a computer circuit.

Abstract: Method and device of servo-controlling a rotating workpiece in relation to a member such a tool capable of translational motion along a system of two mutually perpendicular axes as a function of a desired rate of transit of the periphery of said workpiece past said tool, in which a tangent to said periphery is determined and the tool is slaved to the displacement of said tangent parallel to itself, while the angular position of said workpiece is determined and the speed of the tool is varied along its system of axes as a function of said displacement of the tangent. Application to the automatic welding of odd pieces.

Abstract: An automatic welding apparatus comprises a welding torch including an electrode and a fixture for fixing a workpiece, and a relative positional relation of the welding torch and the workpiece fixture is controlled such that the electrode of the welding torch is moved to trace the welding line of the workpiece, whereby automatic welding is achieved. The automatic welding apparatus further comprises a switch for selectively connecting the electrode of the welding torch to a welding power supply or a detecting power supply, and a sensor for sensing a current or a voltage between the electrode and the workpiece when the electrode is switched to the detecting power supply, whereby the relative positional relation between the welding torch and the workpiece is detected in response to the output of the sensor, and thus a welding point or a welding line is sensed.

Abstract: An automatic welding line tracing method and apparatus for causing a welding torch to follow the welding line by using a single non-contact-type sensor for detecting the welding line which is continuously reciprocated to traverse the groove of two pieces to be welded. During the reciprocating motion of the sensor, the sensor generates output voltages E.sub.1 and E.sub.2 respectively obtained by detecting the both ends of the groove to obtain E.sub.1 -.delta. and E.sub.2 -.delta. on the basis of the detected voltages E.sub.1, E.sub.2 and a separately established reference voltage .delta., and an output voltage P.sub.S corresponding to the central position of the groove is obtained from E.sub.1 -.delta. and E.sub.2 -.delta. to thereby compare the voltage P.sub.S with a voltage indicative of the central position of the oscillating motion of the sensor to thereby cause the welding torch to follow the welding line in accordance with the difference between these two voltages.

Abstract: A digital servo system for maintaining a detection device, such as a reading beam, as nearly as possible centered with respect to an information track, such as an optical track on a video recording disc. In each of the embodiments disclosed, circuitry is provided to process a signal obtained from the reading beam, to obtain timing signals indicative of transitions of the beam across noncentral switching lines parallel with the track. In one embodiment, a constant-magnitude acceleration signal is applied to a beam position transducer, and is reversed in polarity each time a switching line is crossed after first crossing the centerline. In another embodiment, the polarity of the constant-magnitude acceleration signal is reversed after crossing a switching line a second time and after applying an additional acceleration impulse of relatively short duration.

Abstract: A position control system for a welder includes a probe pivotably supported on the welding head assembly for motion through an arc extending ahead of the path of motion of the welding head. A sensor supported on the probe connects to a control system which generates an output representing coordinates of points along the center line, and an output proportional to the gap of the line of abutment between a pair of plates to be welded and controls the direction and rate of motion of the welding head along the center line of the abutment as well as the rotation of the head to maintain it in a proper disposition to the seam being welded and to maintain the sensor motion generally in front of the path of motion of the head.

Abstract: Apparatus for tracking a seam between two work members comprising a sensor including a housing with an insulating mounting board therein carrying two first ferrite cores and two second ferrite cores on the upper surface thereof, the two first ferrite cores being each curved in planes normal to the board and each having the faces at the ends thereof lying in a common plane with the first ones of the faces thereof in alignment along a longitudinal axis in the board, the two second ferrite cores being each curved in planes normal to the board and each having a first one of the faces at the ends thereof lying in the common plane and spaced laterally of the longitudinal axis equidistantly, two first coils wound around the first cores and connected in series aiding relation to two second coils wound around the second cores, a signal generator connected to the coils and means for comprising the combined permeabilities in the flux paths of each first core and associated second core with the other first core and its a

Abstract: A method and apparatus for automatic weld line tracing using a non-contact sensor for detection of a weld line, which sensor is continuously reciprocated across the groove. Signals produced from the sensor during the reciprocation are compared at the ends of the groove, and the lower voltage value of the two signals is determined. A value lower than the lower voltage of the two signals by .delta. is predetermined and the position associated with the value is detected by a displacement-measuring instrument, the output of which is utilized for control of the positions of a welding torch.

