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1. 发明申请

US20170123403A1 WELDING MACHINE AND CONTROL METHOD THEREFOR 审中-公开
公开(公告)号：US20170123403A1
公开(公告)日：2017-05-04
申请号：US15126780
申请日：2015-01-15
申请人： AMADA HOLDINGS CO., LTD.
发明人： Hiroki INOUE
IPC分类号： G05B19/402 , G06T7/00 , B23K26/21 , G06T7/13 , B23K26/03 , B23K26/042
CPC分类号： G05B19/402 , B23K26/02 , B23K26/032 , B23K26/04 , B23K26/042 , B23K26/21 , B25J9/1684 , G05B19/4083 , G05B2219/37563 , G05B2219/45104 , G05B2219/45138 , G05B2219/4705 , G06T7/0004 , G06T7/13 , G06T2207/10004 , G06T2207/30136 , G06T2207/30164
摘要： An edge extraction unit extracts an edge image from a photographed image obtained by photographing a product with a camera. A constant edge acquisition unit acquires, as a constant edge image, an edge image in a constant surface where a positional deviation does not occur with respect to a welding point set by a processing program, the acquired image belonging to the extracted edge image. A correction amount acquisition unit performs pattern-matching between a master constant edge image and a workpiece edge image, which are acquired by the constant edge acquisition unit, and acquires a deviation amount between both thereof as a correction amount with respect to the welding point. A processing program correction unit corrects the welding point by the correction amount, and generates a corrected processing program for welding the workpiece. A welding robot welds the workpiece based on the corrected processing program.

2. 发明申请

US20160107272A1 JOINING A WORKPIECE IN A CONCEALED JOINING SEAM 有权
标题翻译：在隐蔽的接缝中加入工作
公开(公告)号：US20160107272A1
公开(公告)日：2016-04-21
申请号：US14892029
申请日：2014-05-15
申请人： FFT Produktionssysteme GmbH & Co. KG
发明人： Martin Kraft , Jochen Schneegans
IPC分类号： B23K37/04 , B23K37/047 , B23K37/02
CPC分类号： B23K37/04 , B23K9/028 , B23K10/02 , B23K13/02 , B23K26/042 , B23K26/0884 , B23K26/244 , B23K26/28 , B23K37/0258 , B23K37/0452 , B23K37/047 , B23K2101/006 , B25J9/1684 , B25J9/1694 , G05B2219/37431 , G05B2219/45104 , G05B2219/4704 , G05B2219/4705 , G05B2219/4706
摘要： A method for joining concealed workpiece parts by an energy beam, wherein a lower workpiece part and an upper workpiece part are positioned relative to each other; the upper workpiece part contacts the lower workpiece part along a joining contour; the energy beam is directed onto an upper side of the upper workpiece part, moved along the joining contour by a controller, in order to join the upper workpiece part to the joining contour; an exploratory seam is produced on the upper work piece part, for detecting the joining contour; a detector detects a boundary at which a surface area of the upper work piece part borders a surface area of the upper work piece part which does have contact with the joining contour; the controller registers a position of the boundary and compares it with a target position of the boundary which is stored in the controller.
摘要翻译：一种通过能量束连接隐藏的工件的方法，其中下工件部分和上工件部件相对于彼此定位; 上工件沿接合轮廓接触下工件部分; 能量束被引导到上部工件的上侧，通过控制器沿着接合轮廓移动，以便将上部工件部分连接到接合轮廓; 在上部工件部件上产生探测缝，用于检测接合轮廓; 检测器检测上部工件部分的表面积与接合轮廓接触的上部工件部分的表面区域的边界; 控制器登记边界的位置并将其与存储在控制器中的边界的目标位置进行比较。

