公开(公告)号：US09442481B2

公开(公告)日：2016-09-13

申请号：US12350301

申请日：2009-01-08

申请人： Robert Raimund Davidson ,  Joseph Kyle Flnk ,  Paul Warren Cleveland

发明人： Robert Raimund Davidson ,  Joseph Kyle Flnk ,  Paul Warren Cleveland

IPC分类号： B23K9/10 ,  G05B19/4093 ,  B23K9/095 ,  G05B19/414

CPC分类号： B23K9/0953 ,  B23K9/0956 ,  G05B19/40937 ,  G05B19/414 ,  G05B2219/37217 ,  G05B2219/50206 ,  Y02P90/265

摘要： A welding system including an arc monitoring, training, and control system is disclosed. The welding system includes a power supply, controller, and associated memory. When a weld is performed, the weld command and weld feedback parameters can be stored in the memory, along with associated alarm limit values. During subsequent welds, the input weld commands and actual feedback values can be compared to the established limits, and a fault signal provided to an operator or supervisor when the value exceeds the established limits. The fault signals can be used for training operators, as well as providing monitoring signals, and can be stored with weld data in a database for later analysis. In addition, collected weld data can be used to determine when to clean, repair, or replace consumables, including, for example, contact tips, wire drive liners, and drive rolls, and to monitor usage of wire and gas.

摘要翻译： 公开了一种包括电弧监视，训练和控制系统的焊接系统。 焊接系统包括电源，控制器和相关联的存储器。 当执行焊接时，可以将焊接命令和焊接反馈参数与相关的报警极限值一起存储在存储器中。 在随后的焊接过程中，输入焊接命令和实际反馈值可以与已建立的限制进行比较，当该值超过建立的限制时，将其提供给操作员或主管的故障信号。 故障信号可用于培训操作员，并提供监控信号，并可将焊接数据存储在数据库中供以后分析。 此外，收集的焊接数据可用于确定何时清洁，修理或更换耗材，包括例如接触尖端，电线驱动衬套和驱动辊，并监测电线和气体的使用。

公开(公告)号：US20130199296A1

公开(公告)日：2013-08-08

申请号：US13709703

申请日：2012-12-10

申请人： c/o C.R.F. Società Consortile Per Azioni

发明人： Giuseppe D'ANGELO ,  Giorgio PASQUETTAZ

IPC分类号： G01M7/00

CPC分类号： G01M7/00 ,  B23K26/032 ,  B23K26/0853 ,  B23K26/26 ,  B23K26/32 ,  B23K26/324 ,  B23K26/382 ,  B23K31/125 ,  B23K2103/30 ,  B29C65/1616 ,  B29C65/1658 ,  B29C65/1674 ,  B29C66/1142 ,  B29C66/43 ,  B29C66/71 ,  B29C66/73921 ,  B29C66/8242 ,  B29C66/836 ,  B29C66/91216 ,  B29C66/91221 ,  B29C66/91411 ,  B29C66/91951 ,  B29C66/9221 ,  B29C66/9241 ,  B29C66/93431 ,  B29C66/939 ,  B29C66/961 ,  G05B19/41875 ,  G05B23/024 ,  G05B2219/37217 ,  G05B2219/45138 ,  Y02P90/22 ,  B29K2023/12

摘要： A method for monitoring the quality of an industrial working process, which includes identifying defects of the working process, comprises acquiring at least one signal having multiple frequency components from the industrial working process, decomposing the at least one signal having multiple frequency components in signals having single frequency components, calculating the information content for each signal having a single frequency component, analyzing the information content for each signal having a single frequency component, and if the value of the information content of the signal at the lowest single frequency component does not represent a main percentage of the information content of the whole acquired signal, the acquired signal having multiple frequency components is evaluated as indicative of a working process with defects and a defect analysis step is performed on the signal having multiple frequency components.

摘要翻译： 一种用于监测工业工作过程的质量的方法，其包括识别工作过程的缺陷，包括从工业工作过程获取具有多个频率分量的至少一个信号，在具有多个频率分量的信号中分解具有多个频率分量的至少一个信号，所述信号具有 单频分量，计算具有单一频率分量的每个信号的信息内容，分析具有单个频率分量的每个信号的信息内容，以及如果最低单频分量处的信号的信息内容的值不表示 评估整个获取信号的信息内容的主要百分比，具有多个频率分量的所获取的信号被指定为具有缺陷的工作过程，并对具有多个频率分量的信号执行缺陷分析步骤。

