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1. 发明申请

WO1992008177A1 HYBRID CONTROL METHOD AND SYSTEM FOR CONTROLLING THE FLOW OF LIQUID COATING MATERIAL 审中-公开
标题翻译：用于控制液体涂料流动的混合控制方法和系统
公开(公告)号：WO1992008177A1
公开(公告)日：1992-05-14
申请号：PCT/US1991007657
申请日：1991-10-18
申请人： GMF ROBOTICS CORPORATION
发明人： GMF ROBOTICS CORPORATION , SCHWARK, Gary, M. , STEWART, Bryan, R. , WEINREICH, Axel
IPC分类号： G05D07/06
CPC分类号： B05B12/00 , G05D7/06
摘要： A hybrid control method and system are provided for controlling the flow of liquid coating material which is regulated by a flow regulator in response to a reference signal. The method and system have a closed loop mode and an open loop mode. A set of calibration data representing at least one expected flow rate for the liquid coating material is initially stored in a table in a calibration mode. In the open loop mode the reference signal is correlated with the calibration data to obtain a set signal which is utilized to generate a first electrical control signal so that the flow regulator regulates the flow of liquid coating material at an initial flow rate. The open loop mode is changed to the closed loop mode after the system operates in the open loop mode for a time determined during calibration. A feedback signal is generated as a function of the actual flow of the regulated liquid coating material. An error signal is generated as a function of the difference between the prior set signal and the feedback signal. A second electrical control signal is generated as a function of the error signal in the closed loop mode. The error signal is representative of the desired amount of liquid coating material flow change. The set of calibration data is modified when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions, such as liquid temperature, liquid viscosity and mechanical/pneumatic system changes.
摘要翻译：提供一种混合控制方法和系统，用于响应于参考信号来控制由流量调节器调节的液体涂层材料的流动。该方法和系统具有闭环模式和开环模式。代表液体涂料的至少一个预期流速的一组校准数据最初以校准模式存储在表中。在开环模式中，参考信号与校准数据相关，以获得用于产生第一电气控制信号的设定信号，使得流量调节器以初始流速调节液体涂层材料的流动。系统在开环模式下工作一段时间后，开环模式变为闭环模式。根据调节液体涂料的实际流量产生反馈信号。根据现有设定信号与反馈信号之差产生误差信号。作为闭环模式中的误差信号的函数产生第二电控信号。误差信号代表所需量的液体涂料流动变化。当实际流量在由第二电气控制信号表示的流量的预定范围内时，校准数据集合被修改，以获得表示期望流量的修正的一组校准数据，以补偿变化的系统操作条件，例如随着液体温度，液体粘度和机械/气动系统的变化。

2. 发明申请

WO1991016653A1 DEVICE FOR DELIVERING A COLLIMATED BEAM SUCH AS A LASER BEAM 审中-公开
标题翻译：用于输送聚光束作为激光束的装置
公开(公告)号：WO1991016653A1
公开(公告)日：1991-10-31
申请号：PCT/US1990002187
申请日：1990-04-25
申请人： GMF ROBOTICS CORPORATION , AKEEL, Hadi, A.
发明人： GMF ROBOTICS CORPORATION , AKEEL, Hadi, A.
IPC分类号： G02B26/10
CPC分类号： B23K26/08 , B23K26/0884 , B23K26/388
摘要： A device for delivering a collimated beam of electromagnetic energy, such as a laser beam, including a focusing lens (22') supported within a first housing part (32') for rotation about a first axis (20') offset from a focal axis (23') of the lens, and for linear movement along the focal axis with respect to a second housing part (28'). Rotation of the lens about the first axis causes the laser beam travelling along the first axis to be deflected to travel along a focus beam axis (21') which intersects the focal axis at a focal point (24') which, in turn, traces a curve on the workpiece (12). The first axis is parallel to the focal axis and is offset a variable first distance therefrom. The focusing lens is also rotatable about a second axis (36') offset and parallel to the focal axis.
摘要翻译：一种用于传送准直的电磁能束的装置，例如激光束，包括支撑在第一壳体部分（32'）内的聚焦透镜（22'），用于围绕偏离焦点轴线的第一轴线（20'）旋转（23'），并且用于相对于第二壳体部分（28'）沿焦点轴线线性移动。透镜围绕第一轴的旋转使得沿着第一轴线行进的激光束被偏转以沿着聚焦光束轴线（21'）行进，所述聚焦光束轴线（21'）在焦点（24'）处与焦点轴线相交，反射镜轴线工件（12）上的曲线。第一轴线平行于焦点轴线并偏移可变的第一距离。聚焦透镜也可以绕偏转并平行于焦点轴线的第二轴线（36'）旋转。

