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61. 发明授权

US07886629B2 Machine tool and manipulator device adapted to be mounted on such machine 有权
标题翻译：适于安装在这种机器上的机床和机械手装置
公开(公告)号：US07886629B2
公开(公告)日：2011-02-15
申请号：US10332262
申请日：2001-06-23
申请人： Franco Sartorio
发明人： Franco Sartorio
IPC分类号： G05G11/00 , B23Q1/62
CPC分类号： B23Q1/012 , B23Q1/445 , B25J9/1615 , G05B19/39 , G05B2219/40289 , G05B2219/40293 , G05B2219/41457 , G05B2219/42225 , G05B2219/49284 , Y10T74/20354
摘要： A machine tool comprises a first travelling assembly (10) which carries in its turn a second travelling assembly (22). The first assembly (10) is adapted to position the second assembly (22) in a relatively wide space (S1) and with movements at relatively low speeds and accelerations. The second assembly (22) carries in its turn a tool which is provided with actuators for positioning the tool in a relatively narrow space (S2) and with movements at relatively high speeds and accelerations. The machine includes means for controlling the movements of the two assemblies (10, 22) which are so arranged to obtain s global movement of the tool without solutions of continuity in all the space of movement (S1) of the first assembly (10). The invention also relates to a manipulator device which can be used independently or be installed as a second assembly (22) on a travelling structure of a machine tool.
摘要翻译：一种机床包括第一行进组件（10），该第一行进组件依次承载第二行进组件（22）。第一组件（10）适于将第二组件（22）定位在相对宽的空间（S1）中并且以相对较低的速度和加速度的运动。第二组件（22）又带有一个工具，该工具设置有用于将工具定位在相对狭窄的空间（S2）中并具有相对较高速度和加速度的运动的致动器。机器包括用于控制两个组件（10,22）的运动的装置，其被布置成获得工具的全局运动，而没有在第一组件（10）的所有运动空间（S1）中具有连续性的解决方案。本发明还涉及一种可以独立使用或作为第二组件（22）安装在机床的行进结构上的机械手装置。

62. 发明申请

US20090165580A1 GANTRY POSITION TRACKING USING REDUNDANT POSITION SENSORS 有权
标题翻译：使用冗余位置传感器的GANTRY位置跟踪
公开(公告)号：US20090165580A1
公开(公告)日：2009-07-02
申请号：US12345967
申请日：2008-12-30
申请人： Lance K. Fisher , Namir Sayegh , John D. Gaida
发明人： Lance K. Fisher , Namir Sayegh , John D. Gaida
IPC分类号： F16H25/18
CPC分类号： B25J9/1615 , G05B19/404 , G05B2219/37304 , G05B2219/40293 , Y10T74/18568
摘要： An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.
摘要翻译： x-y机器人运动控制系统包括控制器，第一轨道和与第一轨道间隔开的第二轨道，其中第一轨道和第二轨道基本上彼此平行。台架具有沿着第一轨道移动的第一端和沿着第二轨移动的第二端。有效载荷可沿着机架移动，并且位置传感器可以沿着具有有效载荷的机架移动。第一编码器被配置为相对于第一轨道检测台架的第一端，并且第二编码器被配置为相对于第二轨道检测台架的第二端。位置传感器和第一和第二编码器耦合到控制器，控制器根据来自位置传感器和第一和第二编码器的信号来计算有效载荷的位置。

