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1. 发明授权

US09597802B2 Method and system for robotic assembly parameter optimization 有权
公开(公告)号：US09597802B2
公开(公告)日：2017-03-21
申请号：US14638179
申请日：2015-03-04
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： G06F19/00 , B25J9/16 , G06F17/18
CPC分类号： B25J9/1687 , G05B2219/40032 , G06F17/18 , Y10S901/02 , Y10S901/03 , Y10S901/41
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

2. 发明授权

US09469032B2 Method and system for robotic assembly parameter optimization 有权
公开(公告)号：US09469032B2
公开(公告)日：2016-10-18
申请号：US14637822
申请日：2015-03-04
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： G06F19/00 , B25J9/16 , G06F17/18
CPC分类号： B25J9/1687 , G05B2219/40032 , G06F17/18 , Y10S901/02 , Y10S901/03 , Y10S901/41
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

3. 发明申请

US20150217453A1 METHOD AND SYSTEM FOR ROBOTIC ASSEMBLY PARAMETER OPTIMIZATION 审中-公开
公开(公告)号：US20150217453A1
公开(公告)日：2015-08-06
申请号：US14638179
申请日：2015-03-04
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： B25J9/16 , G06F17/18
CPC分类号： B25J9/1687 , G05B2219/40032 , G06F17/18 , Y10S901/02 , Y10S901/03 , Y10S901/41
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

4. 发明申请

US20150217452A1 METHOD AND SYSTEM FOR ROBOTIC ASSEMBLY PARAMETER OPTIMIZATION 审中-公开
标题翻译：用于机器人组件参数优化的方法和系统
公开(公告)号：US20150217452A1
公开(公告)日：2015-08-06
申请号：US14637822
申请日：2015-03-04
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B2219/40032 , G06F17/18 , Y10S901/02 , Y10S901/03 , Y10S901/41
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.
摘要翻译：一种优化组装过程中使用的机器人参数的方法和系统。组装过程根据其性质进行分类，可以是圆柱形，径向和多级插入。指定搜索模式和搜索参数。对参数进行了优化，并优化了参数集，并且当满足诸如组装循环时间设定和/或成功率等预定标准时，优化过程停止。当优化停止时，验证的参数用于使机器人执行分类的组装过程。如果参数不满足预定标准，则可以执行使用相同或其它参数的另一轮优化。

5. 发明授权

US09008836B2 Method and system for robotic assembly parameter optimization 有权
标题翻译：机器人装配参数优化的方法和系统
公开(公告)号：US09008836B2
公开(公告)日：2015-04-14
申请号：US12522257
申请日：2008-01-07
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1687 , G05B2219/40032
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.
摘要翻译：一种优化组装过程中使用的机器人参数的方法和系统。组装过程根据其性质进行分类，可以是圆柱形，径向和多级插入。指定搜索模式和搜索参数。对参数进行了优化，并优化了参数集，并且当满足诸如组装循环时间设定和/或成功率等预定标准时，优化过程停止。当优化停止时，验证的参数用于使机器人执行分类的组装过程。如果参数不满足预定标准，则可以执行使用相同或其它参数的另一轮优化。

6. 发明申请

US20100211204A1 METHOD AND SYSTEM FOR ROBOTIC ASSEMBLY PARAMETER OPTIMIZATION 有权
标题翻译：用于机器人组件参数优化的方法和系统
公开(公告)号：US20100211204A1
公开(公告)日：2010-08-19
申请号：US12522257
申请日：2008-01-07
申请人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
发明人： George Zhang , Hui Zhang , Jianmin He , Jianjun Wang
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B2219/40032
摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.
摘要翻译：一种优化组装过程中使用的机器人参数的方法和系统。组装过程根据其性质进行分类，可以是圆柱形，径向和多级插入。指定搜索模式和搜索参数。对参数进行了优化，并优化了参数集，并且当满足诸如组装循环时间设定和/或成功率等预定标准时，优化过程停止。当优化停止时，验证的参数用于使机器人执行分类的组装过程。如果参数不满足预定标准，则可以执行使用相同或其它参数的另一轮优化。

