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1. 发明申请

US20060178775A1 Accelerometer to monitor movement of a tool assembly attached to a robot end effector 审中-公开
标题翻译：加速度计，用于监测连接到机器人端部执行器的工具组件的运动
公开(公告)号：US20060178775A1
公开(公告)日：2006-08-10
申请号：US11051383
申请日：2005-02-04
申请人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
发明人： George Zhang , YunQuan Sun , Jianjun Wang , Zhongxue Gan , Hui Zhang , Gregory Rossano
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , B25J9/0081 , B25J13/02 , G05B2219/36473 , G05B2219/40547 , G05B2219/40549
摘要： An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.
摘要翻译：加速度计安装在机器人上以监测附接到机器人端部执行器的工具组件的运动，以用于安全监控目的。加速度计向机器人控制器提供输出信号，该控制器用于监视机器人运动，并且在机器人的导通教导期间检测到加速度，速度和距离的预定值时停止该运动。手柄可以连接到机器人端部执行器，并且加速度计可以安装在手柄上。

2. 发明授权

US06836702B1 Method for fine tuning of a robot program 有权
标题翻译：微调机器人程序的方法
公开(公告)号：US06836702B1
公开(公告)日：2004-12-28
申请号：US10458785
申请日：2003-06-11
申请人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
发明人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
IPC分类号： G06F1900
CPC分类号： B25J9/1664 , B23K26/04 , B23K26/0884 , B25J9/1692 , G05B19/4083 , G05B19/425 , G05B2219/36404 , G05B2219/36407
摘要： A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.
摘要翻译：一种用于机器人应用的机器人程序的微调方法，所述机器人程序包括工业机器人，工具和工具，所述工具由所述工具沿着包括所述工件上的多个所需姿势的路径处理，所述机器人程序包括：包含与期望姿势相对应的程序化姿势的程序指令，其中该方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序用于在微调坐标系中的所述选定姿态的指令，由机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述姿势调整微调坐标系在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿态的程序指令，，Zft'。

3. 发明授权

US06822412B1 Method for calibrating and programming of a robot application 失效
标题翻译：机器人应用程序的校准和编程方法
公开(公告)号：US06822412B1
公开(公告)日：2004-11-23
申请号：US10458810
申请日：2003-06-11
申请人： Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang , Torgny Brogårdh , Häkan Brantmark
发明人： Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang , Torgny Brogårdh , Häkan Brantmark
IPC分类号： B25J904
CPC分类号： G05B19/4083 , B25J9/1692 , G05B2219/36504 , G05B2219/39021 , G05B2219/39022
摘要： A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.
摘要翻译：一种用于机器人应用程序编程的方法，包括具有机器人坐标系的工业机器人，具有工具坐标系的工具和由工具处理的工件（3）。应用程序通过位置测量单元（15）进行编程，位置测量单元适用于相对测量坐标系（db）测量位置。编程方法包括：在对象上选择对象参考结构（25），定义对象参考结构的数学模型，定义对象坐标系（o2），通过位置测量单元在对象表面上提供测量参考结构，通过所述测量与对象参考结构的所述数学模型之间的最佳拟合来确定与测量坐标系（db）相关的对象坐标系。

4. 发明授权

US06812665B2 In-process relative robot workcell calibration 失效
标题翻译：过程中相对机器人工作单元校准
公开(公告)号：US06812665B2
公开(公告)日：2004-11-02
申请号：US10126988
申请日：2002-04-19
申请人： Zhongxue Gan , Yunquan Sun , Qing Tang
发明人： Zhongxue Gan , Yunquan Sun , Qing Tang
IPC分类号： G05B1919
CPC分类号： B25J9/1692 , G05B2219/39015 , G05B2219/39021 , G05B2219/39044
摘要： A relative calibration system and method for robot workcell calibration is capable of correcting errors between the robot tool center point (TCP) and the work-object frame according to a relative reference, in that a precision path will be created based on this calibrated workcell.
摘要翻译：用于机器人工作单元校准的相对校准系统和方法能够根据相对参考来校正机器人工具中心点（TCP）和工作对象框架之间的错误，因为将基于该校准的工作单元创建精确路径。

5. 发明授权

US06148248A Apparatus and method for lobing and thermal-damage control in shoe centerless grinding 失效
标题翻译：在无心磨削中进行破碎和热损伤控制的装置和方法
公开(公告)号：US06148248A
公开(公告)日：2000-11-14
申请号：US982733
申请日：1997-12-02
申请人： Yunquan Sun , Zhongxue Gan
发明人： Yunquan Sun , Zhongxue Gan
IPC分类号： B24B5/307 , B24B49/12 , B24B49/14 , G06F7/66
CPC分类号： B24B49/14 , B24B49/12 , B24B5/307 , G05B2219/37426 , G05B2219/37563 , G05B2219/41115 , G05B2219/49319
摘要： A control system by which, the lobing and thermal-damage on a component surface will be eliminated and a component of a circular cross-section is capable of being ground with ultra-precision and high quality surface finish. The system includes (i) an automatic controlled supporting device, by which the periphery support of circular component of any size is auto-formed in a most stable work-holding condition; (ii) a flexible rear-shoe with active filtering mechanism, by which the high frequency lobing will be removed and the heat generated in the contact area between the workpiece and rear-shoe will be reduced by the self-lubrication of rear-shoe; (iii) an on-line vision-based temperature monitoring and control device, by which the overheat on the workpiece is controlled; (iv) an on-line phase precession lobing control algorithm, by which the lobing will be effectively suppressed in a rounding process.
摘要翻译：一种控制系统，通过该系统可以消除零件表面上的破裂和热损伤，并且圆形横截面的部件能够以超精密和高质量的表面光洁度进行研磨。该系统包括（i）自动控制支撑装置，通过该自动控制支撑装置，任何尺寸的圆形部件的周边支撑在最稳定的工作保持状态下自动形成; （ii）具有主动过滤机构的柔性后鞋，通过该柔性后鞋可以去除高频波纹，并通过后鞋的自润滑来减少在工件和后靴之间的接触区域中产生的热量; （iii）在线视觉温度监测和控制装置，通过该装置控制工件上的过热; （iv）在线相位进动跳动控制算法，通过该算法可以在四舍入处理中有效地抑制波峰。