3. 发明申请

US20090057373A1 Multi-Purpose End Effector for Welder 审中-公开
标题翻译：多功能终端效应器
公开(公告)号：US20090057373A1
公开(公告)日：2009-03-05
申请号：US11847684
申请日：2007-08-30
申请人： Ayad K. Darzi , Robert L. Keyes
发明人： Ayad K. Darzi , Robert L. Keyes
IPC分类号： B23K28/00 , B23K26/00 , B23K37/00
CPC分类号： B23K37/08 , B23K26/032 , B23K26/044 , B23K26/0884 , B23K26/123 , B23K26/1438 , B23K26/60 , B23K2101/006 , B25J11/006 , B25J15/0019 , B25J15/0052 , B25J19/023 , G05B2219/45104 , G05B2219/45138 , G05B2219/45151 , G05B2219/4705
摘要： A multi-purpose end effector for a welding robot includes a base plate mounted on a robot and carrying a plurality of tools including a welder, a cleaning wheel for cleaning a workpiece, and a buffing wheel for buffing the weld. The tools are arranged in serial order on the base plate beginning with the cleaning wheel to clean workpieces, then the welder for welding the workpieces, and then the buffing wheel to buff the weld.
摘要翻译：用于焊接机器人的多用途端部执行器包括安装在机器人上并承载多个工具的基板，所述多个工具包括焊机，用于清洁工件的清洁轮以及用于抛光焊接的抛光轮。这些工具在基板上以清洁轮开始排列，以清洁工件，然后焊接工具焊接工件，然后抛光轮抛光焊缝。

4. 发明授权

US06076953A Digitizing probe 失效
标题翻译：数字化探头
公开(公告)号：US06076953A
公开(公告)日：2000-06-20
申请号：US541868
申请日：1995-10-10
申请人： Thomas F. Oakley
发明人： Thomas F. Oakley
IPC分类号： B23Q15/00 , B23Q17/20 , B23Q17/22 , G01B7/00 , G01B7/28 , G05B19/42 , G06F19/00
CPC分类号： G05B19/42 , G05B2219/37359 , G05B2219/37425 , G05B2219/45044 , G05B2219/4705
摘要： A digitizing probe and method is disclosed for accurately locating the edges and determining the orientation of a generally planar, metal workpiece relative to the orthogonal axes of a computer numerical control ("CNC") cutting machine. The CNC cutting machine includes a microcomputer controller for moving a transverse gantry in the longitudinal and lateral directions which define the orthogonal axes of the cutting machine. The digitizing probe and the cutter of the cutting machine are mounted on separate vertically movable support arms secured to support brackets provided on the transverse gantry. Thus, the digitizing probe and the cutter may be independently positioned at predetermined heights above the top surface of the workpiece. The digitizing probe includes a plurality of analog inductive proximity sensors arranged in a fixed, predetermined array. The digitizing probe is positioned above the workpiece and moved by the controller incrementally in the longitudinal and lateral directions around the perimeter of the workpiece. The electrical signals from the sensors are continuously monitored by the controller such that the edges of the workpiece are located and the orientation of the workpiece relative to the orthogonal axes is determined. The digitizing probe maps the footprint of a workpiece, or a remnant workpiece, to select a particular machined part to be produced from the workpiece with a minimum amount of scrap.
摘要翻译：公开了一种用于精确定位边缘并确定相对于计算机数控（“CNC”）切割机的正交轴的大致平面的金属工件的定向的数字化探头和方法。数控切割机包括一个微机控制器，用于沿纵向和横向移动横向机架，其限定切割机的正交轴。切割机的数字化探头和切割器安装在单独的可垂直移动的支撑臂上，固定在横向机架上的支撑托架上。因此，数字化探针和切割器可以独立地定位在工件顶表面上方的预定高度处。数字化探头包括以固定的预定阵列布置的多个模拟电感式接近传感器。数字化探头定位在工件上方，并通过控制器在工件周边的纵向和横向方向上逐渐移动。来自传感器的电信号由控制器连续监测，使得工件的边缘定位，并且确定工件相对于正交轴的取向。数字化探头将工件或残留工件的占地面积进行映射，以最小量的废料选择要从工件生产的特定加工零件。

5. 发明授权

US09652682B2 System and method for detecting and tracking a curvilinear object in a three-dimensional space 有权
公开(公告)号：US09652682B2
公开(公告)日：2017-05-16
申请号：US15225610
申请日：2016-08-01
申请人： The Johns Hopkins University
发明人： Gregory D. Hager , Nicolas Padoy
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00 , G06T7/40 , A61B34/30 , A61B34/00 , B25J9/16 , A61B34/20
CPC分类号： G06K9/3241 , A61B34/30 , A61B34/70 , A61B2034/2057 , A61B2034/2065 , B25J9/1697 , G05B2219/39123 , G05B2219/4705 , G06T7/40 , G06T7/70 , Y10S901/46 , Y10S901/47
摘要： A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2, . . . , n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time t1 to time tn.

