公开(公告)号：US07230640B2

公开(公告)日：2007-06-12

申请号：US10106599

申请日：2002-03-26

申请人： Uwe Regensburger ,  Alexander Schanz ,  Thomas Stahs

发明人： Uwe Regensburger ,  Alexander Schanz ,  Thomas Stahs

IPC分类号： H04N7/18

CPC分类号： G01S17/936 ,  B60T2201/10 ,  G01S13/931 ,  G01S17/89 ,  G01S2013/9314 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9396 ,  G06K9/00812

摘要： A vehicle-useful, high-resolution 3D-detection of the environment of a street vehicle with environment scanning sensors is not possible today. Depending on application the first commercially available vehicle integrated systems may be a comprise between resolution of the sensors and size of the sampled area. With the inventive two dimensional distance resolution sensor device it becomes possible, in contrast to those which are known, to produce a system which, installed in a street vehicle, detects and preferably processes complex dynamics scenarios such for example street traffic, from the prospective of the active dynamic moving vehicle. Therein a three dimensional image of the environment is produced using a distance sensor, which produces a two dimensional distance profile (depth profile), and on the other hand, using a data processing and a storage unit, which process and store sequential distance profiles and sequence a series of distance profiles into the three dimensional image of the environment.

摘要翻译： 目前，无法通过环境扫描传感器对车辆环境进行车辆有效的高分辨率3D检测。 根据应用，第一市售车辆集成系统可以包括传感器的分辨率和采样区域的大小之间。 利用本发明的二维距离分辨率传感器装置，与已知的二维距离分辨率传感器装置相比，可以产生一种安装在街道车辆中的系统，从系统的前景来检测并优选地处理诸如街道交通的复杂动态场景 主动动态车辆。 其中使用距离传感器产生环境的三维图像，其产生二维距离轮廓（深度轮廓），另一方面，使用数据处理和存储单元，其处理和存储顺序距离轮廓，以及 将一系列距离轮廓序列化为环境的三维图像。

公开(公告)号：US20050109740A1

公开(公告)日：2005-05-26

申请号：US10944033

申请日：2004-09-17

申请人： Wolfgang Becker ,  Klaus Goth ,  Mike Paelmer ,  Thomas Stahs ,  Vladan Todorovic

发明人： Wolfgang Becker ,  Klaus Goth ,  Mike Paelmer ,  Thomas Stahs ,  Vladan Todorovic

IPC分类号： B23K26/20 ,  B23K26/08 ,  B23K26/10 ,  B23K26/22 ,  B23K26/24 ,  B23K26/42 ,  B23K103/04

CPC分类号： B23K26/22 ,  B23K26/082 ,  B23K26/10 ,  B23K26/24 ,  B23K26/60 ,  B23K2101/18

摘要： During welding with high output power, the gaps between the pieces being joined may not exceed a maximal gap width. It is the task of the present invention to provide a process for laser beam welding, which on the one hand ensures maintaining (not exceeding) a maximal gap width between the sheets and on the other hand makes possible a maximal utilization of the achievable welding speed. This task is solved in that the sheets, prior to welding, are first spot welded, wherein they are clamped only during this spot welding in order to ensure the maintenance of a maximum gap width.

摘要翻译： 在高输出功率的焊接过程中，连接件之间的间隙不能超过最大间隙宽度。 本发明的任务是提供一种用于激光束焊接的方法，其一方面保持（不超过）片材之间的最大间隙宽度，另一方面可以最大限度地利用可实现的焊接速度 。 这个任务的解决之处在于，在焊接之前，片材首先被点焊，其中它们仅在该点焊期间被夹紧，以便确保维持最大的间隙宽度。

公开(公告)号：US20070017081A1

公开(公告)日：2007-01-25

申请号：US10527629

申请日：2003-09-06

申请人： Frauke Becker ,  Andreas Schreck ,  Bernd Schuler ,  Thomas Stahs

发明人： Frauke Becker ,  Andreas Schreck ,  Bernd Schuler ,  Thomas Stahs

IPC分类号： B21D39/03

CPC分类号： B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

摘要： A method for the mounting of an add-on part (3) on a workpiece (1), in particular on a vehicle body, the intention being for the add-on part (3) to be aligned on the workpiece (1) in a precisely positioned manner in relation to a reference region (12, 13). Use is made of a robot-guided mounting tool (5) which is connected fixedly to a sensor system (20). In order to achieve the precisely positioned alignment of the add-on part (3), an iterative control operation is run through, in the course of which first of all an (actual) measured value of the sensor system (20) is produced and is compared with a (desired) measured value produced within the context of a setting-up phase. A movement vector of the mounting tool (5) is calculated from the difference between the (actual) measured value and (desired) measured value using a Jacobi matrix calculated within the context of the setting-up phase, and the mounting tool (5) with the add-on part (3) fixed therein is iteratively displaced in relation to the workpiece (1) by these movement vectors until the desired position is reached. This positioning task can be resolved without a metric calibration of the sensor system (20).