3. 发明申请

WO1990007096A1 METHOD AND SYSTEM FOR AUTOMATICALLY DETERMINING THE POSITION AND ORIENTATION OF AN OBJECT IN 3-D SPACE 审中-公开
标题翻译：用于自动确定三维空间中对象的位置和方向的方法和系统
公开(公告)号：WO1990007096A1
公开(公告)日：1990-06-28
申请号：PCT/US1989005727
申请日：1989-12-19
申请人： GMF ROBOTICS CORPORATION
发明人： GMF ROBOTICS CORPORATION , McGEE, H., Dean , KRAUSE, Kenneth, W. , COLDREN, Bruce, E.
IPC分类号： G01B11/26
CPC分类号： G01S5/163 , B25J9/1697 , G06T7/73 , G06T7/80
摘要： A method and system (10) for automatically determining the position and orientation of an object (16) by utilizing as few as a single digital image (24) generated by as few as a single camera (20) without the use of a structured light. The digital image contains at least three non-colinear geometric features (A, B, C, D) of the object (16). The three features (A, B, C, D) may be either coplanar or non-coplanar. In a single camera system the geometric features are points, and in a multi-camera system, the features are typically combinations of points and lines. The location of the features (A, B, C, D) are determined and processed within a programmed computer (38) together with reference data and camera calibration data to provide at least three non-parallel 3-D lines. The 3-D lines are utilized by an iterative algorithm to obtain data relating to the position, orientation and offset of the object in 3-D space.
摘要翻译：一种用于通过利用少至单个相机产生的单个数字图像而不使用结构化光来自动确定对象的位置和取向的方法和系统。数字图像包含对象的至少三个非共线几何特征。三个特征可以是共面或非共面。观看特征或目标，使得透视信息存在于数字图像中。在单个相机系统中，几何特征是点，并且在多相机系统中，特征通常是点和线的组合。在编程的计算机中确定并处理特征的位置以及参考数据和相机校准数据，以提供至少三个不平行的3-D线。通过迭代算法利用3-D线获得与三维空间中物体的位置和取向有关的数据。结果数据随后用于计算物体与相机的偏移。然后将偏移量转换成诸如机器人，可编程控制器，数控机器等外围设备的坐标系或框架。最后，编程的计算机将经变换的偏移转移到利用变换的偏移量的外围设备来修改其预编程路径。

4. 发明申请

WO1991003732A1 METHOD FOR ALIGNING AN ARTICULATED BEAM DELIVERY DEVICE, SUCH AS A ROBOT 审中-公开
标题翻译：用于对准作为机器人的结构光束传送装置的方法
公开(公告)号：WO1991003732A1
公开(公告)日：1991-03-21
申请号：PCT/US1990003835
申请日：1990-07-09
申请人： GMF ROBOTICS CORPORATION
发明人： GMF ROBOTICS CORPORATION , AKEEL, Hadi, A. , McCLOSKY, Stan, H.
IPC分类号： G01N21/86
CPC分类号： B23K26/0884 , B23K26/043 , G01B11/272
摘要： A method is provided for aligning an articulated beam delivery device, such as a robot, by utilizing an electronic, high resolution television camera (66) as a transducer for measuring small beam deviations at relatively short distances. A display monitor (82) coupled to the camera is located in view of an operator of the robot to provide direct visual feedback for use during the aligning method. The aligning method includes the step of transmitting a collimated optical beam so that the beam travels along a first beam path and is deflected by an adjustable mirror (20) supported on an arm assembly (48) having first and second axes of the robot for rotation therewith about the first axis and thence along a second beam path. The beam is also deflected by at least one other mirror (22) supported within a wrist mechanism (60) of the robot to travel along a third beam path to a beam exit end of the robot.

