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    • 1. 发明授权
    • Apparatus for optimizing system performance and related control methods
    • 用于优化系统性能和相关控制方法的装置
    • US08069728B2
    • 2011-12-06
    • US12244269
    • 2008-10-02
    • John GoodfellowKazuyoshi UenoMilan ProdanovicKoshi YamamotoNorihiro Maeda
    • John GoodfellowKazuyoshi UenoMilan ProdanovicKoshi YamamotoNorihiro Maeda
    • G01M7/00
    • G01M7/022
    • Focusing on the criterion of “Energy save” or “Quiet noise” or other suitable operating parameter and considering the existing limitation of the operation of the electro-dynamic shaker system, apparatus for optimizing the operating condition of the vibration test system is proposed. The apparatus 100 measures the field current and drive current under the state that the desired vibration is fed to the specimen 20, and calculates the necessary force the shaker 1 should supply. Field current is supposed to be varied, and the necessary drive current is calculated based on the necessary force data. Further, the blower rotation is supposed to be varied, and the total power consumption at the coils and the blower is calculated. Also the temperatures of the field coil 4 and of the drive coil 10 is estimated and checked whether within the limitation. Then the optimal operating condition for the focused criterion is selected.
    • 针对“节能”或“安静噪声”或其他合适的运行参数,并考虑到电动振动筛系统的现有操作限制,提出了优化振动试验系统运行状态的装置。 装置100在将期望的振动供给到试样20的状态下测量励磁电流和驱动电流,并计算振荡器1应提供的必要力。 励磁电流应变化,并根据必要的力数据计算必要的驱动电流。 此外,鼓风机旋转被认为是变化的,并且计算线圈和鼓风机的总功耗。 此外,在限制内,还估计和检查励磁线圈4和驱动线圈10的温度。 然后选择聚焦标准的最优运行条件。
    • 6. 发明授权
    • Method and apparatus for vision control of welding robots
    • 焊接机器人视觉控制的方法和装置
    • US5572102A
    • 1996-11-05
    • US395810
    • 1995-02-28
    • John GoodfellowWilhelm Doerr
    • John GoodfellowWilhelm Doerr
    • B25J9/16B25J9/22G05B19/408G05B19/425B23K9/12
    • B25J9/1697G05B19/4083G05B19/425G05B2219/36414G05B2219/36503G05B2219/40607G05B2219/45104
    • A vision system for controlling welding robots and a method of controlling a welding robot using a vision system are disclosed. The vision system includes an ordinary unoriented light source, such as a fluorescent light source, to illuminate a part to be welded so that a light intensity gradient is created along a seam to be welded. An image of the light intensity gradient is captured by one or more fixed solid-state video cameras. The image is compared with a stored image of a reference part so that a deviation of the seam to be welded with respect to the seam of the reference part can be computed for each of a plurality of predefined reference points. The deviation at each reference point is translated by a microprocessor into a coordinate adjustment which is downloaded to a controller for the robot. The controller converts the learned coordinates of the reference part into the actual coordinates of the seam to be welded using the coordinate adjustments provided by the microprocessor, permitting the robot to weld the seam without vision sensing or weld path adjustments during the welding process. The advantage is a cost effective vision system which can be shared among robots, simpler equipment, simpler control software, and increased efficiency because real time weld path correction maneuvers are eliminated.
    • 公开了一种用于控制焊接机器人的视觉系统和使用视觉系统来控制焊接机器人的方法。 视觉系统包括普通的无取向光源(例如荧光光源),以照射要焊接的部分,使得沿着待焊接的接缝产生光强度梯度。 光强度梯度的图像由一个或多个固定的固态摄像机捕获。 将图像与参考部分的存储图像进行比较,使得可以针对多个预定参考点中的每一个计算相对于参考部分的接缝的待焊接接缝的偏差。 每个参考点的偏差由微处理器转换成坐标调整,坐标调整被下载到机器人的控制器。 控制器使用微处理器提供的坐标调整器将参考部件的学习坐标转换为待焊接接缝的实际坐标,允许机器人在焊接过程中不进行视觉感测或焊接路径调整来焊接接缝。 优点是可以在机器人之间共享成本有效的视觉系统,更简单的设备,更简单的控制软件以及提高的效率,因为消除了实时焊道修正机动。