摘要翻译： 一种用于将附加部件（3）安装在工件（1）上，特别是在车身上的方法，其目的是使附加部件（3）在工件（1）上对准在 相对于参考区域（12,13）精确定位的方式。 使用机器人引导的安装工具（5），其固定地连接到传感器系统（20）。 为了实现附加部件（3）的精确定位的对准，迭代控制操作在其中首先产生传感器系统（20）的（实际）测量值的过程中，并且 与在建立阶段的背景下产生的（期望的）测量值进行比较。 使用在设定阶段的上下文中计算出的雅可比矩阵，根据（实际）测量值和（期望的）测量值之间的差计算安装工具（5）的运动矢量，以及安装工具（5） 其中固定在其中的附加部分（3）通过这些运动向量相对于工件（1）被迭代地移位，直到达到期望的位置。 无需传感器系统（20）的度量标定即可解决该定位任务。

公开(公告)号：US20060015211A1

公开(公告)日：2006-01-19

申请号：US10527735

申请日：2003-09-06

申请人： Thomas Kolb ,  Helmut Kraus ,  Thomas Stahs

发明人： Thomas Kolb ,  Helmut Kraus ,  Thomas Stahs

IPC分类号： B62D65/00

CPC分类号： B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

摘要： A method for processing a moving workpiece (1), in particular a vehicle body (1) which is moved using of a conveyor belt (10). A processing tool (5) is used which is attached to the hand (12) of a robot (7) and comprises a sensor system (18) which is permanently connected to the processing tool (5) and has at least one sensor (19). During the processing, the processing tool (5) follows the moving workpiece. This following movement is based on a closed-loop control process in which the processing tool (5) is oriented periodically towards reference areas (9) of the moving workpiece (1) using measured data of the sensor system (18). The measured data of the sensor system (18) is compared with setpoint data which is generated within the scope of a set up phase (I) of the processing tool (5), and a movement vector of the processing tool (5) is calculated from the difference between the measured values and setpoint data using a Jacobi matrix calculated within the scope of the set up phase, the processing tool (5) being moved by an amount equal to said movement vector. This process is repeated in a control loop.

摘要翻译： 一种用于处理移动的工件（1）的方法，特别是使用传送带（10）移动的车体（1）。 使用附接到机器人（7）的手（12）的加工工具（5），并包括永久地连接到处理工具（5）并且具有至少一个传感器（19）的传感器系统（18） ）。 在处理过程中，处理工具（5）跟随移动的工件。 该跟随移动是基于闭环控制过程，其中处理工具（5）使用传感器系统（18）的测量数据周期性地朝向移动工件（1）的参考区域（9）定向。 将传感器系统（18）的测量数据与在处理工具（5）的设置阶段（I）的范围内生成的设定点数据进行比较，并且计算处理工具（5）的运动向量 从使用在设定阶段的范围内计算的雅可比矩阵的测量值和设定点数据之间的差异，处理工具（5）被移动等于所述运动矢量的量。 该过程在控制循环中重复。

公开(公告)号：US20100038347A1

公开(公告)日：2010-02-18

申请号：US12582761

申请日：2009-10-21

申请人： Tobias Schwarz ,  Michael Janssen ,  Gerhard Duerr ,  Ullrich Mueller ,  Peter Dinkelacker ,  Bioern Grimm ,  Thomas Kolb ,  Mike Paelmer ,  Thomas Stahs

发明人： Tobias Schwarz ,  Michael Janssen ,  Gerhard Duerr ,  Ullrich Mueller ,  Peter Dinkelacker ,  Bioern Grimm ,  Thomas Kolb ,  Mike Paelmer ,  Thomas Stahs

IPC分类号： B23K26/04 ,  B23K26/20 ,  G06F17/00

CPC分类号： B23K26/082 ,  B23K26/0861 ,  B23K26/0884 ,  B23K26/10 ,  B23K26/22 ,  B23K2101/006 ,  B23K2101/185 ,  B25J9/1684 ,  G05B2219/34411 ,  G05B2219/40613 ,  G05B2219/45138

摘要： In a method for controlling a laser body shell welding system, in which a scanning head is attached to a machine arm or is operated as an external tool of the machine arm, the scanning head having at least one scanning mirror for positioning a laser beam on a workpiece to be welded, and the operation of the laser welding system including time-critical functions for controlling the time-critical functions, an embedded control system or a memory-programmable control system is used.

