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1. 发明授权

US07297946B2 Automated nanoassembly 有权
公开(公告)号：US07297946B2
公开(公告)日：2007-11-20
申请号：US11205201
申请日：2005-08-16
申请人： Ning Xi , Guangyong Li , Heping Chen
发明人： Ning Xi , Guangyong Li , Heping Chen
IPC分类号： G01N13/16 , G01B5/88 , G01B7/34
CPC分类号： B82B3/00 , G01Q30/04 , G01Q80/00
摘要： An automated nanomanipulation system is provided for manufacturing a nanoscale structure. The system includes: a design model for the nanoscale structure; image data of a sample surface upon which the nanoscale structure is to be manufactured; a movable member configured to perform a nanomanipulation operation on the sample surface; and a path planning subsystem adapted to receive the design model and the image data. The path planning subsystem generates path data indicative of a path for traversing the movable member along the sample surface such that the movable member manipulates one or more randomly distributed nanoobjects in accordance with the design model.

2. 发明申请

US20070176100A1 Automated nanoassembly 有权
标题翻译：自动纳米组装
公开(公告)号：US20070176100A1
公开(公告)日：2007-08-02
申请号：US11205201
申请日：2005-08-16
申请人： Ning Xi , Guangyong Li , Heping Chen
发明人： Ning Xi , Guangyong Li , Heping Chen
IPC分类号： G01N23/00
CPC分类号： B82B3/00 , G01Q30/04 , G01Q80/00
摘要： An automated nanomanipulation system is provided for manufacturing a nanoscale structure. The system includes: a design model for the nanoscale structure; image data of a sample surface upon which the nanoscale structure is to be manufactured; a movable member configured to perform a nanomanipulation operation on the sample surface; and a path planning subsystem adapted to receive the design model and the image data. The path planning subsystem generates path data indicative of a path for traversing the movable member along the sample surface such that the movable member manipulates one or more randomly distributed nanoobjects in accordance with the design model.
摘要翻译：提供了一种用于制造纳米尺度结构的自动化纳米操纵系统。该系统包括：纳米尺度结构的设计模型; 要制造纳米尺度结构的样品表面的图像数据; 被配置为对所述样品表面执行纳米操作操作的可移动部件; 以及适于接收设计模型和图像数据的路径规划子系统。路径规划子系统产生路径数据，其指示沿着样本表面横穿可移动构件的路径，使得可移动构件根据设计模型操纵一个或多个随机分布的纳米对象。

3. 发明授权

US09126336B2 Compliant end of arm tooling for a robot 有权
标题翻译：机器人手臂工具的一端
公开(公告)号：US09126336B2
公开(公告)日：2015-09-08
申请号：US14067549
申请日：2013-10-30
申请人： William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
发明人： William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
IPC分类号： B25J9/16 , B25J13/08 , B25J15/00 , B25J15/04 , B25J17/02
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译：机器人用于从垃圾桶中取出零件。机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。合规装置具有用于监视和/或控制其顺从性的机构。兼容装置可以具有各种实施例。在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。

4. 发明授权

US08862269B2 Robotic picking of parts from a bin 有权
标题翻译：从垃圾箱机器人拾取零件
公开(公告)号：US08862269B2
公开(公告)日：2014-10-14
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
IPC分类号： B25J9/00 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译：一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动，连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。

5. 发明申请

US20110223001A1 Robotic Picking Of Parts From A Bin 有权
标题翻译：从一个机器人拾取零件
公开(公告)号：US20110223001A1
公开(公告)日：2011-09-15
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
IPC分类号： B25J9/16 , B25J9/00 , G06F19/00 , G05B19/00
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译：一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动，连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。

6. 发明授权

US09333654B2 Robot parts assembly on a workpiece moving on an assembly line 有权
标题翻译：在装配线上移动的工件上的机器人部件组装
公开(公告)号：US09333654B2
公开(公告)日：2016-05-10
申请号：US12934850
申请日：2009-03-30
申请人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
发明人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1697 , G05B2219/39387 , G05B2219/40554 , G05B2219/45021
摘要： An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.
摘要翻译：使用工业机器人将部件组装到随机移动的工件上的预定位置。工件可以是装配线上的汽车，并且该部件可以是要组装在汽车的一个轮毂上的车轮（安装在轮辋上的轮胎）。机器人已经安装了相机，力传感器和夹持器来夹持部件。在机器人抓握部件之后，计算装置使用来自力传感器和视觉的信号将机器人移动到机器人可以将部件组装到工件上的预定位置的位置。计算设备可以是机器人控制器或连接到控制器的单独的设备，例如PC。

