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    • 8. 发明授权
    • Robotic inspection system
    • 机器人检查系统
    • US4604715A
    • 1986-08-05
    • US662842
    • 1984-10-19
    • Roy T. ToutantGerald J. Lozinski
    • Roy T. ToutantGerald J. Lozinski
    • G06T7/00G06F15/46
    • G06T7/0008G06T2207/10008G06T2207/30164
    • The method of inspecting and determining the status of a hole in a surface of a part comprising placing a robot at a stationary position, said robot being controlled by a programmable controller and having a movable arm with a fiber optic scanner device capable of sensing a reflective surface. The part to be inspected is placed in a stationary fixture spaced from the robot and the robot arm with the fiber optic scanner device is moved to a point spaced from the part surface. The robot arm with the fiber optic scanner is incrementally moved closer to the part surface until light reflection is detected from the part surface by the fiber optic scanner. A signal is sent to the robot controller upon detecting light reflection from the part surface to stop further incremental movement of the robot arm and fiber optic scanner closer to the part. The robot arm with the fiber optic scanner is then moved in response to a signal from the robot controller parallel to the part surface to a predetermined position representing where the approximate hole location should be and determining by reflective value the presence or absence of the hole and sending a corresponding signal to the robot controller.
    • 检查和确定部件表面中的孔的状态的方法,包括将机器人放置在静止位置,所述机器人由可编程控制器控制并且具有可移动臂,所述可动臂具有能够感测反射的光纤扫描器装置 表面。 要检查的部件放置在与机器人间隔开的固定固定器中,并且具有光纤扫描器装置的机器人手臂移动到与部件表面间隔开的点。 具有光纤扫描器的机器人手臂被逐渐地移动到靠近部件表面,直到由光纤扫描器从部件表面检测出光反射。 在检测到来自部件表面的光反射之后,将信号发送到机器人控制器,以停止机器人手臂和光纤扫描仪更靠近该部件的进一步的增量移动。 然后将具有光纤扫描器的机器人手臂响应于来自机器人控制器的平均于部件表面的信号移动到预定位置,该预定位置表示大致孔位置应该在哪里,并且通过反射值确定孔的存在或不存在,以及 向机器人控制器发送相应的信号。