摘要翻译： 在一种用于控制激光体外壳焊接系统的方法中，其中扫描头附接到机械臂或作为机械臂的外部工具操作，扫描头具有用于将激光束定位的至少一个扫描镜 要焊接的工件，以及包括用于控制时间关键功能的时间关键功能的激光焊接系统的操作，嵌入式控制系统或存储器可编程控制系统。

公开(公告)号：US07138780B2

公开(公告)日：2006-11-21

申请号：US11289988

申请日：2005-11-30

申请人： Thomas Stahs

发明人： Thomas Stahs

IPC分类号： B25J9/18

CPC分类号： B23Q7/007

摘要： The invention relates to a process for the control of the position of workpiece and tool with a robot in a production machine. The objective of the invention is to reduce non-productive secondary processing time during the processing or measuring of a workpiece with a robot. The invention consists of a process for the control of the position of workpiece and tool with a robot in a production machine in which the workpiece (10) is positioned relative to the tool (1), (2) and during a continuous movement of the workpiece (10) with a tool (1), (2) at the processing location of the workpiece (10) a process takes place, and the tool (1), (2) is moving during the process synchronously to and in the same direction like the workpiece (10) and during the continuous movement of the workpiece (10) the tool (1), (2) is moved to and positioned in another processing location.

摘要翻译： 本发明涉及一种用于在生产机器中控制机器人的工件和工具的位置的方法。 本发明的目的是在机器人处理或测量工件期间减少非生产性二次加工时间。 本发明包括一种用于在生产机器中控制工件和工具与机器人的位置的过程，其中工件（10）相对于工具（1）定位，（2）和在连续运动期间 工件（1），（2）在工件（10）的加工位置进行工序（1），工具（2）在工艺过程中同步移动 方向与工件（10）类似，并且在工件（10）的连续移动期间，工具（1），（2）移动到并定位在另一个处理位置。

公开(公告)号：US20060107508A1

公开(公告)日：2006-05-25

申请号：US10527724

申请日：2003-09-06

申请人： Marcus Bonse ,  Thomas Kolb ,  Frank Ostertag ,  Enrico Philipp ,  Thomas Stahs ,  Heiko Thaler

发明人： Marcus Bonse ,  Thomas Kolb ,  Frank Ostertag ,  Enrico Philipp ,  Thomas Stahs ,  Heiko Thaler

IPC分类号： B23Q17/00 ,  B23P21/00

CPC分类号： B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

摘要： A method for producing a connection area (4) on a work piece (1), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area (8) on the work piece (1). A robot-guided processing tool (9) is used which is permanently connected to a sensor system (13) and forms a tool/sensor combination (16) with it. In a first step, the tool/sensor combination (16) is moved, within the scope of a positioning phase (II), from a proximity position (24) which is independent of the position of the work piece (1) in the working space (23) of the robot (11), into a preliminary position (18) in which the tool/sensor combination (16) is oriented precisely with respect to the reference area (8) of the work piece (1). To move to the preliminary position (18), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system (13) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. A movement vector of the tool/sensor combination (16) is calculated from the difference between the (actual) measured value and (setpoint) measured value using a Jacobi matrix which is calculated within the scope of the setup phase, and the tool/sensor combination (16) is moved by an amount equal to this movement vector. To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination (16).

摘要翻译： 一种用于在工件（1）上产生连接区域（4）的方法，特别是在相对于工件（1）上的参考区域（8）精确定位的车身板上。 使用机器人引导处理工具（9），其永久地连接到传感器系统（13）并与其形成工具/传感器组合（16）。 在第一步骤中，工具/传感器组合（16）在定位阶段（II）的范围内从与工件（1）在工作中的位置无关的接近位置（24）移动 机器人（11）的空间（23）进入到工具/传感器组合（16）相对于工件（1）的参考区域（8）精确取向的预备位置（18）。 为了移动到初步位置（18），迭代闭环控制过程通过，其中首先生成传感器系统（13）的（实际）测量值并与测量的（设定点）进行比较 在设置阶段的范围内生成的值。 使用在设定阶段的范围内计算的雅可比矩阵，并根据工具/传感器（16）计算出的（实际的）测量值和（设定值）测量值之间的差值来计算工具/传感器组合（16）的运动矢量 组合（16）移动等于该移动向量的量。 为了执行该定位任务，可以省去工具/传感器组合（16）的度量校准。

