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1. 发明申请

US20190187661A1 SPATIAL ACCURACY CORRECTION METHOD AND APPARATUS 审中-公开
公开(公告)号：US20190187661A1
公开(公告)日：2019-06-20
申请号：US16219033
申请日：2018-12-13
申请人： MITUTOYO CORPORATION
发明人： Shinichiro YANAKA , Masayuki NARA
IPC分类号： G05B19/401 , G01B9/02 , G06F17/12
CPC分类号： G05B19/401 , G01B9/02071 , G01B9/02072 , G05B2219/39033 , G05B2219/50057 , G06F17/12
摘要： A method that corrects an error in positioning in a positioning mechanism by using a measurable length value measured by a laser interferometer and a measured value for spatial coordinates measured by the positioning mechanism. The method includes a measurement step in which a retroreflector affixed to a displacer is displaced to a plurality of measurement points, and the measured length value and the measured value at each of the measurement points is acquired; and a parameter calculation step in which a correction parameter is calculated based on the measured value, the measured length value, and the coordinates of a rotation center of the tracking-type laser interferometer. A first correction constant is applied to the measured length value for each measurement line, and a second correction constant different from the first correction constant is applied to the coordinates of the rotation center of the interferometer for each measurement line.

2. 发明申请

US20180011462A1 MACHINE SYSTEM AND ASSOCIATED METHOD FOR OPTICAL ENDPOINT CONTROL OPTIMIZATION 审中-公开
公开(公告)号：US20180011462A1
公开(公告)日：2018-01-11
申请号：US15202301
申请日：2016-07-05
申请人： The Boeing Company
发明人： Jared L. Bolin , Philip L. Freeman , Samuel J. Easley
IPC分类号： G05B19/042 , G05B15/02
CPC分类号： G05B19/0428 , G01C15/002 , G01S17/66 , G01S17/88 , G05B15/02 , G05B19/402 , G05B19/404 , G05B2219/36415 , G05B2219/37275 , G05B2219/39033 , H02P6/17
摘要： Provided is a machine system having optical endpoint control and associated method for maintaining having is provided constant optical contact. Specifically, the machine system comprises a machine capable of movement in at least one direction. The machine is configured such that, during a calibration phase, a steerable retroreflective system is mounted upon the machine for movement therewith. A controller is configured to control the movement of the machine in at least one direction. The machine system may be configured to automatically adjust the feedrate of the machine, upon determining that a velocity required for the positioner to move the retroreflector to a desired position exceeds a certain segment feedrate threshold, such that an incident beam of light can maintain constant contact with the retroreflector throughout movement of the machine from the first position to the second position.

3. 发明申请

US20170095929A1 SYSTEM FOR CHECKING CALIBRATION OF A ROBOTIC MULTI-AXIS MACHINE 审中-公开
公开(公告)号：US20170095929A1
公开(公告)日：2017-04-06
申请号：US14876027
申请日：2015-10-06
申请人： General Electric Company
发明人： Lawrence Matthew Levy , Jon E. Dickinson , Patrick Thomas Walsh
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39033 , G05B2219/39045
摘要： A system for checking calibration of a multi-axis machine includes a robotic arm and a mount configured to receive a removable machine tool and a controller electronically connected to the multi-axis machine. The removable machine tool includes a removable spray nozzle and a laser housing that is coupled to the machine tool. The laser housing includes a laser affixed inside the housing for emitting a laser beam and a calibration workpiece coupled to a mounting table. The calibration workpiece comprises a plurality of laser sensors disposed along an outer surface of the calibration workpiece. The controller is programmed to point the laser beam at each laser sensor. The laser sensors generate signals that are communicated back to the controller if the laser beam is detected by the laser sensor.