公开(公告)号：US20070156287A1

公开(公告)日：2007-07-05

申请号：US11598144

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G06F19/00

CPC分类号： B25J9/1669 ,  G05B2219/32228 ,  G05B2219/37217 ,  G05B2219/39419 ,  G05B2219/45004

摘要： At present, the repair of casts as it is done today has the disadvantage of being carried out manually or in a semiautomatic way which means less efficiency in the system and the superficial inspection has the disadvantage of being carried out in many occasions with low levels of vision advanced technology application. Due to the above a robot system and method for the repair and/or inspection of cast surfaces in an automated way have been developed. The robotic system is composed mainly of a robotic manipulator of at least 4 degrees of freedom, and a gripping mechanism which allows to take the repair device from a tool holder rack located at one of its sides, moving it through a defined path to the repair and inspection area, where a repair process will be carried out in a sequential and programmed way to a number of cast faces to be defined. Additionally, the configuration of this system allows to carry out an inspection process of the surfaces in a sequential and programmed way through the use of a vision system by taking from a tool holder rack or carrying an advanced vision system for the inspection of surfaces.

摘要翻译： 目前，今天修理的铸件的缺点是手动或以半自动方式进行，这意味着系统的效率较低，表面检查的缺点是在很多场合下进行低水平的 视觉先进技术应用。 由于以上所述，已经开发了用于以自动方式修复和/或检查铸造表面的机器人系统和方法。 机器人系统主要由至少4个自由度的机器人操纵器组成，并且夹持机构允许从位于其一侧的工具架上取下修理装置，将其移动通过限定的路径进行维修 和检查区域，其中将以顺序和编程的方式对要定义的多个铸造面进行修复处理。 此外，该系统的配置允许通过从工具架架或携带用于检查表面的先进视觉系统的视觉系统的使用而以顺序和编程的方式执行表面的检查过程。

公开(公告)号：US20070000442A1

公开(公告)日：2007-01-04

申请号：US11530356

申请日：2006-09-08

申请人： JOSEF SCHUCKER

发明人： JOSEF SCHUCKER

IPC分类号： B05C11/00

CPC分类号： G05B19/4189 ,  B05C5/0216 ,  B25J9/1684 ,  B25J9/1697 ,  B25J19/02 ,  B25J19/023 ,  G05B2219/37048 ,  G05B2219/37217 ,  G05B2219/45065 ,  G05B2219/45238 ,  Y02P90/28

摘要： An adhesive robot, comprising a device for applying adhesive to a workpiece. The adhesive robot has a nozzle head (18), which has an application nozzle (24) and can be supplied with a pressurized viscous adhesive, the nozzle head (18) and the workpiece (14) being displaceable in relation to one another. The adhesive which is issued from the application nozzle (24) in a spray jet (28) is applied to a workpiece (14) along a predefined line of application (36) in the form of a strip of adhesive (40). To facilitate the adjustment and re-calibration process, the system comprises at least one camera unit (42), which is located on the nozzle head (18) and whose leans is directed towards the spray jet (28) or the adhesive strip (40). The output of said camera unit is connected to an image evaluation unit (45). The image data (40) recorded by the camera unit (42) is buffered and compared with predetermined image values (40). The decisive control parameters for the system can be calibrated and tracked either automatically or by remote control, on the basis of deviations in the image data that have been determined along the line of application (36).

摘要翻译： 一种粘合机器人，包括用于将粘合剂施加到工件上的装置。 粘合机器人具有喷嘴头（18），其具有施加喷嘴（24）并且可以供应加压粘性粘合剂，喷嘴头（18）和工件（14）可相对于彼此移位。 以喷射射流（28）从施用喷嘴（24）发出的粘合剂以预定的施加线（36）以粘合剂条（40）的形式施加到工件（14）上。 为了便于调整和重新校准过程，系统包括位于喷嘴头（18）上的至少一个相机单元（42），并且其倾斜指向喷雾器（28）或粘合带（40） ）。 所述相机单元的输出连接到图像评估单元（45）。 由相机单元（42）记录的图像数据（40）被缓冲并与预定图像值（40）进行比较。 根据沿着应用线（36）确定的图像数据的偏差，可以自动或通过远程控制来校准和跟踪系统的决定性控制参数。

公开(公告)号：US10041991B2

公开(公告)日：2018-08-07

申请号：US14072178

申请日：2013-11-05

申请人： KOH YOUNG TECHNOLOGY INC.