5. 发明公开

EP0598712A1 DEVICE FOR DELIVERING A COLLIMATED BEAM SUCH AS A LASER BEAM 失效
标题翻译：装置，提供准直光束，如激光束。
公开(公告)号：EP0598712A1
公开(公告)日：1994-06-01
申请号：EP90916149.0
申请日：1990-04-25
申请人： GMF ROBOTICS CORPORATION
发明人： Akeel, Hadi, A.
IPC分类号： B23K26 , G02B26 , G02B27
CPC分类号： B23K26/08 , B23K26/0884 , B23K26/388
摘要： Un dispositif servant à transmettre un faisceau collimaté d'énergie électromagnétique, tel un faisceau laser comprend une lentille de focalisation (22') soutenue à l'intérieur d'une première partie de logement (32') de manière à tourner sur un premier axe (20') décalé par rapport à un axe focal (23') de la lentille, et de manière à présenter un mouvement linéaire le long de l'axe focal par rapport à une seconde partie de logement (28'). La rotation de la lentille sur le premier axe permet au faisceau laser se déplaçant sur ce premier axe d'être défléchi afin de se déplacer sur un axe de faisceau de focalisation (21') qui s'entrecroise avec l'axe focal en un point focal (24'), lequel, à son tour, trace une courbe sur la pièce à travailler (12). Le premier axe est parallèle à l'axe focal et décalé d'une distance initiale variable de celui-ci. La lentille de focalisation peut aussi être tournée sur un second axe (36') décalé et parallèle à l'axe focal.

6. 发明公开

EP0555410A1 HYBRID CONTROL METHOD AND SYSTEM FOR CONTROLLING THE FLOW OF LIQUID COATING MATERIAL 失效
标题翻译：混合控制系统和流量控制液体涂层材料用程序。
公开(公告)号：EP0555410A1
公开(公告)日：1993-08-18
申请号：EP92902541.0
申请日：1991-10-18
申请人： GMF ROBOTICS CORPORATION
发明人： SCHWARK, Gary, M. , STEWART, Bryan, R. , WEINREICH, Axel
IPC分类号： B05B7 , B05B9 , B05B12 , B05C11 , B05D3 , B25J13 , G05D7
CPC分类号： B05B12/00 , G05D7/06
摘要： On décrit un système et un procédé de commande hybride servant à commander l'écoulement d'un matériau de recouvrement liquide qui est régulé par un régulateur d'écoulement en réponse à un signal de référence. Le système et le procédé présentent un mode de fonctionnement à boucle fermée et un mode à boucle ouverte. Un ensemble de données d'étalonnage représentant au moins une vitesse d'écoulement prévue pour le matériau de recouvrement liquide est initialement stocké dans une table en un mode d'étalonnage. Dans le mode de fonctionnement à boucle ouverte, le signal de référence est correlé avec les données d'étalonnage afin de produire un signal établi utilisé pour générer un premier signal de commande électrique de sorte que le régulateur d'écoulement régule l'écoulement du matériau de recouvrement liquide à une vitesse d'écoulement initiale. Le mode de fonctionnement à boucle ouverte passe en mode de fonctionnement à boucle fermée après que le système ait fonctionné en mode à boucle ouverte pour une durée déterminée lors de l'étalonnage. Un signal de réaction est généré en fonction de l'écoulement réel du matériau de recouvrement liquide régulé. Un signal d'erreur est généré en fonction de la différence entre le signal établi précédemment et le signal de réaction. Un second signal de commande électrique est généré en fonction du signal d'erreur dans le mode à boucle fermée. Le signal d'erreur représente le niveau de changement d'écoulement désiré du matériau de recouvrement liquide. L'ensemble de données d'étalonnage est modifié lorsque la vitesse d'écoulement réelle se situe dans une plage prédéterminée de la vitesse d'écoulement représentée par le second signal de commande électrique de sorte que l'on obtienne un ensemble modifié de données d'étalonnage représentant une vitesse d'écoulement désirée permettant de compenser les conditions de fonctionnement variables du système, telles que la température du liquide, la viscosité du liquide et les changements du système mécanique/pneumatique.

