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11. 发明授权

US06980881B2 Software for improving the accuracy of machines 失效
标题翻译：提高机器精度的软件
公开(公告)号：US06980881B2
公开(公告)日：2005-12-27
申请号：US10644149
申请日：2003-08-20
申请人： Thomas A. Greenwood , Thomas W. Pastusak
发明人： Thomas A. Greenwood , Thomas W. Pastusak
IPC分类号： B25J9/16 , G05B19/401 , G06F19/00
CPC分类号： G05B19/401 , B25J9/1692 , G05B2219/39033 , G05B2219/49207 , G05B2219/50057
摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.
摘要翻译：大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。这些解决方案是昂贵的，可能需要经常重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量后向反射器的位置连接到末端执行器，例如当机器休息时机头。计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。

12. 发明授权

US5870490A Apparatus for extracting pattern features 失效
标题翻译：用于提取图案特征的装置
公开(公告)号：US5870490A
公开(公告)日：1999-02-09
申请号：US697603
申请日：1996-08-27
申请人： Tomoichi Takahashi , Kazuyoshi Tateishi , Akinori Watabe
发明人： Tomoichi Takahashi , Kazuyoshi Tateishi , Akinori Watabe
IPC分类号： G01B11/24 , G05B19/37 , G06K9/00 , G06T1/00 , G06T7/00 , G06K9/46
CPC分类号： G05B19/37 , G06K9/00201 , G05B2219/37359 , G05B2219/39033 , G05B2219/40374 , G05B2219/40576
摘要： An apparatus is presented for extracting configurational features of an object formed by a number of surfaces with a two-dimensional laser pattern. Changes in the shape can be tracked, and speedy three-dimensional measurements are made possible in a small memory area without requiring parameter adjustment. The device comprises a two-dimensional laser pattern generating device which projects laser light in a desired two-dimensional pattern configuration, a three-dimensional position calculating device which synchronizes the timing of the laser light illumination with the timing of the detection of two-dimensional points. Three-dimensional coordinates of a surface point are rapidly calculated, then the surface parameters are determined by the three-dimensional positions of a number of points (three points or more). A pattern information generating device varies the pattern to be projected in accordance with the surface parameters so obtained, and a pattern recognition device controls the movements of a robot in accordance with variations in configuration based on the edge lines, vertexes and other features determined by a number of plane surfaces.
摘要翻译：提出一种用于提取由具有二维激光图案的多个表面形成的物体的构造特征的装置。可以跟踪形状的变化，并且可以在小的存储区域中实现快速的三维测量，而不需要参数调整。该装置包括以预期的二维图案配置投射激光的二维激光图案生成装置，将激光照明的定时与二维图案的检测的定时同步的三维位置计算装置积分快速计算表面点的三维坐标，然后通过多个点（三点或更多点）的三维位置来确定表面参数。图案信息生成装置根据如此获得的表面参数改变要投影的图案，并且图案识别装置根据基于边缘线，顶点和由其确定的其他特征的配置的变化来控制机器人的移动平面数量。

13. 发明授权

US10625425B2 Position and posture adjustment method 有权
公开(公告)号：US10625425B2
公开(公告)日：2020-04-21
申请号：US15915404
申请日：2018-03-08
申请人： HONDA MOTOR CO., LTD.
发明人： Fumihiko Shimazu
IPC分类号： B25J15/04 , B25J9/16 , B25J11/00
CPC分类号： B25J9/1692 , B25J9/1697 , B25J11/005 , G05B2219/39033 , Y10S901/09 , Y10S901/47
摘要： An objective is to provide a position and posture adjustment method capable of promptly adjusting the position and the posture of a robot with respect to a workpiece while making variations caused by the operator small. The position and posture adjustment method includes provisional teaching step S1, marker installation step S2 of installing a marker having a head cut conical shape in the workpiece, an initial movement step S3 of moving an arm distal end portion such that the irradiated positions of three laser displacement gauges are arranged within the end surface of the marker, posture modification step S4 of moving the arm distal end portion such that the measured values of the three laser displacement gauges become close to one another, approach step S5 of bringing the arm distal end portion close to the marker along the Z axis, alignment step S6 of causing an axis of the arm distal end portion and a marker axis to coincide with each other by moving the arm distal end portion parallel along a plane perpendicular to the Z axis such that the measured values of the three laser displacement gauges become close to one another, and positioning step S7 of adjusting the position of the arm distal end portion by moving the arm distal end portion along the Z axis.

14. 发明授权

US09669546B2 Robotic work object cell calibration method 有权
公开(公告)号：US09669546B2
公开(公告)日：2017-06-06
申请号：US14724966
申请日：2015-05-29
申请人： Matthew E. Trompeter
发明人： Matthew E. Trompeter
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39033 , Y10S901/02
摘要： The robotic work object cell calibration method includes a work object or emitter. Initially, placing the work object is placed in a selected position on a fixture or work piece on the shop floor. The work object emits a pair of beam-projecting lasers which intersect at a tool contact point and act as a crosshair. The robot tool is manipulated into the tool contact point. The work object emits four plane-projecting lasers which are used to adjust the roll, yaw, and pitch of the robot tool relative to the tool contact point. The robotic work object cell calibration method of the present invention increases the accuracy of the off-line programming and decreases robot teaching time.