6. 发明申请

US20070145027A1 Control system using working robot, and work processing method using this system 失效
标题翻译：使用工作机器人的控制系统，以及使用该系统的工作处理方法
公开(公告)号：US20070145027A1
公开(公告)日：2007-06-28
申请号：US10544637
申请日：2004-02-05
申请人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
发明人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
IPC分类号： B23K9/12
CPC分类号： B25J9/1684 , B23K9/032 , B23K9/0956 , B23K9/127 , B23K9/1272 , B23K9/1274 , B25J9/1694 , B25J19/022 , G05B19/42 , G05B2219/34096 , G05B2219/36407 , G05B2219/36415 , G05B2219/36462 , G05B2219/45104 , G05B2219/4705 , G05B2219/49218
摘要： The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).
摘要翻译：该控制系统包括焊接机器人（10），其沿焊接工件（W）的工件（W）移动焊炬（16），用于控制焊接机器人（10）的驱动的机器人控制器（40）用于检测通过焊炬（16）进行焊接时的工件（W）的形状变化的激光传感器头（17）和用于根据形状获得焊接机器人（10）的指示信息的个人计算机（30）基于激光传感器头（17）的检测结果来改变。基于由个人计算机（30）获得的指示信息，机器人控制器（40）通过控制工作机器人的驱动来移动焊炬（16）。

7. 发明授权

US5917104A Method for detecting and adjusting the position of a burner during the annealing process of a glass sheet 失效
标题翻译：在玻璃板的退火处理中检测和调节燃烧器的位置的方法
公开(公告)号：US5917104A
公开(公告)日：1999-06-29
申请号：US923353
申请日：1997-09-04
申请人： Manuel Alarcon-Lopez , Lenin Roman-Gomez , Rafael Jorge Rojas-Cortes , Victor Enciso-Aguilar , Severino Islas-Sanchez , Jose Carlos Montes-Juarez
发明人： Manuel Alarcon-Lopez , Lenin Roman-Gomez , Rafael Jorge Rojas-Cortes , Victor Enciso-Aguilar , Severino Islas-Sanchez , Jose Carlos Montes-Juarez
IPC分类号： B23Q15/22 , C03B25/08 , C03B29/08 , F23C5/06 , C03B25/00
CPC分类号： C03B29/08 , B23Q15/22 , C03B25/08 , F23C5/06 , G05B2219/37359 , G05B2219/4705
摘要： A method for automatically detecting and adjusting the position of a plurality of burners with respect to the edge of a continuous glass sheet is provided. The glass sheet is transported by rolls along the length of a thermal treatment lehr. Detecting and adjusting sensors for sensing the edge of the glass sheet are attached conjointly with the burners in order to automatically adjust the position of the burners with regards to the edge of the glass sheet, so, for each variation in the width of the glass sheet, the detecting and adjusting sensors are advanced or retracted over the edge of the glass sheet, in order to adjust the burners in accordance with a new position of the edge of said glass sheet.
摘要翻译：提供了一种用于相对于连续玻璃板的边缘自动检测和调整多个燃烧器的位置的方法。玻璃板沿着热处理退火炉的长度通过轧辊输送。用于检测和调节用于感测玻璃板边缘的传感器与燃烧器一起安装，以便相对于玻璃板的边缘自动调节燃烧器的位置，因此，对于玻璃板的宽度的每个变化检测和调节传感器在玻璃板的边缘上前进或缩进，以便根据玻璃板的边缘的新位置来调节燃烧器。