7. 发明申请

US20100145509A1 Method And System For In-Production Optimization of The Parameters Of A Robot Used for Assembly 有权
标题翻译：用于装配的机器人参数的生产优化方法和系统
公开(公告)号：US20100145509A1
公开(公告)日：2010-06-10
申请号：US12331503
申请日：2008-12-10
申请人： George Zhang , Arnold Bell , Jianjun Wang , Jianmin He , Carlos Martinez
发明人： George Zhang , Arnold Bell , Jianjun Wang , Jianmin He , Carlos Martinez
IPC分类号： G06F19/00
CPC分类号： B25J9/1687 , G05B13/024 , G05B2219/36401 , G05B2219/39102 , G05B2219/45064
摘要： A robot is used to repeatedly assemble part during a continuous production run of parts to be assembled. There are parameters of the robot associated with the assembly. These parameters are used to assemble the parts. Simultaneously with that repeated assembly the robot parameters are optimized. The parts to be assembled have a starting position for the assembly and the simultaneous optimization of the robot assembly parameters also includes the learning of the starting position. The robot assembly parameters can be optimized in a predefined manner. The optimized parameters can then be verified and the optimized and verified robot assembly parameters may then be used in place of the parameters of the robot associated with the parts assembly along with the learned starting position.
摘要翻译：机器人用于在组装的零件的连续生产运行期间反复组装零件。有与组装相关联的机器人的参数。这些参数用于组装零件。在重复组装的同时，机器人参数被优化。要组装的部件具有组装的起始位置，并且机器人组件参数的同时优化还包括初始位置的学习。机器人装配参数可以以预定的方式进行优化。然后可以验证优化的参数，然后可以使用优化和验证的机器人组件参数来代替与部件组件相关联的机器人的参数以及学习的起始位置。

8. 发明授权

US09108316B2 Method and system for in-production optimization of the parameters of a robot used for assembly 有权
标题翻译：用于装配的机器人参数的生产优化方法和系统
公开(公告)号：US09108316B2
公开(公告)日：2015-08-18
申请号：US12331503
申请日：2008-12-10
申请人： George Zhang , Arnold Bell , Jianjun Wang , Jianmin He , Carlos Martinez
发明人： George Zhang , Arnold Bell , Jianjun Wang , Jianmin He , Carlos Martinez
IPC分类号： B25J9/00 , B25J9/16 , G05B13/02
CPC分类号： B25J9/1687 , G05B13/024 , G05B2219/36401 , G05B2219/39102 , G05B2219/45064
摘要： A robot is used to repeatedly assemble parts during a continuous production run of parts to be assembled. There are parameters of the robot associated with the assembly. These parameters are used to assemble the parts. Simultaneously with that repeated assembly the robot parameters are optimized. The parts to be assembled have a starting position for the assembly and the simultaneous optimization of the robot assembly parameters also includes the learning of the starting position. The robot assembly parameters can be optimized in a predefined manner. The optimized parameters can then be verified and the optimized and verified robot assembly parameters may then be used in place of the parameters of the robot associated with the parts assembly along with the learned starting position.
摘要翻译：机器人用于在组装零件的连续生产运行期间反复组装零件。有与组装相关联的机器人的参数。这些参数用于组装零件。在重复组装的同时，机器人参数被优化。要组装的部件具有组装的起始位置，并且机器人组件参数的同时优化还包括初始位置的学习。机器人装配参数可以以预定的方式进行优化。然后可以验证优化的参数，然后可以使用优化和验证的机器人组件参数来代替与部件组件相关联的机器人的参数以及学习的起始位置。

9. 发明申请

US20090125146A1 Method of and Apparatus for Automated Path Learning 有权
标题翻译：自动路径学习的方法和装置
公开(公告)号：US20090125146A1
公开(公告)日：2009-05-14
申请号：US11884809
申请日：2006-02-10
申请人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
发明人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
IPC分类号： G06F19/00
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385
摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要翻译：具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻指导点。控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

10. 发明授权

US09207668B2 Method of and apparatus for automated path learning 有权
标题翻译：自动路径学习的方法和装置
公开(公告)号：US09207668B2
公开(公告)日：2015-12-08
申请号：US11884809
申请日：2006-02-10
申请人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
发明人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
IPC分类号： G05B19/18 , G05B19/423 , B25J9/16
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385
摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要翻译：具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻指导点。控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

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