4. 发明申请

US20040093119A1 Pathcorrection for an industrial robot 有权
标题翻译：工业机器人的路径矫正
公开(公告)号：US20040093119A1
公开(公告)日：2004-05-13
申请号：US10257254
申请日：2003-06-09
发明人： Svante Gunnarsson , Miakel Norrlof , Geir Hovaland , Ulf Carlsson , Torgny Brogardh , Tommy Svenson , Stig Moberg
IPC分类号： G06F019/00
CPC分类号： B25J9/1638 , B25J9/1641 , B25J9/1692 , G05B2219/36415 , G05B2219/39024 , G05B2219/39033 , G05B2219/39056 , G05B2219/39176 , G05B2219/39181 , G05B2219/39191 , G05B2219/41084 , Y02P90/86
摘要： A method in an industrial robot for increasing the accuracy in the movements of the robot, where a tool supported by the robot is brought to adopt a plurality of positions generated by the control system, which are each determined by a measuring system, whereby a deviation between the generated position and the position determined by the measuring system is introduced as a correction in the control system for adjusting the movement. The generated positions and the positions determined by the measuring system, respectively, are adapted to form a first path an a second path, respectively, whereby the correction is determined by a path deviation between geometrically calculated positions in the respective path.
摘要翻译：一种用于提高机器人运动精度的工业机器人中的方法，其中由机器人支撑的工具被采用由控制系统产生的多个位置，每个位置由测量系统确定，由此偏差在测量系统确定的位置和位置之间引入作为调整运动的控制系统中的校正。分别由测量系统确定的所产生的位置和位置分别适于形成第二路径和第二路径，由此校正由相应路径中几何计算的位置之间的路径偏差确定。

5. 发明授权

US5939611A Method and system for calibrating a device handler 失效
标题翻译：用于校准设备处理程序的方法和系统
公开(公告)号：US5939611A
公开(公告)日：1999-08-17
申请号：US28693
申请日：1998-02-24
申请人： Lev M. Bolotin , Jerry Metcalf
发明人： Lev M. Bolotin , Jerry Metcalf
IPC分类号： B25J9/16 , G05B19/42
CPC分类号： B25J9/1692 , G05B2219/39024 , G05B2219/39033 , G05B2219/39533
摘要： In a device handling system, a method for calibrating the position and orientation of a destination for the placement of the device is shown and described. The device is first placed at the destination and a position arm comprising a chuck is directed to engage the device. The system registers the calibration configuration, which corresponds to the position and orientation of the chuck when engaged with the device. The system then removes the device from the destination and determines the device position, which corresponds to the position and orientation of the device with respect to the chuck. Finally, the system calculates the position and orientation of the destination based on the registered calibration configuration and the device position.
摘要翻译：在设备处理系统中，示出并描述了用于校准用于放置设备的目的地的位置和方位的方法。该装置首先放置在目的地，并且包括卡盘的位置臂被引导以接合该装置。系统注册校准配置，这对应于与设备接合时卡盘的位置和方向。然后，系统从目的地移除设备，并确定设备位置，其对应于设备相对于卡盘的位置和方向。最后，系统根据注册的校准配置和设备位置来计算目的地的位置和方向。

6. 发明申请

US20180257234A1 POSITION AND POSTURE ADJUSTMENT METHOD 审中-公开
公开(公告)号：US20180257234A1
公开(公告)日：2018-09-13
申请号：US15915404
申请日：2018-03-08
申请人： HONDA MOTOR CO., LTD.
发明人： Fumihiko SHIMAZU
IPC分类号： B25J9/16 , B25J11/00
CPC分类号： B25J9/1692 , B25J9/1697 , B25J11/005 , G05B2219/39033 , Y10S901/09 , Y10S901/47
摘要： An objective is to provide a position and posture adjustment method capable of promptly adjusting the position and the posture of a robot with respect to a workpiece while making variations caused by the operator small. The position and posture adjustment method includes provisional teaching step S1, marker installation step S2 of installing a marker having a head cut conical shape in the workpiece, an initial movement step S3 of moving an arm distal end portion such that the irradiated positions of three laser displacement gauges are arranged within the end surface of the marker, posture modification step S4 of moving the arm distal end portion such that the measured values of the three laser displacement gauges become close to one another, approach step S5 of bringing the arm distal end portion close to the marker along the Z axis, alignment step S6 of causing an axis of the arm distal end portion and a marker axis to coincide with each other by moving the arm distal end portion parallel along a plane perpendicular to the Z axis such that the measured values of the three laser displacement gauges become close to one another, and positioning step S7 of adjusting the position of the arm distal end portion by moving the arm distal end portion along the Z axis.

