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    Methods, systems, and apparatus for calibration of a positional offset between an end effector and a position sensor
    1.
    发明授权
    Methods, systems, and apparatus for calibration of a positional offset between an end effector and a position sensor 有权
    用于校准端部执行器和位置传感器之间的位置偏移的方法，系统和装置

    公开(公告)号：US09110457B2

    公开(公告)日：2015-08-18

    申请号：US13704818

    申请日：2011-06-21

    Applicant: Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

    Inventor： Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

    IPC: G05B19/401 ,  B25J9/16

    CPC classification number: G05B19/401 ,  B25J9/1692 ,  G05B2219/40082

    Abstract: Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects.

    Abstract translation: 公开了适用于帮助校准处理系统中的位置传感器和末端执行器之间的偏移位置的系统和装置。 该系统包括具有末端执行器和与其连接的位置传感器的机器人部件，具有第一几何特征的教导目标和适于被末端执行器接合的偏移工具，所述偏移工具包括第一对接特​​征。 该系统还包括可移动偏移目标，其具有适于由第一对接特​​征接合的第二对接特征和适于由位置传感器感测的第二几何特征。 末端执行器将偏移工具移动到偏移目标并对准它们。 然后可以用位置传感器感测教导目标和偏移目标的位置，以确定末端执行器相对于位置传感器的实际偏移。 还提供了操作系统的方法，以及其他方面。

    METHOD, SYSTEM, AND APPARATUS FOR ALIGNING THE ANGLE OF A POLAR COORDINATE SYSTEM DEVICE TO THE AXIS OF AN END-EFFECTOR
    3.
    发明申请
    METHOD, SYSTEM, AND APPARATUS FOR ALIGNING THE ANGLE OF A POLAR COORDINATE SYSTEM DEVICE TO THE AXIS OF AN END-EFFECTOR 有权
    用于将极坐标系统装置的角度对准终端效应轴的方法，系统和装置

    公开(公告)号：US20140045673A1

    公开(公告)日：2014-02-13

    申请号：US14111061

    申请日：2012-03-02

    Applicant: Thomas Creazzo

    Inventor： Thomas Creazzo

    IPC: B04B9/14

    CPC classification number: B04B9/14 ,  B04B2011/046 ,  B25J9/023 ,  B25J9/1692 ,  G01N35/0099 ,  G01N2035/00495 ,  G05B2219/40082

    Abstract: A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor. As the first registration device is lowered into the second registration device, the fixed orientation of the notches of the second registration device and the rigid nature of the first registration device cause a linear ball slide to displace and the bucket to rotate until the primary axis of the linear ball slide is in compliance with the cross pin axis of the first registration device

    Abstract translation: 用于将诸如离心机的转子的极坐标系统装置的分度角与诸如机器人末端执行器之类的笛卡尔坐标系装置的垂直轴对准的方法，系统和装置。 该装置包括第一配准装置，其可移除地附接到末端执行器的夹持装置和第二对准装置，其可拆卸地插入诸如铲斗的枢转平台到离心机转子。 当第一配准装置下降到第二配准装置中时，第二配准装置的槽口的固定取向和第一配准装置的刚性使得直线球滑动件移动并且铲斗旋转直到主轴线 线性球滑块符合第一配准装置的十字销轴线

    Methods, Systems, And Apparatus For Calibration Of A Positional Offset Between An End Effector And A Position Sensor
    4.
    发明申请
    Methods, Systems, And Apparatus For Calibration Of A Positional Offset Between An End Effector And A Position Sensor 有权
    方法，系统和装置，用于校准端部效应和位置传感器之间的位置偏移

    公开(公告)号：US20130096718A1

    公开(公告)日：2013-04-18

    申请号：US13704818

    申请日：2011-06-21

    Applicant: Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

    Inventor： Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

    IPC: G05B19/401

    CPC classification number: G05B19/401 ,  B25J9/1692 ,  G05B2219/40082

    Abstract: Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects.

    Abstract translation: 公开了适用于帮助校准处理系统中的位置传感器和末端执行器之间的偏移位置的系统和装置。 该系统包括具有末端执行器和与其连接的位置传感器的机器人部件，具有第一几何特征的教导目标和适于被末端执行器接合的偏移工具，所述偏移工具包括第一对接特​​征。 该系统还包括可移动偏移目标，其具有适于由第一对接特​​征接合的第二对接特征和适于由位置传感器感测的第二几何特征。 末端执行器将偏移工具移动到偏移目标并对准它们。 然后可以用位置传感器感测教导目标和偏移目标的位置，以确定末端执行器相对于位置传感器的实际偏移。 还提供了操作系统的方法，以及其他方面。

    Method, system, and apparatus for aligning the angle of a polar coordinate system device to the axis of an end-effector
    5.
    发明授权
    Method, system, and apparatus for aligning the angle of a polar coordinate system device to the axis of an end-effector 有权
    用于将极坐标系装置的角度对准端部执行器的轴线的方法，系统和装置

    公开(公告)号：US09233377B2

    公开(公告)日：2016-01-12

    申请号：US14111061

    申请日：2012-03-02

    Applicant: Thomas Creazzo

    Inventor： Thomas Creazzo

    IPC: B04B9/14 ,  B25J9/02 ,  B25J9/16 ,  B04B11/04 ,  G01N35/00

    CPC classification number: B04B9/14 ,  B04B2011/046 ,  B25J9/023 ,  B25J9/1692 ,  G01N35/0099 ,  G01N2035/00495 ,  G05B2219/40082

    Abstract: A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor. As the first registration device is lowered into the second registration device, the fixed orientation of the notches of the second registration device and the rigid nature of the first registration device cause a linear ball slide to displace and the bucket to rotate until the primary axis of the linear ball slide is in compliance with the cross pin axis of the first registration device.

    Abstract translation: 用于将诸如离心机的转子的极坐标系统装置的分度角与诸如机器人末端执行器之类的笛卡尔坐标系装置的垂直轴对准的方法，系统和装置。 该装置包括第一配准装置，其可移除地附接到末端执行器的夹持装置和第二对准装置，其可拆卸地插入诸如铲斗的枢转平台到离心机转子。 当第一配准装置下降到第二配准装置中时，第二配准装置的槽口的固定取向和第一配准装置的刚性使得直线球滑动件移动并且铲斗旋转直到主轴线 线性球滑块符合第一配准装置的十字销轴线。

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