63. 发明授权

US5333386A Method of measuring the effective instantaneous position of a slide-mounted probe element or tool 失效
标题翻译：测量滑动安装的探针元件或工具的有效瞬时位置的方法
公开(公告)号：US5333386A
公开(公告)日：1994-08-02
申请号：US957398
申请日：1992-10-06
申请人： Karl-Hermann Breyer , Eugen Aubele , Gunter Grupp , Peter Ebersbach , Wolfgang Wiedmann
发明人： Karl-Hermann Breyer , Eugen Aubele , Gunter Grupp , Peter Ebersbach , Wolfgang Wiedmann
IPC分类号： G01B21/00 , G01B11/00 , G12B5/00 , G01B7/03
CPC分类号： G05B19/401 , G01B11/005 , G05B19/404 , G05B2219/37193 , G05B2219/40293
摘要： A computer-operated coordinate-measurement machine has two length-measurement systems arranged in parallel for measuring the longitudinal displacement of a probe carried by the portal (3-5) of the machine, and these two length-measurement systems (13, 14) may belong to different precision classes. A computer-associated device (16) forms an absolute position-measurement value (Ym) from length-measurement signals of the more precise measurement system (13) and said device forms a dynamic measurement or instantaneous deviation value (Ys-Ym) from the difference between length-measurement signals of the respective systems (13, 14). The computer of the machine calculates the effective instantaneous position (Ym+.DELTA.y) of the probe (9a, b, c) borne by the portal (3-5), using the instantaneous value of the transverse position of the probe on the portal, in conjunction with the absolute measurement value (Ym) and the dynamic measurement value (Ys-Ym).
摘要翻译：计算机操作的坐标测量机具有两个并联布置的长度测量系统，用于测量由机器的入口（3-5）承载的探头的纵向位移，并且这两个长度测量系统（13,14）可能属于不同的精度等级。计算机相关设备（16）从更精确的测量系统（13）的长度测量信号形成绝对位置测量值（Ym），并且所述设备从所述测量系统（13）形成动态测量值或瞬时偏差值（Ys-Ym）各个系统（13,14）的长度测量信号之间的差异。机器的计算机使用入口处的探头的横向位置的瞬时值来计算由入口（3-5）承载的探针（9a，b，c）的有效瞬时位置（Ym + DELTA y）结合绝对测量值（Ym）和动态测量值（Ys-Ym）。

64. 发明授权

US3749501A Measuring machine 失效
标题翻译：测量机
公开(公告)号：US3749501A
公开(公告)日：1973-07-31
申请号：US3749501D
申请日：1971-10-01
申请人： BENDIX CORP
发明人： WIEG H
IPC分类号： G01B21/00 , G01B11/00 , G01B21/20 , G01B11/04
CPC分类号： G05B19/401 , G01B11/002 , G05B19/404 , G05B2219/37193 , G05B2219/40293
摘要： A dimensional measuring machine is provided and has a pair of parallel ways arranged on opposite sides of the machine and a pair of supports supported for reciprocating movements on the ways, with an elongated bridge construction extending substantially perpendicular and being carried by the supports. A gage head is provided and carried on a carrier which is supported for reciprocating movements along the bridge construction. The machine has means measuring the positions of the supports along the ways and providing electrical output signals and means measuring the position of the carrier along the bridge construction and providing another electrical output signal. The machine also has an electrical system for receiving and comparing the electrical signals and providing a signal representing the actual position of the carrier and gage head from a reference location.
摘要翻译：提供了一种尺寸测量机，并且具有一对布置在机器的相对侧上的平行方式，以及一对支撑件，用于在路上往复运动，细长的桥结构基本垂直延伸并由支撑件承载。量具头被提供并承载在承载件上，该支架用于沿着桥梁结构的往复运动。机器具有测量支撑沿着路线的位置并提供电输出信号的装置，以及测量载体沿桥结构的位置并提供另一电输出信号的装置。该机器还具有用于接收和比较电信号的电气系统，并且从参考位置提供表示载体和测头的实际位置的信号。

65. 发明授权

US11740605B2 Movable gantry system configured to interface with jigs of different sizes 有权
公开(公告)号：US11740605B2
公开(公告)日：2023-08-29
申请号：US17744420
申请日：2022-05-13
申请人： Wilder Systems, LLC
发明人： William Wilder
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B2219/40293
摘要： A movable gantry system is described. In an example, the movable gantry system is configured to interface with jigs of different types or sizes and/or with different positions of a same jig and/or to perform operations on different parts mounted in such jigs. To do so, the movable gantry system includes an end effector, a gantry, and a computing system. The end effector is mounted within the gantry and provides at least rotational movement to perform operations on a part. The gantry is movable and interfaces with a jig holding the part. Further, the gantry provides translational movement to the end effector. The computing system identifies the gantry and the part and controls the gantry and the end effector, thereby facilitating the operations on the part.

