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1. 发明申请

US20060178775A1 Accelerometer to monitor movement of a tool assembly attached to a robot end effector 审中-公开
标题翻译：加速度计，用于监测连接到机器人端部执行器的工具组件的运动
公开(公告)号：US20060178775A1
公开(公告)日：2006-08-10
申请号：US11051383
申请日：2005-02-04
申请人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
发明人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , B25J9/0081 , B25J13/02 , G05B2219/36473 , G05B2219/40547 , G05B2219/40549
摘要： An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.
摘要翻译：加速度计安装在机器人上以监测附接到机器人端部执行器的工具组件的运动，以用于安全监控目的。加速度计向机器人控制器提供输出信号，该控制器用于监视机器人运动，并且在机器人的导通教导期间检测到加速度，速度和距离的预定值时停止该运动。手柄可以连接到机器人端部执行器，并且加速度计可以安装在手柄上。

2. 发明授权

US09110456B2 Robotic machining with a flexible manipulator 有权
标题翻译：机器人加工与柔性机械手
公开(公告)号：US09110456B2
公开(公告)日：2015-08-18
申请号：US11220174
申请日：2005-09-06
申请人： Hui Zhang , ZhongXue Gan , Jianjun Wang , George Zhang
发明人： Hui Zhang , ZhongXue Gan , Jianjun Wang , George Zhang
IPC分类号： B23Q17/00 , G05B19/19 , B23Q17/09 , B25J9/16
CPC分类号： G05B19/19 , B23Q17/0966 , B25J9/1633 , B25J9/1641 , G05B2219/37319 , G05B2219/37355 , G05B2219/42033 , G05B2219/45068 , G05B2219/49079 , G05B2219/49082 , G05B2219/49099 , Y10T29/49776 , Y10T29/53039
摘要： A robot machining with a flexible manipulator has an end effector which may either hold the tool to perform the machining or the work piece to be machined. A signal representative of a force applied by said tool to said work piece is used to control either the relative motion between the tool and the work piece to give a controlled material removal rate (CMRR) or the relative position between the tool or the work piece to provide deformation compensation or both CMRR and deformation compensation. A force sensor provides the signal for deformation compensation. For CMRR the signal may be obtained from either a force sensor or the current flowing in the motor of the robot's spindle. The force sensor can be mounted either on the robot or together with either the tool or work piece adjacent to the robot.
摘要翻译：具有柔性操纵器的机器人加工具有端部执行器，其可以保持工具来执行加工或要加工的工件。代表由所述工具施加到所述工件的力的信号用于控制工具和工件之间的相对运动，以提供受控的材料去除速率（CMRR）或工具或工件之间的相对位置提供变形补偿或CMRR和变形补偿两者。力传感器提供变形补偿信号。对于CMRR，信号可以从力传感器或在机器人主轴的电动机中流动的电流获得。力传感器可以安装在机器人上或与机器人相邻的工具或工件一起安装。

3. 发明申请

US20060048364A1 Robotic machining with a flexible manipulator 有权
公开(公告)号：US20060048364A1
公开(公告)日：2006-03-09
申请号：US11220174
申请日：2005-09-06
申请人： Hui Zhang , ZhongXue Gan , Jianjun Wang , George Zhang
发明人： Hui Zhang , ZhongXue Gan , Jianjun Wang , George Zhang
IPC分类号： B23Q17/00
CPC分类号： G05B19/19 , B23Q17/0966 , B25J9/1633 , B25J9/1641 , G05B2219/37319 , G05B2219/37355 , G05B2219/42033 , G05B2219/45068 , G05B2219/49079 , G05B2219/49082 , G05B2219/49099 , Y10T29/49776 , Y10T29/53039
摘要： A robot machining with a flexible manipulator has an end effector which may either hold the tool to perform the machining or the work piece to be machined. A signal representative of a force applied by said tool to said work piece is used to control either the relative motion between the tool and the work piece to give a controlled material removal rate (CMRR) or the relative position between the tool or the work piece to provide deformation compensation or both CMRR and deformation compensation. A force sensor provides the signal for deformation compensation. For CMRR the signal may be obtained from either a force sensor or the current flowing in the motor of the robot's spindle. The force sensor can be mounted either on the robot or together with either the tool or work piece adjacent to the robot.

4. 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。

5. 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。

6. 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。

7. 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.

8. 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.

9. 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.

10. 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。

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