7. 发明申请

US20110223000A1 Robotic Picking Of Parts From A Bin 有权
标题翻译：从一个机器人拾取零件
公开(公告)号：US20110223000A1
公开(公告)日：2011-09-15
申请号：US13061342
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
IPC分类号： B25J9/16 , G05B19/00 , G06F19/00
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译：机器人用于从垃圾桶中取出零件。机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。合规装置具有用于监视和/或控制其顺从性的机构。兼容装置可以具有各种实施例。在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。

8. 发明申请

US20140052295A1 Compliant End Of Arm Tooling For A Robot 审中-公开
标题翻译：机器人手臂工具的一致性结束
公开(公告)号：US20140052295A1
公开(公告)日：2014-02-20
申请号：US14067549
申请日：2013-10-30
申请人： William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
发明人： William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译：机器人用于从垃圾桶中取出零件。机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。合规装置具有用于监视和/或控制其顺从性的机构。兼容装置可以具有各种实施例。在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。

9. 发明申请

US20080027580A1 Robot programming method and apparatus with both vision and force 审中-公开
标题翻译：机器人编程方法和仪器具有视觉和力量
公开(公告)号：US20080027580A1
公开(公告)日：2008-01-31
申请号：US11495016
申请日：2006-07-28
申请人： Hui Zhang , Jianjun Wang , Heping Chen
发明人： Hui Zhang , Jianjun Wang , Heping Chen
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , B25J9/1633 , B25J9/1694 , G05B2219/39391 , G05B2219/40571
摘要： Both vision and force control are used to program a robot so that a tool having a tip can follow a desired path visibly marked on a workpiece when the tool is to perform work on the workpiece. There is a force sensor, a camera positioned to view the visibly marked path and a computing device. When the tool tip is in controlled contact with an area of the workpiece that includes the desired path, the camera and the force sensor each provide information to the computing device. The information is used to develop a program to move the robot to cause the tool tip to follow the desired path when the tool is to perform work on the workpiece. The tool can move in relation to the workpiece and the camera is mounted on the robot or the workpiece moves in relation to the stationary camera and tool.
摘要翻译：视觉和力控制都用于对机器人进行编程，使得具有尖端的工具可以在工具对工件进行加工时遵循在工件上可视地标记的期望路径。有一个力传感器，一个照相机定位，以查看明显标记的路径和一个计算设备。当工具尖端与包括所需路径的工件的区域受控接触时，照相机和力传感器各自向计算设备提供信息。该信息用于开发一个程序来移动机器人，以使工具在工件上对工件执行工作时使刀尖遵循所需的路径。该工具可以相对于工件移动，并且相机安装在机器人上，或者工件相对于固定式照相机和工具移动。

10. 发明申请

US20070222398A1 High efficiency electronic ballast for metal halide lamp 失效
标题翻译：金属卤化物灯高效电子镇流器
公开(公告)号：US20070222398A1
公开(公告)日：2007-09-27
申请号：US11715612
申请日：2007-03-07
申请人： Heping Chen , Min Chen , Qin Kong , Wenxiong Zhang
发明人： Heping Chen , Min Chen , Qin Kong , Wenxiong Zhang
IPC分类号： H05B41/36
CPC分类号： H05B41/2925 , Y02B20/208 , Y10S315/02
摘要： A high efficiency electronic ballast for large power metal halide lamp includes a power input circuit, a power factor correction circuit, a secondary power supply, a control circuit, a half bridge power converter, a resonant starting circuit, and lamp current on/off detector. The half bridge power converter has two DC block output capacitor to protect the converter when the output is shorted to ground. The operation frequency of the converter is chosen in the weak area of the acoustic resonant to avoid the acoustic resonant in the lamp. The control circuit adds a method for deep frequency and amplitude modulation and delay control function to the converter. For fine sweep pass through the output resonance point for igniting high voltage, two sweep rate control circuits are added. The metal halide lamp can be operated with very stable from starting to normal operation with high electronic ballast system efficiency.
摘要翻译：一种用于大功率金属卤化物灯的高效率电子镇流器包括电源输入电路，功率因数校正电路，二次电源，控制电路，半桥功率转换器，谐振启动电路和灯电流开/关检测器。半桥电源转换器有两个直流电阻输出电容，用于在输出短路到地时保护转换器。在谐振的弱区域选择转换器的工作频率，以避免灯中的声谐振。控制电路为转换器增加了深度和幅度调制和延迟控制功能的方法。为了精细扫描通过用于点燃高电压的输出谐振点，增加了两个扫频速率控制电路。金属卤化物灯可以以高电子镇流器系统效率从起始到正常运行非常稳定地运行。

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