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1. 发明授权

US08706300B2 Method of controlling a robotic tool 有权
标题翻译：控制机器人工具的方法
公开(公告)号：US08706300B2
公开(公告)日：2014-04-22
申请号：US13146838
申请日：2010-02-03
申请人： Ken Krause , Bruce E. Coldren , Edward Roney , Steven Prehn , Michael M. Sharpe , Claude Dinsmoor
发明人： Ken Krause , Bruce E. Coldren , Edward Roney , Steven Prehn , Michael M. Sharpe , Claude Dinsmoor
IPC分类号： G05B19/00
CPC分类号： B25J9/1664 , G05B2219/37555 , G05B2219/40425
摘要： A method of controlling a robot system includes the steps of providing a tool supported by a moveable mechanism of the robot system, providing a workpiece supported by a holder, generating an image of the workpiece, extracting a data from the image, the data relating to a feature of the workpiece, generating a continuous three-dimensional path along the workpiece using data extracted from the image, and moving the tool along the path.
摘要翻译：一种控制机器人系统的方法包括以下步骤：提供由机器人系统的可移动机构支撑的工具，提供由保持器支撑的工件，产生工件的图像，从图像中提取数据，与工件的特征，使用从图像提取的数据沿着工件生成连续的三维路径，以及沿着路径移动工具。

2. 发明授权

US08473100B2 System and method for dynamically switching conveyors for robots 有权
标题翻译：动态切换机器人输送机的系统和方法
公开(公告)号：US08473100B2
公开(公告)日：2013-06-25
申请号：US12873841
申请日：2010-09-01
申请人： Ganesh Kalbavi , Gordon Geheb , Laxmi Musunur
发明人： Ganesh Kalbavi , Gordon Geheb , Laxmi Musunur
IPC分类号： G06F9/00
CPC分类号： B25J9/0084 , B25J9/0093 , G05B19/4182 , G05B2219/32294 , G05B2219/33334 , Y02P90/083 , Y02P90/20
摘要： A conveyor system and a method for dynamically switching an active work associated with a motion device, the system including a plurality of conveyors for moving at least one part, at least one production machine associated with at least one of the conveyors, at least one motion device to move the at least one part, a controller associated with the at least one motion device, wherein the controller is in data communication with the at least one production machine to receive a feedback data therefrom, the feedback data representing a state of the production machine, and a software system executed by the controller to dynamically and selectively control the at least one motion device in response to the feedback data.
摘要翻译：一种用于动态切换与运动装置相关联的主动作业的输送机系统和方法，所述系统包括用于移动至少一个部件的多个输送机，与至少一个输送机相关联的至少一个生产机器，至少一个运动用于移动所述至少一个部件的装置，与所述至少一个运动装置相关联的控制器，其中所述控制器与所述至少一个生产机器进行数据通信以从其接收反馈数据，所述反馈数据表示所述生产的状态机器和由控制器执行的软件系统以响应于反馈数据动态地和选择性地控制至少一个运动装置。

3. 发明授权

US08406922B2 System and method for setting the tool center point of a robotic tool 有权
标题翻译：用于设置机器人工具的刀具中心点的系统和方法
公开(公告)号：US08406922B2
公开(公告)日：2013-03-26
申请号：US12848728
申请日：2010-08-02
申请人： Thomas Nemmers , Donald E. Jenkins , Terry L. Tupper
发明人： Thomas Nemmers , Donald E. Jenkins , Terry L. Tupper
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/1692 , G05B2219/39011
摘要： A system for calibrating a robotic tool includes a housing including an aperture for receiving the robotic tool, an image generating device disposed in the housing and positioned to generate an image of the robotic tool received through the aperture of the housing, wherein the image generating device generates an image signal representing the image of the robotic tool, a light source disposed in the housing to backlight the robotic tool received through the aperture of the housing, and a processor responsive to the image signal for calculating and monitoring a configuration of the robotic tool.
摘要翻译：用于校准机器人工具的系统包括：壳体，其包括用于接收机器人工具的孔;图像产生装置，其设置在壳体中并且定位成产生通过壳体的孔接收的机器人工具的图像，其中图像产生装置产生表示机器人工具的图像的图像信号，设置在壳体中的光源，用于背光通过壳体的孔接收的机器人工具，以及响应于图像信号的处理器，用于计算和监视机器人工具的配置。

4. 发明授权

US08315736B2 Method and apparatus for picking/packing applications 有权
标题翻译：拾取/包装应用的方法和设备
公开(公告)号：US08315736B2
公开(公告)日：2012-11-20
申请号：US12429771
申请日：2009-04-24
申请人： Genesh Kalbavi , Gordon Geheb , Min-Ren Jean , Gerald A. Ross , Jason Tsai , Rick Wunderlich
发明人： Genesh Kalbavi , Gordon Geheb , Min-Ren Jean , Gerald A. Ross , Jason Tsai , Rick Wunderlich
IPC分类号： G05B19/418 , G05B19/18
CPC分类号： B25J9/0093 , B25J9/0084 , G05B19/4182 , G05B2219/32387 , G05B2219/33334 , Y02P90/083 , Y02P90/26
摘要： A system for picking and packing applications is provided. The system includes a plurality of robots and a plurality of robot controllers. Each robot controller includes a load re-balance subsystem, a load balance subsystem, a robot state change detector subsystem, a communicator subsystem, and a motion control subsystem. Each of the robot controllers is interconnected and in communication with one another via the communicator subsystems. Each of the robots has a workload that may be selectively balanced. A method for balancing the workloads of the robots using built-in processors which run motion control is also provided.
摘要翻译：提供了一个采摘和包装应用系统。该系统包括多个机器人和多个机器人控制器。每个机器人控制器包括负载重新平衡子系统，负载平衡子系统，机器人状态改变检测器子系统，通信器子系统和运动控制子系统。每个机器人控制器互连并且经由通信器子系统彼此通信。每个机器人具有可以选择性平衡的工作负载。还提供了一种使用运行运动控制的内置处理器来平衡机器人工作负载的方法。

