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公开(公告)号：US11656597B2
公开(公告)日：2023-05-23
申请号：US17193005
申请日：2021-03-05
Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
Inventor： Cheng-Kai Huang , Yi-Ying Lin , Bing-Cheng Hsu , Jan-Hao Chen
IPC: B25J9/16 , G05B19/19 , B23C3/12 , B25J11/00 , G05B19/4099
CPC classification number: G05B19/19 , B23C3/12 , B25J9/1664 , B25J9/1697 , B25J11/006 , G05B19/4099 , G05B2219/45151
Abstract: A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, includes the steps of: according to a process flow of a workpiece, analyzing a CAD file of the workpiece, determining a burr processing area and obtaining a mathematical model of boundary contour curve; applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece; performing curve fitting upon the contour section information of the workpiece and the mathematical model of boundary contour curve so as to obtain a boundary curve function; and, utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path. In addition, a system for recognizing a deburring trajectory is also provided.
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公开(公告)号：US11433541B2
公开(公告)日：2022-09-06
申请号：US16728017
申请日：2019-12-27
Applicant: Industrial Technology Research Institute
Inventor： Chwen-Yi Yang , Cheng-Kai Huang , Jan-Hao Chen , Yi-Ying Lin , Bing-Cheng Hsu
IPC: B25J9/16 , G05B19/401 , B25J19/02
Abstract: An automated calibration system for a workpiece coordinate frame of a robot includes a physical image sensor having a first image central axis, and a controller for controlling the physical image sensor adapted on a robot to rotate by an angle to set up a virtual image sensor having a second image central axis. The first and the second image central axes are intersected at an intersection point. The controller controls the robot to repeatedly move back and forth a characteristic point on the workpiece between these two axes until the characteristic point overlaps the intersection point. The controller records a calibration point including coordinates of joints of the robot, then the controller moves another characteristic point and repeats the foregoing movement to generate several other calibration points. According to the calibration points, the controller calculates relative coordinates of a virtual tool center point and the workpiece to the robot.
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Patent Agency Ranking
公开(公告)号：US10926414B2
公开(公告)日：2021-02-23
申请号：US15845168
申请日：2017-12-18
Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
Inventor： Cheng-Kai Huang , Yeou-Bin Guu , Yi-Len Chen , Chwen-Yi Yang , Jan-Hao Chen
IPC: B25J9/16 , G01B11/00 , G01B21/04 , G05B19/408
Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.
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公开(公告)号：US20180056504A1
公开(公告)日：2018-03-01
申请号：US15372618
申请日：2016-12-08
Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
Inventor： Chun-Chien Ting , Jan-Hao Chen , Teng-Mao Wang , Chung-Hsien Wu
CPC classification number: B25J9/0081 , B25J9/1694 , B25J13/085 , G05B19/421 , G05B2219/36401 , Y10S901/04
Abstract: A teaching apparatus for a manipulator is provided, including: a fixing member for fixing to the manipulator; a main body connected to the fixing member; and a handle connected to the main body. The main body includes a plurality of sensors and an operation display member, wherein at least one of the sensors is disposed on one side of the main body adjacent the fixing member and configured for sensing a force, a stress or a torque applied to the main body, and the operation display member is disposed on the other side of the main body and includes a plurality of function keys and a display screen disposed thereon. The teaching apparatus allows the path-teaching process for a manipulator to be completed quickly and easily.
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公开(公告)号：US11270427B2
公开(公告)日：2022-03-08
申请号：US16809576
申请日：2020-03-05
Applicant: Industrial Technology Research Institute
Inventor： Bing-Cheng Hsu , Cheng-Kai Huang , Jan-Hao Chen , Chwen-Yi Yang , Yi-Ying Lin
Abstract: A system for establishing a junction trace of an assembly includes a surface model creating module, a processing module, and a material inspection module. The assembly includes a first part and a second part assembled with each other. The surface model creating module scans the first part and the second part to separately establish first surface model data and second surface model data. The processing module establishes assembled surface model data according to the first surface model data and the second surface model data, determines a junction region from the assembled surface model data, and determines inspection points mapped on the assembly according to the junction region. The material inspection module inspects materials of the assembly at the inspection points. The processing module establishes a junction trace of the first part and the second part in the assembly according to a material inspection result.
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公开(公告)号：US20210209744A1
公开(公告)日：2021-07-08
申请号：US16809576
申请日：2020-03-05
Applicant: Industrial Technology Research Institute
Inventor： Bing-Cheng Hsu , Cheng-Kai Huang , Jan-Hao Chen , Chwen-Yi Yang , Yi-Ying Lin
Abstract: A system for establishing a junction trace of an assembly includes a surface model creating module, a processing module, and a material inspection module. The assembly includes a first part and a second part assembled with each other. The surface model creating module scans the first part and the second part to separately establish first surface model data and second surface model data. The processing module establishes assembled surface model data according to the first surface model data and the second surface model data, determines a junction region from the assembled surface model data, and determines inspection points mapped on the assembly according to the junction region. The material inspection module inspects materials of the assembly at the inspection points. The processing module establishes a junction trace of the first part and the second part in the assembly according to a material inspection result.
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公开(公告)号：US20190099887A1
公开(公告)日：2019-04-04
申请号：US15845168
申请日：2017-12-18
Applicant: Industrial Technology Research Institute
Inventor： Cheng-Kai Huang , Yeou-Bin Guu , Yi-Len Chen , Chwen-Yi Yang , Jan-Hao Chen
IPC: B25J9/16 , G01B11/00 , G01B21/04 , G05B19/408
Abstract: A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.
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