8. 发明申请

US20170032208A1 SYSTEM AND METHOD FOR DETECTING AND TRACKING A CURVILINEAR OBJECT IN A THREE-DIMENTIONAL SPACE 有权
标题翻译：在三维空间中检测和跟踪曲线目标的系统和方法
公开(公告)号：US20170032208A1
公开(公告)日：2017-02-02
申请号：US15225610
申请日：2016-08-01
申请人： The Johns Hopkins University
发明人： Gregory D. Hager , Nicolas Padoy
IPC分类号： G06K9/32 , B25J9/16 , A61B34/30 , A61B34/00 , G06T7/00 , G06T7/40
CPC分类号： G06K9/3241 , A61B34/30 , A61B34/70 , A61B2034/2057 , A61B2034/2065 , B25J9/1697 , G05B2219/39123 , G05B2219/4705 , G06T7/40 , G06T7/70 , Y10S901/46 , Y10S901/47
摘要： A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2, . . . , n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time t1 to time tn.
摘要翻译：一种用于检测和跟踪三维空间中的曲线对象的系统包括：图像采集系统，包括摄像机，被配置为获取曲线对象的视频图像并输出相应的视频信号，所述视频图像包括多个n个图像每个帧在相应的时间ti，其中i = 1,2。。。，n 以及适于与图像采集系统通信以接收视频信号的数据处理系统。数据处理系统被配置为通过在每个时刻ti形成曲线对象的计算模型来确定每个时刻ti的三维空间中的曲线对象的位置，方向和形状，使得计算模型的投影视频图像的多个图像帧中的每个时间ti的曲线对象与帧中的曲线图像匹配到预定的精度，从而从时间t1到时间tn检测和跟踪曲线对象。

9. 发明授权

US07605347B2 Control system using working robot, and work processing method using this system 失效
标题翻译：使用工作机器人的控制系统，以及使用该系统的工作处理方法
公开(公告)号：US07605347B2
公开(公告)日：2009-10-20
申请号：US10544637
申请日：2004-02-05
申请人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
发明人： Akinobu Izawa , Tetsuo Era , Koji Ueda , Takeshi Yamagami
IPC分类号： B23K9/12
CPC分类号： B25J9/1684 , B23K9/032 , B23K9/0956 , B23K9/127 , B23K9/1272 , B23K9/1274 , B25J9/1694 , B25J19/022 , G05B19/42 , G05B2219/34096 , G05B2219/36407 , G05B2219/36415 , G05B2219/36462 , G05B2219/45104 , G05B2219/4705 , G05B2219/49218
摘要： The control system includes a welding robot which moves a welding torch along a work for welding the work. A robot controller controls driving of the welding robot. A laser sensor head detects a shape change in the work during welding by the welding torch, and a personal computer obtains instruction information for the welding robot in accordance with the shape change, based on a result of detection by the laser sensor head. The robot controller moves the welding torch by controlling the driving of the working robot, based on the instruction information obtained by the personal computer.
摘要翻译：控制系统包括焊接机器人，该焊接机器人沿着用于焊接工件的工件移动焊炬。机器人控制器控制焊接机器人的驱动。激光传感器头通过焊炬检测焊接期间的工作形状变化，并且个人计算机基于激光传感器头的检测结果，根据形状变化获取焊接机器人的指令信息。基于由个人计算机获得的指示信息，机器人控制器通过控制工作机器人的驱动来移动焊炬。

10. 发明申请

US20050107918A1 Correction data checking system for rebots 失效
标题翻译：修复数据检查系统
公开(公告)号：US20050107918A1
公开(公告)日：2005-05-19
申请号：US10954606
申请日：2004-10-01
申请人： Atsushi Watanabe , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： G05B19/4063 , B25J9/16 , G05B19/404 , G05B19/00 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1684 , G05B2219/4705
摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.
摘要翻译：提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。此外，计算并显示教导位置和实际位置之间的差异。由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于工件或夹具。然后揭示加工缺陷的原因。因此，加工缺陷的原因可以在工作现场快速揭示和处理。

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