Abstract: A mechanism for driving a sensor for detecting the shapes of weld beads is completely separated from a mechanism for driving a welding torch with the sensor being operative independently of the welding torch. Prior to or during a welding operation, the sensor is moved above the groove in a direction perpendicular to a weld line in accordance with a command from a computer. Information about the shapes, in particular, information about the shapes of cross-sections of a groove portion which has been obtained by scanning is first stored in a memory. Then, information processing is executed so as to calculate a central position of the groove, the amount of dislocation, and the shape of the bead.

Abstract: A recorded signal reproducing system includes a signal generator circuit which produces a tracking control signal in response to an output from a detection circuit which detects that a difference between an output of a peak hold circuit which holds a maximum amplitude of an envelope of a reproduced signal from a rotary head for a relatively long period and an output of an envelope detection circuit exceeds a predetermined threshold. The tracking control signal is used to control the relative positional relationship between the rotary head and a magnetic tape for controlling tracking during the playback operation.

Abstract: Three sensing coils are located on a vehicle, staggered longitudinally in known distances from each other along the vehicle. The sensing coils pick up the field of a conductor buried in the surface over which the vehicle is to operate and energized with a-c at an audio frequency. From the three output signals derived from the three coil pairs, the radius of curvature of the guide path is computed and the steering deflection of the steering wheels of the vehicle is controlled by the computed radius of curvature to steer the vehicle along the radius; the computed radius of curvature signal may also be used to control other operating parameters, such as vehicle speed; average coil deviation signals may additionally be introduced into the steering control signal, which operates a steering servo, to additionally compensate for minor deviations of the vehicle from the guide path.

Abstract: A scanning device for causing a torch to follow impact lines or edges of the workpiece includes a magnet-field generator which moves transversely to the line to be followed as well as a scanning device which is characterized by two scanning heads arranged on both sides of the line being followed with the signals of the scanning head being electrically connected in opposition to each other.

Abstract: Means to control the speed of correction of a probe, and a slave such as a torch or welding head, for a welding guidance system, and the like, wherein the response of the probe controls or actuates a device, which is responsive to a predetermined electrical condition, characteristic or information, to continuously vary the magnitude of the output of the device in proportion to the change or deviation detected by the probe to actuate at least one motor to correct or change the position of the probe and the slave.

Abstract: A system for automatically sensing lateral movement of a longitudinally moving weldment bead has two conical shaped contact rollers mounted on generally parallel shafts, generally at right angles to the weldment bead and driven by contact with the weldment bead. The rollers are mounted in opposite directions and define a null point when the roller diameters contacting the bead are the same. A pulse tachometer mounted on each shaft provides different signals when lateral movement of the longitudinally moving weldment bead away from the null point causes the rollers to rotate at different speeds. Electrical circuitry responsive to the different signals actuates a servo mechanism to move the bead to the null point.

Abstract: A guidance system for controlling the path of a boat comprising a first conductor disposed below the surface of water in a first elongated loop and connecting at the terminals thereof across an A.C. source of electrical signal and a second conductor driven in a quadrature with the first conductor and disposed in a second loop partly superposed over the first loop. A first and second orthogonal inductive coil, mounted in the boat along a plane parallel to the loop and a plane normal to the loop plane and substantially parallel to the centerline thereof sense the vertical and horizontal components of the electromagnetic field generated about the conductor loops to produce corresponding induced signals respectively varying in amplitude and phase according to the amplitude of the electromagnetic field and the position thereof.

Abstract: A control arrangement for plate cutting apparatus capable of making a cut which curves in, and is angled with respect to, the local plane of a plate, which arrangement comprises a programme representation defining a curve and relating an angle to that curve, and first and second sensor devices arranged to be responsive respectively to representations of the curve and corresponding angle, and arranged to send signals capable of controlling relative movement between the plate and a cutting device, and angular movement between the line of cut and the local plane of the plate respectively, in accordance with this programme.

Abstract: An interactive graphics system in which plotting, digitizing and other related capabilities are performed is described in which complex graphics may be generated, edited and developed at a plurality of terminals, independently, with a minimum of hardware and in which precision control of the motion of a plotting table at each location is achieved in response to simplified input commands. Additionally, a novel floating cursor is described by which an operator may control the motion of the carriages of a plotting table or other positioning system actuated during plotting on the table, and digitize various coordinate locations with corresponding storage in a central computer of such locations, all by manually positioning the cursor at the desired locations. The floating cursor is connected with an energy sensor and both the cursor and the sensor are mechanically movable relative to or independently of the carriage.