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1. 发明授权

US4890241A Robotic system 失效
标题翻译：机器人系统
公开(公告)号：US4890241A
公开(公告)日：1989-12-26
申请号：US112534
申请日：1987-10-26
申请人： Brian D. Hoffman , Steven H. Pollack
发明人： Brian D. Hoffman , Steven H. Pollack
IPC分类号： B25J9/16 , G05B19/418 , G05B19/425
CPC分类号： B25J9/1676 , G05B19/4182 , G05B19/425 , G05B2219/31166 , G05B2219/32239 , G05B2219/33053 , G05B2219/33057 , G05B2219/33297 , G05B2219/34012 , G05B2219/34345 , G05B2219/34348 , G05B2219/34403 , G05B2219/35283 , G05B2219/36147 , G05B2219/45055 , G05B2219/49143 , G05B2219/49276 , G05B2219/50198 , G05B2219/50249 , Y02P90/04 , Y02P90/083
摘要： A robotic system in which robot devices are assembled from an inventory of elements responsive to a work request. The robotic devices include robots incorporating two-dimensional, linear motors movable along a stationary platen and coupled to various power sources through flexible, extendible, umbilical cords. The robot devices are selectively connectible with manipulators for holding parts to be assembled and/or for performing operations on such parts and/or members to which such parts are mounted. The devices are automatically assembled by selecting elements capable of performing the tasks necessary to complete the work request as well as selecting those elements which result in optimization of the assembly time and avoid collisions and cord tangling in moving along the paths traversed by the robot devices during their assembly. A multiplicity of assembled robotic devices may perform the tasks associated with the work request under control of an electronic system permitting simultaneous operations while preventing collisions and cord tangling. Robotic device assembly, disassembly and job tasks based on work requests can be performed simultaneously in any combination.

2. 发明授权

US5352946A Linear motor suspension system 失效
标题翻译：直线电机悬架系统
公开(公告)号：US5352946A
公开(公告)日：1994-10-04
申请号：US13295
申请日：1993-02-04
申请人： Brian D. Hoffman , Steven H. Pollack , Peter Smit , John Woolley
发明人： Brian D. Hoffman , Steven H. Pollack , Peter Smit , John Woolley
IPC分类号： B25J19/00 , B25J9/12 , B25J17/02 , H02K41/02 , H02K41/00
CPC分类号： H02K41/031 , B25J17/0208 , B25J9/123 , H02K2201/18
摘要： Power requirements for a robotic system are achieved through the employment of modular-type linear motor (LM) cells of either the one dimensional or two-dimensional type. Increasing system power requirements are met through the utilization of an increasing number of modular linear motor cells precisely positioned upon a common mounting plate to assure proper operation with a common platen. Deviations in the planarity or flatness of the platen and/or linear motor confronting surfaces due, for example, to warpage, temperature fluctuations, machining considerations or the like, are accommodated by mounting each modular LM cell upon a solid suspension member having mounting legs which are machined or otherwise formed from the solid member so as to be compliant in the Z direction only and non-compliant in the mutually perpendicular X and Y directions thereby allowing for movement in the Z direction as well as rotational movement about the X or Y axes to compensate for warpage or non-planarity of the platen and/or linear motor. Each mounting leg has a boss which is provided to enable the compliant legs to undergo proper flexing due to the displacement of the adjacent mounting surface of the LM, provided for by the bosses.
摘要翻译：机器人系统的功率要求通过采用一维或二维型的模块式线性电动机（LM）单元实现。通过利用越来越多的精确定位在公共安装板上的模块化线性电动机单元来满足增加的系统功率要求，以确保使用公共压板正确操作。通过将每个模块LM单元安装在具有安装支脚的固体悬挂构件上来容纳由于例如翘曲，温度波动，加工考虑等导致的压板和/或线性电动机面对面的平面度或平面度的偏差，被加工或以其他方式由实心构件形成，以便仅在Z方向上柔顺，并且在相互垂直的X和Y方向上不顺从，从而允许沿Z方向运动以及围绕X或Y轴的旋转运动以补偿压板和/或线性电动机的翘曲或非平面性。每个安装腿具有凸台，该凸台被设置成使得柔性腿能够由于由凸台提供的LM的相邻安装表面的位移而经历适当的弯曲。