66. 发明授权

US09964940B2 Numerical controller for performing axis control of two parallel axes 有权
公开(公告)号：US09964940B2
公开(公告)日：2018-05-08
申请号：US15228415
申请日：2016-08-04
申请人： FANUC CORPORATION
发明人： Yasushi Takeuchi , Makoto Suzuki , Motohiko Ito
IPC分类号： G05B19/19 , G05B19/4155
CPC分类号： G05B19/19 , G05B19/4155 , G05B2219/40293 , G05B2219/49203 , G05B2219/50228
摘要： A numerical controller performs cross-rail axis control that distributes moving amount to a first and second axes based on a command to a virtual axis. If a block of a program that is read out contains a fast feed command to the virtual axis for moving a tool to a cutting feed start point, the numerical controller distributes a moving amount commanded by the fast feed command to the first axis and the second axis. Further, the moving amount commanded by the fast feed command is distributed to the first axis and the second axis so that movement of the virtual axis commanded by a cutting feed command that follows the fast feed command in the program can be achieved by movement of only the first axis.

67. 发明申请

US20140173870A1 SYSTEM AND METHOD FOR LASER-BASED AUTO-ALIGNMENT 有权
标题翻译：用于基于激光的自动对准的系统和方法
公开(公告)号：US20140173870A1
公开(公告)日：2014-06-26
申请号：US14046868
申请日：2013-10-04
申请人： Beckman Coulter, Inc.
发明人： Stephen Otts
IPC分类号： B23P19/04
CPC分类号： B23P19/04 , B25J9/1692 , G01B21/042 , G05B2219/40293 , G05B2219/40613 , Y10T29/4978 , Y10T29/53087
摘要： In a laser-based alignment system, a laser sensor tool, comprising a laser emitter and detector element can be gripped by a gripper unit of a robotic arm and used to automatically align the robotic arm with a work surface. A landmark on the work surface can be identified by scanning the work surface with the laser sensor in an X-Y plane. A center point of the landmark in the X-Y plane can be determined to align the gripper unit with the work surface in the X-Y plane. The robotic arm can be calibrated on a Z-axis by moving the gripper downward in a z-direction until the gripper unit contacts the work surface.
摘要翻译：在基于激光的对准系统中，包括激光发射器和检测器元件的激光传感器工具可以由机器人手臂的夹持器单元夹持，并用于将机器人手臂与工作表面自动对准。可以通过在X-Y平面上用激光传感器扫描工作表面来识别工作表面上的地标。可以确定X-Y平面中的地标的中心点，以使夹持单元与X-Y平面中的工作表面对齐。通过沿z方向向下移动夹具，直到夹具单元接触工作表面，可以在Z轴上校准机械臂。

68. 发明授权

US08116909B2 Gantry position tracking using redundant position sensors 有权
标题翻译：使用冗余位置传感器的龙门架位置跟踪
公开(公告)号：US08116909B2
公开(公告)日：2012-02-14
申请号：US12345967
申请日：2008-12-30
申请人： Lance K. Fisher , Namir Sayegh , John D. Gaida
发明人： Lance K. Fisher , Namir Sayegh , John D. Gaida
IPC分类号： G06F19/00
CPC分类号： B25J9/1615 , G05B19/404 , G05B2219/37304 , G05B2219/40293 , Y10T74/18568
摘要： An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.
摘要翻译： x-y机器人运动控制系统包括控制器，第一轨道和与第一轨道间隔开的第二轨道，其中第一轨道和第二轨道基本上彼此平行。台架具有沿着第一轨道移动的第一端和沿着第二轨移动的第二端。有效载荷可沿着机架移动，并且位置传感器可以沿着具有有效载荷的机架移动。第一编码器被配置为相对于第一轨道检测台架的第一端，并且第二编码器被配置为相对于第二轨道检测台架的第二端。位置传感器和第一和第二编码器耦合到控制器，控制器根据来自位置传感器和第一和第二编码器的信号来计算有效载荷的位置。