7. 发明授权

US09713869B2 Calibration of robot work paths 有权
公开(公告)号：US09713869B2
公开(公告)日：2017-07-25
申请号：US14818205
申请日：2015-08-04
申请人： Matthew E. Trompeter
发明人： Matthew E. Trompeter
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39033 , Y10S901/02
摘要： The calibration device combines a work object with an industrial robot and a robot tool. The work object uses a pair of beam projecting lasers and three plane projecting lasers, the laser beams intersecting at a laser intersecting point. The laser intersection point of the laser beams and laser planes represent the location of the reference coordinate system which is selected to be the origin of the robot path being downloaded from the off-line programming. Once this off-line programming is created, the work object is placed onto the fixture on the manufacturing shop floor in the same place as the CAD environment. The user then manipulates the TCP into position of the laser intersection point and the laser planes. The robot is then manipulated down a first laser with the TCP recording a second point along a first laser beam and recording a third point along the opposing laser beam.

8. 发明授权

US06681145B1 Method for improving the accuracy of machines 失效
标题翻译：提高机器精度的方法
公开(公告)号：US06681145B1
公开(公告)日：2004-01-20
申请号：US08867857
申请日：1997-06-03
申请人： Thomas A. Greenwood , Thomas W. Pastusak
发明人： Thomas A. Greenwood , Thomas W. Pastusak
IPC分类号： G06F1900
CPC分类号： G05B19/401 , B25J9/1692 , G05B2219/39033 , G05B2219/49207 , G05B2219/50057
摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.
摘要翻译：大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。这些解决方案是昂贵的，可能需要经常重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量后向反射器的位置连接到末端执行器，例如当机器休息时机头。计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。

9. 发明授权

US06509576B2 Method for compensating position of robot using laser measuring instrument 有权
公开(公告)号：US06509576B2
公开(公告)日：2003-01-21
申请号：US09905797
申请日：2001-07-13
申请人： Hwang Woo-Dong
发明人： Hwang Woo-Dong
IPC分类号： B25J900
CPC分类号： B25J9/1692 , G05B2219/39022 , G05B2219/39033
摘要： Disclosed is a method for compensating the position of a robot using a laser measuring instrument by establishing an origin coordinate system; irradiating laser beams onto reflectors and calculating distances to the reflectors; converting the origin coordinate system to an established coordinate system; generating coordinates of an end of a lower tip of a welding gun; calculating a position and posture of the robot; teaching the robot four or more postures; uploading position coordinates of the robot and robot teaching program data to a main computer; determining if an error between CAD data and data modeled through simulation is less than a predetermined value, revising the data if it is not or completing compensation of positions of the welding gun, the robot and the jigs if it is; and downloading the robot teaching program to a robot controller.

10. 发明授权

US5920483A Scaling machine media for thermal effects to improve machine accuracy 失效
标题翻译：缩放机器介质以实现热效应，提高机器精度
公开(公告)号：US5920483A
公开(公告)日：1999-07-06
申请号：US868410
申请日：1997-06-03
申请人： Thomas A. Greenwood , Thomas W. Pastusak
发明人： Thomas A. Greenwood , Thomas W. Pastusak
IPC分类号： B23Q15/18 , G05B19/18 , G05B19/401 , G05B19/404 , G05B19/408 , G06K5/00
CPC分类号： G05B19/401 , G05B19/404 , G05B19/4083 , G05B2219/36503 , G05B2219/37036 , G05B2219/37037 , G05B2219/37043 , G05B2219/37211 , G05B2219/37275 , G05B2219/37304 , G05B2219/39033 , G05B2219/40293 , G05B2219/49207 , G05B2219/49221 , G05B2219/50057 , G05B2219/50166 , Y10T409/303808
摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining. The present invention scales the media statements for thermal effects in the factory.
摘要翻译：大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量附接到末端执行器的后向反射器的位置，例如，当机器休息时机头。计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。本发明扩大了工厂中热效应的媒体声明。

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