15. 发明申请

US20160184994A1 Calibration of Robot Work Paths 审中-公开
标题翻译：机器人工作路径的校准
公开(公告)号：US20160184994A1
公开(公告)日：2016-06-30
申请号：US14818205
申请日：2015-08-04
申请人： Matthew E. Trompeter
发明人： Matthew E. Trompeter
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39033 , Y10S901/02
摘要： The calibration device combines a work object with an industrial robot and a robot tool. The work object uses a pair of beam projecting lasers and three plane projecting lasers, the laser beams intersecting at a laser intersecting point. The laser intersection point of the laser beams and laser planes represent the location of the reference coordinate system which is selected to be the origin of the robot path being downloaded from the off-line programming. Once this off-line programming is created, the work object is placed onto the fixture on the manufacturing shop floor in the same place as the CAD environment. The user then manipulates the TCP into position of the laser intersection point and the laser planes. The robot is then manipulated down a first laser with the TCP recording a second point along a first laser beam and recording a third point along the opposing laser beam.
摘要翻译：校准装置将工作对象与工业机器人和机器人工具相结合。工作对象使用一对射束激光器和三个平面投影激光器，激光束在激光交叉点处相交。激光束和激光平面的激光交叉点表示参考坐标系的位置，该坐标系被选择为从离线编程中下载的机器人路径的原点。一旦这个离线编程被创建，工作对象被放置在与CAD环境相同的地方的制造车间的夹具上。然后用户将TCP操作到激光交叉点和激光平面的位置。然后机器人沿着第一激光器被操纵，其中TCP沿着第一激光束记录第二点，并沿着相对的激光束记录第三点。

16. 发明申请

US20150352667A1 MATERIAL PROCESSING SYSTEM WITH LOW-INERTIA LASER SCANNING AND END EFFECTOR MANIPULATION 审中-公开
标题翻译：具有低激光扫描和最终效果的材料处理系统
公开(公告)号：US20150352667A1
公开(公告)日：2015-12-10
申请号：US14653921
申请日：2013-12-11
申请人： 3M INNOVATIVE PROPERTIES COMPANY
发明人： Brett R. Hemes , Schoen A. Schuknecht , Andrew K. Hartzell
IPC分类号： B23K26/08 , B23K26/03 , B23K26/16 , B25J9/16 , B23K26/14
CPC分类号： B23K26/032 , B23K26/082 , B23K26/142 , B23K26/144 , B25J9/1684 , G05B2219/39033 , G05B2219/40623 , Y10S901/02
摘要： An apparatus includes a robotic manipulator with a stationary base, and an end effector actuated by the robotic manipulator, wherein the end effector is adjacent to a workpiece. A scanning laser head unit includes a laser and an optical train configured to move a laser beam over the workpiece. A control unit is configured to move the robotic manipulator such that movement of the end effector tracks movement of the laser beam.
摘要翻译：一种装置包括具有固定基座的机器人操纵器和由机器人操纵器致动的末端执行器，其中末端执行器与工件相邻。扫描激光头单元包括激光器和配置成将激光束移动到工件上的光学系统。控制单元被配置为移动机器人操纵器，使得末端执行器的运动跟踪激光束的移动。

17. 发明授权

US09061421B2 Robotic work object cell calibration method 有权
标题翻译：机器人工作对象单元校准方法
公开(公告)号：US09061421B2
公开(公告)日：2015-06-23
申请号：US13385797
申请日：2012-03-07
申请人： Matthew E. Trompeter
发明人： Matthew E. Trompeter
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39033
摘要： The robotic work object cell calibration method includes a work object or emitter. Initially, placing the work object is placed in a selected position on a fixture or work piece on the shop floor. The work object emits a pair of beam-projecting lasers which intersect at a tool contact point and act as a crosshair. The robot tool is manipulated into the tool contact point. The work object emits four plane-projecting lasers which are used to adjust the roll, yaw, and pitch of the robot tool relative to the tool contact point. The robotic work object cell calibration method of the present invention increases the accuracy of the off-line programming and decreases robot teaching time.
摘要翻译：机器人工作对象单元校准方法包括工作对象或发射器。最初，将工件放置在车间上的夹具或工件上的选定位置。工作物体发射一对在工具接触点相交并且作为十字准线的投射激光器。机器人工具被操纵到工具接触点。工作对象发射四个平面投影激光器，用于调节机器人工具相对于工具接触点的滚动，偏转和俯仰。本发明的机器人工作对象单元校准方法提高了离线编程的精度，降低了机器人的教学时间。