69. 发明申请

US20050036879A1 Handling large, heavy workpieces using coordinated gantry robots 审中-公开
标题翻译：使用协调式龙门机器人处理大型重型工件
公开(公告)号：US20050036879A1
公开(公告)日：2005-02-17
申请号：US10892722
申请日：2004-07-16
申请人： Nishant Jhaveri , Ranganath Misra , Ian Orr , Richard Motley
发明人： Nishant Jhaveri , Ranganath Misra , Ian Orr , Richard Motley
IPC分类号： B25J9/00 , B25J9/02 , B25J9/04 , B25J9/16 , B65G1/133
CPC分类号： B25J9/0084 , B25J9/026 , B25J9/046 , B25J9/1682 , G05B2219/39124 , G05B2219/40293
摘要： A robot system for handling and transporting workpieces in a workspace includes a rail supported above a floor, at least two robot arms supported on the rail for mutual relative displacement and coordinated displacement along the rail, each arm articulating about multiple axes for engaging and supporting the workpiece, and a controller communicating with each of the robot arms to control displacement and articulation of each robot arm, whereby the workpiece is engaged by each gripper, lifted on the robot arm, carried along a path, which may include motion along the rail, and released from the gripper at its destination.
摘要翻译：用于在工作空间中处理和运输工件的机器人系统包括支撑在地板上方的轨道，支撑在轨道上的至少两个机器人手臂，用于相互相对移位并沿着轨道协同移位，每个臂围绕多个轴线铰接以配合和支撑工件和与每个机器人手臂相通的控制器，以控制每个机器人手臂的位移和关节运动，由此每个夹具接合工件，在机器人手臂上提升，沿着路径运送，该路径可包括沿轨道的运动，并从其目的地的夹具释放出来。

70. 发明授权

US06294755B1 Gantry-mounted laser nozzle and method for controlling laser positioning 失效
标题翻译：龙门式激光喷嘴及控制激光定位的方法
公开(公告)号：US06294755B1
公开(公告)日：2001-09-25
申请号：US09203590
申请日：1998-12-02
申请人： Brian D Sawatzky , Randall G. Andrews , Chris Want
发明人： Brian D Sawatzky , Randall G. Andrews , Chris Want
IPC分类号： G05B1904
CPC分类号： B23K26/10 , G05B19/416 , G05B2219/37175 , G05B2219/40293 , G05B2219/42175 , G05B2219/45165 , G05B2219/49369 , Y10S83/94 , Y10T83/162
摘要： Method and positioner apparatus are provided for minimizing the time required to move a tool along a continuous path such as over material conveyed continuously thereunder. The continuous path is discretized into geometric moves, pairs of which are preferably joined to minimize positioner stop and go. Ranges of velocities are analyzed for each discrete move and are adjusted to overlap for fitting a continuous velocity curve therethrough. Optimizing of the velocity ranges for maximum tool acceleration and velocity results in a time-optimized velocity profile for the tool. Velocity profiles for each discrete move are further optimized to maximize acceleration and deceleration resulting in the most time spent at maximum velocity. Throughout, the method is cognizant of the effects of time and displacement being measured in integer increments. Rounding is appropriately performed and move parameters are adjusted appropriately. Apparatus capable of responding to such optimized control comprises parallel X-rails and a gantry, each end of the gantry being independently driven. Bearings permit the gantry to pivot, resulting translation being accepted by another bearing at one of the ends. Optical encoders on each X-rail and the gantry provide precision positional feedback.
摘要翻译：提供了方法和定位器装置，用于最小化沿着连续路径移动工具所需的时间，例如连续输送的材料。连续路径被离散成几何移动，其中一对优选地被连接以最小化定位器停止并去除。分析每个离散运动的速度范围，并将其调整为重叠以拟合连续的速度曲线。优化最大刀具加速度和速度的速度范围可以为刀具提供时间优化的速度曲线。进一步优化每个离散移动的速度曲线，以最大限度地加速和减速，最大限度地节省时间。在整个过程中，该方法认识到以整数增量测量的时间和位移的影响。适当地执行舍入，并适当地调整移动参数。能够对这种优化控制进行响应的装置包括平行X导轨和台架，台架的每个端部被独立地驱动。轴承允许龙门架枢轴转动，从而在另一个轴承的另一端承受转换。每个X导轨和龙门架上的光学编码器提供精确的位置反馈。

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