知搜-全球专利检索

  1. Login
  2. Sign Up

Search Results

6 records (took 0.011 seconds)

    System and method for determining tool offsets
    1.
    发明授权
    System and method for determining tool offsets 有权

    公开(公告)号：US10016892B2

    公开(公告)日：2018-07-10

    申请号：US14807434

    申请日：2015-07-23

    Applicant: X Development LLC

    Inventor： Benjamin M. Davis

    IPC: B25J9/10 ,  G05B19/401

    CPC classification number: B25J9/1005 ,  B25J9/1692 ,  G05B19/4015 ,  G05B2219/37231 ,  G05B2219/39026 ,  G05B2219/40589 ,  Y10S901/02 ,  Y10S901/41

    Abstract: Systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. In an embodiment, a method includes controlling the robot to contact a reference object with the tool. The reference object is a rigid object with a known location. A force feedback sensor of the robot may indicates when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact is received. Additionally, the robot may temporarily stops movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data s determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data describes the distance between at least one point on the tool and the attachment point.

    System And Method For Determining Tool Offsets
    2.
    发明申请
    System And Method For Determining Tool Offsets 有权
    用于确定刀具补偿的系统和方法

    公开(公告)号：US20170021495A1

    公开(公告)日：2017-01-26

    申请号：US14807434

    申请日：2015-07-23

    Applicant: Google Inc.

    Inventor： Benjamin M. Davis

    IPC: B25J9/10

    CPC classification number: B25J9/1005 ,  G05B19/4015 ,  G05B2219/37231 ,  G05B2219/39026 ,  G05B2219/40589 ,  Y10S901/02 ,  Y10S901/41

    Abstract: Example systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. The method may include controlling the robot to contact a reference object with the tool. The reference object may be a rigid object with a known location. A force feedback sensor of the robot may indicate when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact may be received. Additionally, the robot may temporarily stop movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data may be determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data may describe the distance between at least one point on the tool and the attachment point.

    Abstract translation: 公开了用于确定在附接点附接到机器人的工具的刀具偏移数据的示例系统和方法。 该方法可以包括控制机器人与工具联系参考对象。 参考对象可以是具有已知位置的刚性对象。 机器人的力反馈传感器可以指示工具何时接触到参考对象。 一旦接触，可以接收指示在工具接触期间机器人位置的数据。 此外，机器人可能暂时停止工具的运动，以防止损坏工具或参考物体。 接下来，可以基于参考对象相对于机器人的位置和接收到的机器人位置数据来确定刀具偏移数据。 刀具补偿数据可以描述刀具上的至少一个点与附接点之间的距离。

    NUMERICAL CONTROLLER CAPABLE OF CHECKING MOUNTING STATE OF TOOL USED FOR MACHINING
    4.
    发明申请
    NUMERICAL CONTROLLER CAPABLE OF CHECKING MOUNTING STATE OF TOOL USED FOR MACHINING 审中-公开
    检查用于加工的工具安装状态的数控机

    公开(公告)号：US20160334777A1

    公开(公告)日：2016-11-17

    申请号：US15148330

    申请日：2016-05-06

    Applicant: FANUC Corporation

    Inventor： Shuji SATO

    IPC: G05B19/18

    CPC classification number: G05B19/40938 ,  B23Q17/0909 ,  B23Q17/249 ,  G05B19/4065 ,  G05B2219/37227 ,  G05B2219/37241 ,  G05B2219/37559 ,  G05B2219/40589 ,  G05B2219/50249 ,  Y02P90/265

    Abstract: A numerical controller retrieves only a tool change command in an NC program and controls an automatic tool changer to execute tool change based on the retrieved tool change command. The numerical controller controls a camera to capture an image of a tool every time the tool change command is executed, and analyzes the image captured by the camera to calculate a shape and a size of the tool. The calculated tool shape and size are collated with a shape and a size in tool management data stored in the numerical controller, and the result of the collation is displayed on a screen of a display device so that an operator can be informed of it.

    Abstract translation: 数值控制器仅在NC程序中检索刀具更换命令，并根据检索到的刀具更换命令控制自动换刀器执行刀具更换。 数值控制器控制相机在每次执行刀具更换命令时捕获刀具的图像，并分析由相机拍摄的图像，以计算刀具的形状和尺寸。 计算出的工具形状和尺寸与存储在数值控制器中的工具管理数据中的形状和尺寸进行整理，并且将对照结果显示在显示装置的屏幕上，从而可以通知操作者。

    APPARATUS FOR CORRECTING MOVEMENT PATH OF A ROBOT AND A METHOD THEREFOR
    6.
    发明申请
    APPARATUS FOR CORRECTING MOVEMENT PATH OF A ROBOT AND A METHOD THEREFOR 失效
    用于校正机器人运动路径的装置及其方法

    公开(公告)号：US20010010539A1

    公开(公告)日：2001-08-02

    申请号：US08836059

    申请日：1997-04-29

    Inventor： TARO ARIMATSU ,  KAZUHIKO AKIYAMA

    IPC: H04N007/18

    CPC classification number: G05B19/42 ,  G05B19/404 ,  G05B19/4083 ,  G05B2219/36416 ,  G05B2219/37567 ,  G05B2219/40589 ,  G05B2219/40611 ,  G05B2219/45083

    Abstract: A tool (2) mounted on the wrist end of a robot (1) is placed in a predetermined photographing position (P1), and the front and side faces of the tool (2) are photographed by cameras (41, 42) to obtain three-dimensional shape data of the tool (2). The extent of deformation of the tool (2) is detected by comparing the obtained shape data and reference shape data, and a programmed movement path for the robot is corrected depending on the extent of deformation.

    Abstract translation: 安装在机器人（1）的腕端上的工具（2）被放置在预定拍摄位置（P1）中，并且通过照相机（41,42）拍摄工具（2）的前侧和侧面，以获得 工具（2）的三维形状数据。 通过比较获得的形状数据和参考形状数据来检测工具（2）的变形程度，并且根据变形程度校正机器人的编程移动路径。

Patent Agency Ranking