3. 发明授权

US5150452A Method and apparatus for anti-collision and collision protection for multiple robot system 失效
标题翻译：多机器人系统的防撞和防撞保护方法与装置
公开(公告)号：US5150452A
公开(公告)日：1992-09-22
申请号：US387222
申请日：1989-07-28
申请人： Steven H. Pollack , Brian D. Hoffman
发明人： Steven H. Pollack , Brian D. Hoffman
IPC分类号： B25J13/00 , B25J5/00 , B25J9/16 , B25J9/18 , B25J19/02 , B25J19/06
CPC分类号： B25J9/1676
摘要： Collision detection in a multi-robot system. A "map" of the "world" is stored in memory. A collision map containing a desired robot move is created. The initial position of the desired robot is removed from the "world" map by combining the robot map and the "world" map in a logical exclusive-OR operation and thereafter combining the collision map and the "world" map in a logical exclusive-OR operation followed by combining the collision map and the "world" map in a logical "inclusive-OR" operation in a byte-by-byte manner. A collision is indicated by a difference in any bit position of the inclusive and exclusive-OR combinations. The lack of any difference indicates that the move may be made. Similar logic operations are performed to partially and ultimately totally deallocate an allocated path and for considering alternative moves or partial moves responsive to the presence of a "collision". The method is performed using a computer which may be no more sophisticated than a conventional personal computer (i.e. PC) in which calculations are capable of being performed within a millisecond, which operating speed favorably compares with the movement of a robot which requires of the order of one second.

4. 发明授权

US4528747A Method and apparatus for mounting multilead components on a circuit board 失效
标题翻译：在电路板上安装多元器件的方法和装置
公开(公告)号：US4528747A
公开(公告)日：1985-07-16
申请号：US446142
申请日：1982-12-02
申请人： Brian D. Hoffman , Steven H. Pollack , Barry Weissman
发明人： Brian D. Hoffman , Steven H. Pollack , Barry Weissman
IPC分类号： B23P19/00 , H05K3/30 , H05K13/04
CPC分类号： H05K13/0482 , Y10S269/903 , Y10T29/49133 , Y10T29/49153 , Y10T29/53183
摘要： A method for mounting one or a plurality of multilead components (25-28) on a circuit board (20) is herein disclosed. The method comprises the steps of loading a releasable template (32) with the component/components to be mounted, positioning the releasable template proximate to the board, releasing the component/components from the template onto the board such that each lead of each component is proximate to a corresponding aperture in the board, and imparting a vibratory motion (via 29 and 23) to the board thereby inserting the component/components into the board. Also disclosed are various embodiments of an apparatus for achieving this mounting method using a programmable robotic arm (FIG. 2).
摘要翻译：本文公开了一种用于在电路板（20）上安装一个或多个多元件部件（25-28）的方法。该方法包括以下步骤：将可释放模板（32）装载到要安装的部件/组件，将可释放模板定位在板附近，将组件/组件从模板释放到板上，使得每个组件的每个引导件靠近板中的对应的孔，并且向板施加振动（通孔29和23），从而将部件/部件插入板中。还公开了用于使用可编程机器臂（图2）实现该安装方法的装置的各种实施例。

5. 发明授权

US5081593A Method and apparatus for monitoring and controlling linear motor robot apparatus and the like 失效
标题翻译：用于监测和控制线性电机机器人的方法和装置
公开(公告)号：US5081593A
公开(公告)日：1992-01-14
申请号：US394622
申请日：1989-08-16
申请人： Steven H. Pollack
发明人： Steven H. Pollack
IPC分类号： B25J13/00 , B25J9/18 , B60L13/03 , G05B19/4062 , H02P25/06
CPC分类号： G05B19/4062
摘要： A technique for preventing a stalled linear motor device from damage including monitoring accelerometer servos which generate signals representative of the difference between a command acceleration signal controlling the linear motor and the actual acceleration experienced by the linear motor device which signal represents the acceleration error and the direction of the error. The different signal is compared against programmed limits to develop a break-loose signal when the programmed limit (positive or negative) is exceeded. The break-loose signal is monitored as to duration, which duration is preprogrammed according to the dynamics of the system specifications presently in use. In the event that the break-loose signal exceeds the preprogrammed time limit, a latch is set, generating an interrupt signal applied to the computer control which immediately removes all motive power from the system and tests the latch to determine the source of the error, the latch remaining in the set state awaiting the computer test and being reset only after recognition by the computer.

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