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1. 发明授权

US08554369B2 Machining system and method 有权
标题翻译：加工系统及方法
公开(公告)号：US08554369B2
公开(公告)日：2013-10-08
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00 , G05B19/418 , B25J9/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

2. 发明申请

US20110106311A1 INFORMATION PROCESSING METHOD, APPARATUS, AND COMPUTER READABLE MEDIUM 失效
标题翻译：信息处理方法，装置和计算机可读介质
公开(公告)号：US20110106311A1
公开(公告)日：2011-05-05
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling to cause a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object (Step S1). When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled (Steps S3 and S4). When the switching condition is fulfilled, the apparatus executes visual servo control (Step S5).
摘要翻译：一种装置执行使配备有照相机的机器人手臂向上移动到物体的移动控制，从而能够使操纵器作为控制系统快速，准确且稳定地移动到对象。具体而言，当没有检测到物体时，设备执行教学重放控制，以使得操纵器基于物体的位置沿着路径移动到预先设定的目标位置（步骤S1）。当检测到物体时，该装置将比目标位置更靠近物体的位置定义为新的目标位置，将新路径设置到新的目标位置，执行教学重放控制以使机械手沿着新的路径移动直到满足切换移动控制的切换条件（步骤S3和S4）。当满足切换条件时，设备执行视觉伺服控制（步骤S5）。

3. 发明授权

US08600552B2 Information processing method, apparatus, and computer readable medium 失效
公开(公告)号：US08600552B2
公开(公告)日：2013-12-03
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.

4. 发明申请

US20110208347A1 MACHINING SYSTEM AND METHOD 有权
标题翻译：加工系统与方法
公开(公告)号：US20110208347A1
公开(公告)日：2011-08-25
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

5. 发明申请

US20110278266A1 LASER WELDING METHOD 有权
标题翻译：激光焊接方法
公开(公告)号：US20110278266A1
公开(公告)日：2011-11-17
申请号：US13145317
申请日：2009-12-02
申请人： Haruhiko Kobayashi , Satoshi Ohkubo , Shinichi Miyasaka , Koji Oda , Naoki Takahashi , Hideari Kamachi
发明人： Haruhiko Kobayashi , Satoshi Ohkubo , Shinichi Miyasaka , Koji Oda , Naoki Takahashi , Hideari Kamachi
IPC分类号： B23K26/00
CPC分类号： B23K26/244 , B23K2101/34 , B23K2103/08
摘要： The method of lap-welding of metal plates using a laser beam, wherein at least one of the metal plates is surface-treated, includes putting a metal plate on the other metal plate and forming a gap between the metal plates so that gas generated at the treated surface at the time weld can be dissipated therethrough. A surface-treated first work and a surface-treated second work are placed one on the other and clamped by means of a clamp with an opening of the clamp centered at the location on the first work to be welded. Then a laser beam is directed to the location to form a weld. The beam is then directed near the inner periphery of the opening to form a heated portion so that the heated portion deflects to form a gap through which the gas generated at the treated surface dissipates thereby reducing gas pressure.
摘要翻译：使用激光束对金属板进行搭接焊接的方法，其中至少一个金属板进行表面处理，包括将金属板放置在另一金属板上并在金属板之间形成间隙，使得在在时间焊接处理的表面可以从其中消散。表面处理的第一工件和经表面处理的第二工件一个放置在另一个上并且通过夹具夹紧，夹具的开口以第一待焊接工件的位置为中心。然后将激光束导向该位置以形成焊缝。然后将梁引导到开口的内周边附近以形成加热部分，使得加热部分偏转以形成间隙，在处理的表面处产生的气体通过该间隙消散，由此降低气体压力。

6. 发明授权

US08610026B2 Laser welding method 有权
标题翻译：激光焊接方法
公开(公告)号：US08610026B2
公开(公告)日：2013-12-17
申请号：US13145317
申请日：2009-12-02
申请人： Haruhiko Kobayashi , Satoshi Ohkubo , Shinichi Miyasaka , Koji Oda , Naoki Takahashi , Hideari Kamachi
发明人： Haruhiko Kobayashi , Satoshi Ohkubo , Shinichi Miyasaka , Koji Oda , Naoki Takahashi , Hideari Kamachi
IPC分类号： B23K26/20 , B23K26/32
CPC分类号： B23K26/244 , B23K2101/34 , B23K2103/08
摘要： The method of lap-welding of metal plates using a laser beam, wherein at least one of the metal plates is surface-treated, includes putting a metal plate on the other metal plate and forming a gap between the metal plates so that gas generated at the treated surface at the time weld can be dissipated therethrough. A surface-treated first work and a surface-treated second work are placed one on the other and clamped by a clamp with an opening of the clamp centered at the location on the first work to be welded. Then a laser beam is directed to the location to form a weld. The beam is then directed near the inner periphery of the opening to form a heated portion so that the heated portion deflects to form a gap through which the gas generated at the treated surface dissipates thereby reducing gas pressure.
摘要翻译：使用激光束对金属板进行搭接焊接的方法，其中至少一个金属板进行表面处理，包括将金属板放置在另一金属板上并在金属板之间形成间隙，使得在在时间焊接处理的表面可以从其中消散。经表面处理的第一工件和经表面处理的第二工件一个放置在另一个上并由夹具夹紧，夹具的开口以第一待焊接工件的位置为中心。然后将激光束导向该位置以形成焊缝。然后将梁引导到开口的内周边附近以形成加热部分，使得加热部分偏转以形成间隙，在处理的表面处产生的气体通过该间隙消散，由此降低气体压力。

7. 发明授权

US08069576B2 Vehicle wheel alignment measuring method and apparatus 有权
标题翻译：车轮定位测量方法和装置
公开(公告)号：US08069576B2
公开(公告)日：2011-12-06
申请号：US12404883
申请日：2009-03-16
申请人： Hideari Kamachi , Kiyonobu Hara , Yushi Aoki , Kenichiro Ono , Hiroshi Saito
发明人： Hideari Kamachi , Kiyonobu Hara , Yushi Aoki , Kenichiro Ono , Hiroshi Saito
IPC分类号： G01B5/255
CPC分类号： G01B21/26
摘要： A vehicle wheel alignment measuring method and apparatus capable of measuring wheel alignment of a vehicle body with high accuracy without wheels mounted in an assembly line. A dummy wheel (10) is mounted on a wheel mounting portion (6) on which a wheel is not mounted. Subsequently, with a vehicle body supported, a wheel mounting portion elevating means (8) elevates the wheel mounting portion (6) via the dummy wheel (10). Thereafter, an alignment measuring means (9) measures wheel alignment for the wheel mounting portion (6) on which the dummy wheel (10) is mounted.
摘要翻译：一种车轮定位测量方法和装置，其能够高精度地测量车体的车轮定位，而不将车轮安装在组装线中。假轮（10）安装在没有安装车轮的车轮安装部分（6）上。随后，在车身支撑的情况下，车轮安装部升降装置（8）经由假轮（10）升起车轮安装部（6）。此后，对准测量装置（9）测量安装有假轮（10）的车轮安装部分（6）的轮对准。

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