发明人： Seung-Jun Lee ,  Moon-Young Jeon ,  Nam Ho Lee

IPC分类号： G01R31/28 ,  G05B19/418 ,  H05K13/08

CPC分类号： G01R31/2805 ,  G05B19/41875 ,  G05B2219/37217 ,  G05B2219/45026 ,  H05K13/0817 ,  H05K13/083 ,  Y02P90/04 ,  Y02P90/22

摘要： A board inspection apparatus system includes a first apparatus, a second apparatus, a third apparatus and an information transfer section. The first apparatus acquires first three-dimensional information of a solder paste on a board, and inspects whether the solder paste is formed good by a first tolerance based on the first three-dimensional information. The second apparatus mounts an electronic component on the board to join the electronic component and the solder paste. The third apparatus acquires second three-dimensional information of a solder joint, and inspects whether the electronic component is mounted good by a second tolerance based on the second three-dimensional information. The information transfer section transfers the first three-dimensional information to the third apparatus, or transfers the second three-dimensional information to the first apparatus. Thus, a more effective inspection condition may be established, and a rate of defect for each apparatus may be greatly reduced.

公开(公告)号：US20170083002A1

公开(公告)日：2017-03-23

申请号：US15266373

申请日：2016-09-15

申请人： FANUC CORPORATION

发明人： Masanobu Hatada ,  Toshimichi Aoki

IPC分类号： G05B19/402

CPC分类号： G05B19/402 ,  B23K11/00 ,  B23K11/105 ,  B23K11/115 ,  B23K11/253 ,  G05B2219/37217 ,  G05B2219/37405 ,  Y10S901/08

摘要： A spot welding system comprises a robot which changes a relative position of a spot welding gun and a workpiece. A control device drives an electrode drive motor so that a movable electrode of the spot welding gun abuts on the workpiece, and is formed so as to perform a position detection control which detects a position of the workpiece based on a position of the movable electrode when a state value of the electrode drive motor deviates from a predetermined range. An operation program includes a workpiece detection parameter for performing the position detection control. The workpiece detection parameter is set at each of welding points in the operation program.

公开(公告)号：US08571823B2

公开(公告)日：2013-10-29

申请号：US12724724

申请日：2010-03-16

申请人： Giuseppe D'Angelo ,  Giorgio Pasquettaz ,  Andrea Terreno

发明人： Giuseppe D'Angelo ,  Giorgio Pasquettaz ,  Andrea Terreno

IPC分类号： G06F11/00 ,  G06F17/40 ,  B23K26/00

CPC分类号： B23K26/032 ,  G05B2219/37217 ,  Y10S706/90 ,  Y10S706/904

摘要： A system and a method for controlling the quality of an industrial process, of the type that comprises the steps of: providing one or more reference signals for the industrial process; acquiring one or more real signals that are indicative of the quality of said industrial process; and comparing said one or more reference signals with said one or more real signals in order to identify defects in said industrial process. According to the invention, the method moreover comprises the operations of: obtaining a transformed signal from said reference signal; obtaining a transformed signal from said real signal; and calculating energies of said transformed reference signal and said real signal, respectively, said comparison operation comprising; comparing with one another said energies of said transformed reference signal and said transformed real signal, respectively, in order to extract corresponding time-frequency distribution for selected frequency values; calculating energies of said time-frequency distributions; and comparing the energies of said time-frequency distributions with threshold values in order to identify energy values associated to defects.

摘要翻译： 一种用于控制工业过程质量的系统和方法，包括以下步骤：为工业过程提供一个或多个参考信号; 获取指示所述工业过程的质量的一个或多个真实信号; 以及将所述一个或多个参考信号与所述一个或多个实信号进行比较，以便识别所述工业过程中的缺陷。 根据本发明，该方法还包括以下操作：从所述参考信号获得变换信号; 从所述真实信号获得变换信号; 以及分别计算所述变换的参考信号和所述实信号的能量，所述比较操作包括： 彼此分别表示所述变换的参考信号和所述经变换的实信号的能量，以便提取所选频率值的相应时频分布; 计算所述时频分布的能量; 以及将所述时间 - 频率分布的能量与阈值进行比较，以便识别与缺陷相关联的能量值。

公开(公告)号：US07551981B2

公开(公告)日：2009-06-23

申请号：US11598144

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G05B19/18

CPC分类号： B25J9/1669 ,  G05B2219/32228 ,  G05B2219/37217 ,  G05B2219/39419 ,  G05B2219/45004

摘要： A robot system and method for the repair and/or inspection of cast surfaces in an automated comprising a robotic manipulator of at least 4 degrees of freedom and a gripping mechanism which allows taking a repair device from a tool holder rack located at one of its sides and moving it through a defined path to a repair and inspection area, where a repair process will be carried out in a sequential and programmed way to a number of cast faces to be defined. Additionally, the system allows carrying out an inspection process of the surfaces in a sequential and programmed way through the use of a vision system by taking from a tool holder rack or carrying an advanced vision system for the inspection of surfaces.