7. 发明授权

EP0216482B1 Spray paint system including paint booth, paint robot apparatus movable therein and rail mechanism for supporting the apparatus thereout 失效
标题翻译：喷涂系统，包括涂漆机，油漆机器人可移动的机器和轨道机构，用于支持设备
公开(公告)号：EP0216482B1
公开(公告)日：1989-10-25
申请号：EP86306157.8
申请日：1986-08-08
申请人： GMF ROBOTICS CORPORATION
发明人： Bambousek, Gerald J. , Bartlett, Donald S. , Schmidt, Thomas D.
IPC分类号： B05B15/12
CPC分类号： B25J21/00 , B05B13/0431 , B05B13/0452 , B05B16/40 , B05B16/95 , B25J5/02 , B25J9/0093 , B25J19/0025 , Y10S118/07
摘要： A spray paint system including a paint booth and paint robot apparatus movable within the paint booth and movably supported outside the paint booth is disclosed. The side walls of the paint booth have elongated openings formed adjacent the bottom of the paint booth to allow gooseneck-shaped saddle structures to extend therethrough. The saddle structures support paint robots on their respective elongated rail mechanisms. The side walls of the paint booth, together with the rail mechanisms defines stationary labyrinthian seals which isolate paint hoses, cables, bearings and ways from the booth environment. Each robot is mounted on its saddle structure by a hollow robot carriage. The robot carriage and saddle structures house the various cables, hoses and paint lines of their respective robot. Drive assemblies including racks mounted on their respective rail mechanisms drive the saddle structures along the elongated openings.

8. 发明公开

EP0216482A1 Spray paint system including paint booth, paint robot apparatus movable therein and rail mechanism for supporting the apparatus thereout 失效
标题翻译： Spritzlackiersystem与喷漆室正在喷涂机器人和轨道机构支持的设备。
公开(公告)号：EP0216482A1
公开(公告)日：1987-04-01
申请号：EP86306157.8
申请日：1986-08-08
申请人： GMF ROBOTICS CORPORATION
发明人： Bambousek, Gerald J. , Bartlett, Donald S. , Schmidt, Thomas D.
IPC分类号： B05B15/12
CPC分类号： B25J21/00 , B05B13/0431 , B05B13/0452 , B05B16/40 , B05B16/95 , B25J5/02 , B25J9/0093 , B25J19/0025 , Y10S118/07
摘要： A spray paint system (10) including a paint booth (12) and paint robot apparatus (16) movable within the paint booth (12) and movably supported outside the paint booth is disclosed. The side walls (26) of the paint booth (12) have elongated openings formed adjacent the bottom (24i of the paint booth (12) to aliow gooseneck-shaped saddle structures (36) to extend therethrough. The saddle structures (36) support paint robots (16 1 on their respective eiongated rail mechanisms 1141. The side walls (26) of the paint booth (12), together with the rail mechanisms (14) defines stationary labyrinthian seals which isolate paint hoses, cables, bearings and ways from the booth environment. Each robot (16) is mounted on its saddle structure (36) by a hollow robot carriage (34). The robot carriage (34) and saddle structures (36) house the various cables, hoses and paint lines of their respective robot (16). Drive assemblies including racks mounted on their respective rail mechanisms drive the saddle structures (36) along the elongated openings (32).