18. 发明授权

US07277811B1 Calibration apparatus and process 有权
标题翻译：校准仪器和工艺
公开(公告)号：US07277811B1
公开(公告)日：2007-10-02
申请号：US11432011
申请日：2006-05-11
申请人： Bobby J. Marsh , Steven H. Nichols
发明人： Bobby J. Marsh , Steven H. Nichols
IPC分类号： G01L25/00 , G01C21/00
CPC分类号： B25J9/1692 , B23Q17/22 , B23Q17/24 , G05B2219/37275 , G05B2219/39033
摘要： The invention discloses differing embodiments of calibration apparatus, and methods of use. In one embodiment, the calibration apparatus may be used to calibrate a tool, positioning system, robot, machine, or device. The calibration apparatus may include a first member adapted to be attached to a tool, positioning system, robot, machine, or device, and two or more reflectors attached to the first member. The reflectors may be adapted to reflect one or more laser beams emitted from a laser tracker system. In such manner, a laser tracker system may be used to determine spatial X, Y, and Z coordinates of the reflectors, and/or to determine angular orientation of the first member. Using the spatial X, Y, and Z coordinate and angular orientation data, a tool, positioning system, robot, machine, or device may be calibrated.
摘要翻译：本发明公开了校准装置的不同实施例和使用方法。在一个实施例中，校准装置可用于校准工具，定位系统，机器人，机器或装置。校准设备可以包括适于附接到工具，定位系统，机器人，机器或设备的第一构件以及附接到第一构件的两个或更多个反射器。反射器可以适于反射从激光跟踪器系统发射的一个或多个激光束。以这种方式，可以使用激光跟踪器系统来确定反射器的空间X，Y和Z坐标，和/或确定第一构件的角度定向。使用空间X，Y和Z坐标和角度定向数据，可以校准工具，定位系统，机器人，机器或设备。

19. 发明授权

US07130718B2 Pathcorrection for an industrial robot 有权
标题翻译：工业机器人的路径矫正
公开(公告)号：US07130718B2
公开(公告)日：2006-10-31
申请号：US10257254
申请日：2001-04-09
申请人： Svante Gunnarsson , Mikael Norrlof , Geir Hovland , Ulf Carlsson , Torgny Brogardh , Tommy Svensson , Stig Moberg
发明人： Svante Gunnarsson , Mikael Norrlof , Geir Hovland , Ulf Carlsson , Torgny Brogardh , Tommy Svensson , Stig Moberg
IPC分类号： G06F19/00
CPC分类号： B25J9/1638 , B25J9/1641 , B25J9/1692 , G05B2219/36415 , G05B2219/39024 , G05B2219/39033 , G05B2219/39056 , G05B2219/39176 , G05B2219/39181 , G05B2219/39191 , G05B2219/41084 , Y02P90/86
摘要： A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.
摘要翻译：一种用于提高机器人运动精度的工业机器人的方法。通过使由机器人支撑的工具采用多个生成位置来形成第一路径。确定沿着第一路径移动的工具的多个观察位置。由确定的工具位置形成第二路径。校正由第一路径和第二路径中几何确定的位置之间的路径偏差确定。

20. 发明授权

US06345213B1 Control method for an industrial robot 有权
标题翻译：工业机器人的控制方法
公开(公告)号：US06345213B1
公开(公告)日：2002-02-05
申请号：US09700438
申请日：2001-02-14
申请人： Ralf-Gunter Graeser , Robert Klingel
发明人： Ralf-Gunter Graeser , Robert Klingel
IPC分类号： G06F1900
CPC分类号： B25J9/1692 , G05B2219/39008 , G05B2219/39033 , G05B2219/49206 , G05B2219/49207 , Y10S414/13
摘要： A method provides an exact measurement of the tool center point (TCP) being carried out, preferably in the whole working area of the robot. In this measurement, the robot moves very slowly so that little heat is generated by the driving assemblies and the temperature gradients are as low as possible. The measurement can be made, for example, using a high-precision laser distance and angle measurement system. The measurement is carried out such that a measuring point is moved to working area points and then the deviations of the positions and/or orientations of the measuring point are determined using the laser distance and angle measurement system, i.e. a nominal/actual comparison is made. The TCP can preferably serve as the measuring point. The point must always be selected so that the positioning and orientation deviations of the kinematic chain with respect to the PCT can be determined with sufficient accuracy.
摘要翻译：一种方法提供了正在进行的刀具中心点（TCP）的精确测量，优选地在机器人的整个工作区域中。在此测量中，机器人运动非常缓慢，因此驱动组件产生的热量很小，温度梯度尽可能低。可以例如使用高精度的激光距离和角度测量系统进行测量。进行测量，使得测量点移动到工作区域点，然后使用激光距离和角度测量系统确定测量点的位置和/或取向的偏差，即进行标称/实际比较。 TCP可以优选地用作测量点。必须始终选择该点，使得可以以足够的精度确定运动链相对于PCT的定位和定向偏差。

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