5. 发明申请

US20070244599A1 A Method for Optimizing a Robot Program and a Robot System 有权
标题翻译：一种优化机器人程序和机器人系统的方法
公开(公告)号：US20070244599A1
公开(公告)日：2007-10-18
申请号：US11279764
申请日：2006-04-14
申请人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min Jean , Hadi Akeel
发明人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min Jean , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1671 , B25J9/1602 , G05B2219/36252 , Y10S706/92
摘要： An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.
摘要翻译：用于优化机器人性能的装置和方法包括连接到机器人控制器的计算机，用于当控制器执行路径程序时接收机器人的性能数据。计算机使用性能数据，用户指定的优化目标和约束以及运动/动态模拟器来生成一组新的控制系统参数来替换控制器中的默认设置。计算机重复该过程，直到新的控制系统参数集合被优化为止。

6. 发明申请

US20070034715A1 Apparatus and method for a rotary atomizer with improved pattern control 有权
标题翻译：具有改进图案控制的旋转雾化器的装置和方法
公开(公告)号：US20070034715A1
公开(公告)日：2007-02-15
申请号：US11199948
申请日：2005-08-09
申请人： Scott Clifford , Matthew Sikowski
发明人： Scott Clifford , Matthew Sikowski
IPC分类号： B05B1/28
CPC分类号： B05B3/1092
摘要： An apparatus and method for forming and controlling a pattern for spraying surfaces with a fluid uses a rotary atomizer spray head having an air shaping ring with shaping air nozzles inclined in a direction of rotation of a bell cup to direct the air onto the cup surface near the cup edge. The air shape ring optimizes the shape air control to create a stable, focused pattern that minimizes robot speed while maintaining high transfer efficiency. Nozzles extending parallel to the axis of rotation of the bell cup can be provided. Selection of the shaping air flow rate produces broad, collapsed and tubular spraying patterns.
摘要翻译：一种用于形成和控制用流体喷射表面的图案的装置和方法使用具有空气成形环的旋转雾化喷雾头，其具有沿钟形杯的旋转方向倾斜的成形空气喷嘴，以将空气引导到杯表面附近杯边。空气形状环优化形状空气控制，以创建稳定的聚焦模式，最大限度地降低机器人速度，同时保持高转印效率。可以提供平行于钟罩的旋转轴线延伸的喷嘴。成型空气流速的选择产生宽的，倒塌的和管状的喷雾模式。

7. 发明申请

US20060287769A1 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US20060287769A1
公开(公告)日：2006-12-21
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

8. 发明授权

US06845295B2 Method of controlling a robot through a singularity 有权
标题翻译：通过奇点控制机器人的方法
公开(公告)号：US06845295B2
公开(公告)日：2005-01-18
申请号：US10382387
申请日：2003-03-06
申请人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
发明人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
IPC分类号： B25J9/18 , G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34169 , G05B2219/40333
摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.
摘要翻译：一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个最终配置与初始配置不同，以将TCP定位在终点（46）。接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。所选择的轴的角度从第一点（48）插入第二点（50）。在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

9. 发明申请

US20030171847A1 Method of controlling a robot through a singularity 有权
标题翻译：通过奇点控制机器人的方法
公开(公告)号：US20030171847A1
公开(公告)日：2003-09-11
申请号：US10382387
申请日：2003-03-06
申请人： FANUC Robotics America, Inc.
发明人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
IPC分类号： G06F019/00
CPC分类号： G05B19/4103 , G05B2219/34169 , G05B2219/40333
摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.
摘要翻译：一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个最终配置与初始配置不同，以将TCP定位在终点（46）。接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。所选择的轴的角度从第一点（48）插入第二点（50）。在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

10. 发明授权

US08702078B2 Magnetic tool for robots 有权
标题翻译：机器人用磁性工具
公开(公告)号：US08702078B2
公开(公告)日：2014-04-22
申请号：US12187535
申请日：2008-08-07
申请人： Scott J. Clifford , Paul D. Copioli , Marcin Gora
发明人： Scott J. Clifford , Paul D. Copioli , Marcin Gora
IPC分类号： B25B11/00 , B23Q3/157 , B23Q15/22
CPC分类号： B25J15/0608
摘要： A magnetic tool to enable a robot arm to grip a metallic workpiece includes a hollow housing having a coupling member adapted to attach the tool to the robotic arm. A sleeve depends from the housing having a shaft slidably received therein. The shaft has a first end disposed in the housing and a second end extending axially outwardly from an open end of the sleeve. A magnetic member is disposed on the second end of the shaft. The magnetic member includes a main body having a cavity formed therein. A magnet is slidably disposed within the cavity and attached to an actuator adapted to adjust the distance between the magnet and an inner surface of a magnetic face of the main body of the magnetic member to vary the magnetic attraction force at the magnetic face.
摘要翻译：用于使机器人手臂能够夹持金属工件的磁性工具包括具有适于将工具附接到机器臂的联接构件的中空壳体。套筒从具有可滑动地容纳在其中的轴的壳体上取出。轴具有设置在壳体中的第一端和从套筒的开口端轴向向外延伸的第二端。磁性构件设置在轴的第二端上。磁性构件包括其中形成有空腔的主体。磁体可滑动地设置在空腔内并且附接到致动器，该致动器适于调节磁体与磁性构件的主体的磁性面的内表面之间的距离，以改变磁性表面处的磁吸引力。

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