摘要翻译： 一种用于修复和/或检查自动化中的铸造表面的机器人系统和方法，包括至少4个自由度的机器人操纵器和夹持机构，该夹持机构允许从位于其一侧的工具架上的修理装置 并将其通过定义的路径移动到修理和检查区域，其中将以顺序和编程的方式对要定义的多个铸造面进行修复处理。 此外，该系统允许通过从工具架上取下或携带用于检查表面的先进视觉系统，通过使用视觉系统以顺序和编程的方式执行表面的检查过程。

公开(公告)号：US20040179915A1

公开(公告)日：2004-09-16

申请号：US10385398

申请日：2003-03-10

发明人： Wayne S. Hill ,  Bruce N. Barck

IPC分类号： B23C009/00

CPC分类号： B23Q17/0971 ,  G05B19/406 ,  G05B2219/37217 ,  G05B2219/37242 ,  G05B2219/37402 ,  G05B2219/37432 ,  G05B2219/37435 ,  Y10T82/2595 ,  Y10T408/76 ,  Y10T409/101113 ,  Y10T409/303752 ,  Y10T409/304312 ,  Y10T409/307224 ,  Y10T409/30952

摘要： A dynamical instrument for machining comprising a sensor responsive to a non-rotating part of a machine proximate the tool of the machine for outputting a vibration signal, and a processor responsive to the sensor output configured to calculate a plurality of signature quantities which characterize the dynamics of the vibration signal and correlate the signature quantities to detect parameters associated with the operation of the machine.

摘要翻译： 一种用于加工的动力学仪器，包括响应于靠近所述机器的工具的机器的非旋转部分的传感器，用于输出振动信号;响应于所述传感器输出的处理器，所述传感器输出被配置为计算表征所述动力学的多个特征量 的振动信号，并将签名量相关联以检测与机器的操作相关的参数。

公开(公告)号：US20040011284A1

公开(公告)日：2004-01-22

申请号：US10381950

申请日：2003-06-30

发明人： Josef Schucker

IPC分类号： B05C005/00

CPC分类号： G05B19/4189 ,  B05C5/0216 ,  B25J9/1684 ,  B25J9/1697 ,  B25J19/02 ,  B25J19/023 ,  G05B2219/37048 ,  G05B2219/37217 ,  G05B2219/45065 ,  G05B2219/45238 ,  Y02P90/28

摘要： The invention relates to an adhesive robot, comprising a device for applying adhesive to a workpiece. The adhesive robot has a nozzle head (18), which has an application nozzle (24) and can be supplied with a pressurized viscous adhesive, the nozzle head (18) and the workpiece (14) being displaceable in relation to one another. The adhesive which is issued from the application nozzle (24) in a spray jet (28) is applied to a workpiece (14) along a predefined line of application (36) in the form of a strip of adhesive (40). To facilitate the adjustment and re-calibration process, the system comprises at least one camera unit (42), which is located on the nozzle head (18) and whose leans is directed towards the spray jet (28) or the adhesive strip (40). The output of said camera unit is connected to an image evaluation unit (45). The image data (40) recorded by the camera unit (42) is buffered and compared with predetermined image values (40). The decisive control parameters for the system can be calibrated and tracked either automatically or by remote control, on the basis of deviations in the image data that have been determined along the line of application (36).

摘要翻译： 本发明涉及粘合机器人，其包括用于将粘合剂施加到工件上的装置。 粘合机器人具有喷嘴头（18），其具有施加喷嘴（24）并且可以供应加压粘性粘合剂，喷嘴头（18）和工件（14）可相对于彼此移位。 以喷射射流（28）从施用喷嘴（24）发出的粘合剂以预定的施加线（36）以粘合剂条（40）的形式施加到工件（14）上。 为了便于调整和重新校准过程，系统包括位于喷嘴头（18）上的至少一个相机单元（42），并且其倾斜指向喷雾器（28）或粘合带（40） ）。 所述相机单元的输出连接到图像评估单元（45）。 由相机单元（42）记录的图像数据（40）被缓冲并与预定图像值（40）进行比较。 根据沿着应用线（36）确定的图像数据的偏差，可以自动或通过远程控制来校准和跟踪系统的决定性控制参数。