6. 发明申请

US20130073098A1 SYSTEM ENERGY EFFICIENCY CONTROLLER, ENERGY EFFICIENCY GAIN DEVICE AND SMART ENERGY SERVICE SYSTEM USED FOR ENERGY UTILIZATION 有权
标题翻译：系统能源效率控制器，能源效率增益装置和用于能源利用的智能能源服务系统
公开(公告)号：US20130073098A1
公开(公告)日：2013-03-21
申请号：US13695153
申请日：2011-04-29
申请人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
发明人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
IPC分类号： G05B19/02
CPC分类号： G05B19/02 , H02J3/32 , H02J3/38 , H02J3/381 , H02J3/382 , H02J3/383 , H02J3/386 , Y02E10/563 , Y02E10/566 , Y02E10/763 , Y02E70/30 , Y02P80/114
摘要： A system energy efficiency controller connected (105) to at least one of an energy generation device (101), an energy storage device (102), an energy utilization device (103) and an energy regeneration device (104) is disclosed for enabling energy utilization. Said system energy efficiency controller (105) cooperatively controls the input and output of a ubiquitous energy flow of at least one of the energy generation device (101), the energy storage device (102), the energy utilization device (103) and the energy regeneration device (104). Said ubiquitous energy flow includes at least one of an energy flow, a material flow, and an information flow. Also disclosed are an energy efficiency gain device, an energy efficiency matching station and a smart energy service system, which are connected with the controller (105). The present invention optimizes the entire process of energy utilization using the system energy efficiency controller (105), thus improving the system energy efficiency.
摘要翻译：公开了一种将系统能量效率控制器（105）连接到能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量再生装置（104）中的至少一个上，以使能量利用率。所述系统能量效率控制器（105）协同地控制能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量中的至少一个的无处不在的能量流的输入和输出再生装置（104）。所述普遍存在的能量流包括能量流，材料流和信息流中的至少一个。还公开了与控制器（105）连接的能量效率增益装置，能量效率匹配台和智能能源服务系统。本发明使用系统能量效率控制器（105）优化整个能量利用过程，从而提高系统能量效率。

7. 发明授权

US07181314B2 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US07181314B2
公开(公告)日：2007-02-20
申请号：US10720592
申请日：2003-11-24
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

8. 发明授权

US5751610A On-line robot work-cell calibration 失效
标题翻译：在线机器人工作单元校准
公开(公告)号：US5751610A
公开(公告)日：1998-05-12
申请号：US741898
申请日：1996-10-31
申请人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
发明人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
IPC分类号： F22B37/00 , G01C25/00
CPC分类号： F22B37/003
摘要： The work cell is divided into a plurality of calibration zones, and calibration is made with only one measured point in each zone. The calibration zones are set up such that the calibration error in each zone remains within an acceptable tolerance. Within each zone, calibration is preferably made according to a linear calibration algorithm. The method according to the invention includes the steps of storing a first database, of the coordinates of all the tube openings in the tube sheet coordinate system. Each coordinate of the first database is assigned to one of a plurality of calibration zones.
摘要翻译：工作单元被分成多个校准区域，并且在每个区域中仅用一个测量点进行校准。设置校准区域使得每个区域中的校准误差保持在可接受的公差范围内。在每个区域内，优选根据线性校准算法进行校准。根据本发明的方法包括以下步骤：在管板坐标系中存储所有管开口的坐标的第一数据库。将第一数据库的每个坐标分配给多个校准区域中的一个。

9. 发明授权

US09011671B2 Coal processing method by using characteristics of sub-critical and supercritical water 有权
标题翻译：采用亚临界和超临界水特征的煤加工方法
公开(公告)号：US09011671B2
公开(公告)日：2015-04-21
申请号：US13140798
申请日：2009-12-17
申请人： Junjie Gu , Jinlai Li , Zhongxue Gan
发明人： Junjie Gu , Jinlai Li , Zhongxue Gan
IPC分类号： C10G1/00 , C10L3/08 , C10J3/72 , C10J3/78 , C10L9/08 , C10L1/32
CPC分类号： C10L3/08 , C10J3/721 , C10J3/78 , C10J2300/093 , C10J2300/0979 , C10J2300/0986 , C10L1/326 , C10L9/086 , Y02P20/145 , Y02P20/544
摘要： A coal processing method includes adding coal powder, water and catalyst into a series of tandem reactors and processing therein, wherein the coal powder, water and catalyst are added into the first reactor of the series of tandem reactors; and the temperature and pressure of the series reactors is alternatively arranged in sub-critical state and supercritical state of water from the first reactor, the total product from the previous reactor is used as the feed of the next reactor without any further separation.
摘要翻译：煤加工方法包括将煤粉，水和催化剂加入到一系列串联反应器中并在其中加工，其中将煤粉，水和催化剂加入到串联反应器系列的第一反应器中; 并且将串联反应器的温度和压力交替地布置在来自第一反应器的亚临界状态和超临界状态的水中，来自前一反应器的总产物用作下一反应器的进料而不进一步分离。

10. 发明授权

US07340323B2 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US07340323B2
公开(公告)日：2008-03-04
申请号：US11653638
申请日：2007-01-16
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B15/00
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

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