9. 发明授权

US4892457A Apparatus for mastering a robot 失效
标题翻译：掌握机器人的装置
公开(公告)号：US4892457A
公开(公告)日：1990-01-09
申请号：US217304
申请日：1988-07-11
申请人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
发明人： Donald S. Bartlett , David I. Freed , William H. Poynter, Jr.
IPC分类号： B25J9/16
CPC分类号： B25J9/1692
摘要： An apparatus for mastering a robot includes two balls, each of which has a spherical surface configured to simultaneously contact its respective set of mutually orthogonal locating surfaces of a fixture only when the robot is in a predetermined reference position and orientation. The fixture is mounted on a pedestal of the robot base in a fixed spatial position. One of the balls is mounted for movement with a free end of an outer arm of an arm assembly of the robot. The robot also includes a wrist mechanism. A first end of the wrist mechanism is connected to the free end of the outer arm and a second end of the wrist mechanism is adapted to support a tool. The second ball is mounted for movement with the second end of the wrist mechanism. First and second clamping mechanisms are associated with a fixture and their respective balls for clamping their respective balls so that the generally spherical surfce of each of the balls simultaneously contacts each of the surfaces of its set of locating surfaces to thereby secure the robot in the predetermined spatial position and orientation. Each of the clamping mechanisms includes a circular clamping surface having a center. Each clamping mechanism is supported for pivotal movement on the fixture about a pivot axis offset from its ball's center so that its clamping surface defines an eccentric cam. Preferably, the clamping surface is conical.
摘要翻译：用于掌握机器人的装置包括两个球，每个球具有球形表面，其被构造成仅当机器人处于预定的参考位置和取向时才能同时接触固定器的相应的相互正交的定位表面。夹具以固定的空间位置安装在机器人基座的基座上。其中一个球被安装成与机器人的臂组件的外臂的自由端一起移动。机器人还包括手腕机构。手腕机构的第一端连接到外臂的自由端，并且腕机构的第二端适于支撑工具。第二个球被安装成与手腕机构的第二端一起运动。第一和第二夹紧机构与夹具及其相应的球相关联，用于夹紧其各自的球，使得每个球的大致球形的凸起同时接触其组的定位表面的每个表面，从而将机器人固定在预定的空间位置和方位。每个夹紧机构包括具有中心的圆形夹紧表面。每个夹紧机构被支撑用于围绕枢转轴线偏离其球的中心的枢转运动，使得其夹紧表面限定偏心凸轮。优选地，夹紧表面是圆锥形的。

10. 发明授权

US4679297A Method for changing the tooling in a robot-based system and system utilizing same 失效
标题翻译：用于在基于机器人的系统中改变工具的方法和利用其的系统
公开(公告)号：US4679297A
公开(公告)日：1987-07-14
申请号：US863333
申请日：1986-05-15
申请人： Robert E. Hansen, Jr. , James R. Murray , Roberta L. Zald
发明人： Robert E. Hansen, Jr. , James R. Murray , Roberta L. Zald
IPC分类号： B23Q7/04 , B23Q3/155
CPC分类号： B23Q7/046 , Y10S483/901 , Y10T483/10 , Y10T483/16
摘要： A method for changing the tooling in a robot-based material transfer system is disclosed as well as a system utilizing the method. The tooling is changed to accommodate the transfer of material such as automotive parts having different configurations within the system. Initially, end effectors of gantry robots and/or transfer beds of the system are placed in at least one container which is indexed through the work envelopes of the robots. Then, at least one specially designed container containing new tooling is indexed into the work envelopes. The robots are controlled to remove the new tooling from the containers and to place the new tooling in operative positions in the system. In the disclosed embodiment, one of the robots utilizes a special transfer bed gripper to replace the old transfer beds with new transfer beds. Preferably, an automatic guided vehicle system (AGVS) moves containers to and from loading and unloading stations in the material handling system.
摘要翻译：公开了一种用于改变基于机器人的材料转移系统中的工具的方法以及利用该方法的系统。改变工具以适应材料的转移，例如在系统内具有不同构造的汽车部件。最初，龙门式机器人的终端执行器和/或系统的转移床被放置在通过机器人的工作信封索引的至少一个容器中。然后，至少有一个特别设计的容纳新工具的容器被索引到工作信封中。控制机器人以从容器中移除新的工具，并将新的工具放置在系统中的操作位置。在所公开的实施例中，机器人之一利用特殊的转移床夹持器来用新的转移床替换旧的转移床。优选地，自动引导车辆系统（AGVS）将容器移动到材料处理系统中的装载站和卸载站。

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