公开(公告)号：US20060060573A1

公开(公告)日：2006-03-23

申请号：US11229113

申请日：2005-09-15

申请人： Wolfgang Becker ,  Ralf Bernhardt ,  Klaus Goth ,  Mike Paelmer ,  Claus-Dieter Reiniger ,  Thomas Stahs ,  Daniel Zauner

发明人： Wolfgang Becker ,  Ralf Bernhardt ,  Klaus Goth ,  Mike Paelmer ,  Claus-Dieter Reiniger ,  Thomas Stahs ,  Daniel Zauner

IPC分类号： B23K26/20 ,  B23K26/00

CPC分类号： B23K26/0884 ,  B23K26/32 ,  B23K26/60 ,  B23K2101/34 ,  B23K2103/04 ,  B23K2103/08 ,  B23K2103/50

摘要： The invention concerns a process for pretreatment of a workpiece to be processed with a laser beam, as well as a device for carrying out the process. It is the task of the invention to develop a process and a device, which with small expenditure of material and expense, and with few process steps, makes possible an improved weld seam formation for joining workpieces. The invention is comprised therein, that for the pretreatment of a workpiece to be treated with a laser beam, in which on at least one surface of the workpiece with application of a thermal effect of at least one laser beam emitted by a laser source, rises such as knurls are formed, for the positionally correct and undistorted formation of the rises the time and spatial sequence of a relative movement between workpiece and laser beam and the output over time of the laser source are coordinated to each other via a control computer.

摘要翻译： 本发明涉及一种用于用激光束预处理待处理的工件的方法，以及用于执行该过程的装置。 本发明的任务是开发一种工艺和装置，其材料和费用的消耗少，并且几乎没有工艺步骤，可以改善用于连接工件的焊缝形成。 本发明包括用于对用待激光束进行处理的工件的预处理，其中在工件的至少一个表面上施加由激光源发射的至少一个激光束的热效应上升 形成滚花，为了位置正确和无失真地形成，工件和激光束之间的相对移动的时间和空间顺序以及激光源随时间的输出通过控制计算机相互协调。

公开(公告)号：US07312417B2

公开(公告)日：2007-12-25

申请号：US10944033

申请日：2004-09-17

申请人： Wolfgang Becker ,  Klaus Goth ,  Mike Paelmer ,  Thomas Stahs ,  Vladan Todorovic

发明人： Wolfgang Becker ,  Klaus Goth ,  Mike Paelmer ,  Thomas Stahs ,  Vladan Todorovic

IPC分类号： B23K26/22 ,  B23K26/24

CPC分类号： B23K26/22 ,  B23K26/082 ,  B23K26/10 ,  B23K26/24 ,  B23K26/60 ,  B23K2101/18

摘要： During welding with high output power, the gaps between the pieces being joined may not exceed a maximal gap width. A process for laser beam welding is provided, which on the one hand ensures maintaining (not exceeding) a maximal gap width between the sheets and on the other hand makes possible a maximal utilization of the achievable welding speed. The sheets, prior to welding, are first spot welded, wherein they are clamped only during this spot welding in order to ensure the maintenance of a maximum gap width.

摘要翻译： 在高输出功率的焊接过程中，连接件之间的间隙不能超过最大间隙宽度。 提供了一种用于激光束焊接的方法，其一方面保持（不超过）片材之间的最大间隙宽度，另一方面可以最大限度地利用可实现的焊接速度。 在焊接之前，这些板材首先被点焊，其中它们仅在该点焊期间被夹紧，以便确保维持最大的间隙宽度。

公开(公告)号：US20060113945A1

公开(公告)日：2006-06-01

申请号：US11289988

申请日：2005-11-30

申请人： Thomas Stahs

发明人： Thomas Stahs

IPC分类号： G05B19/19 ,  B25J9/18

CPC分类号： B23Q7/007

摘要： The invention relates to a process for the control of the position of workpiece and tool with a robot in a production machine. The objective of the invention is to reduce non-productive secondary processing time during the processing or measuring of a workpiece with a robot. The invention consists of a process for the control of the position of workpiece and tool with a robot in a production machine in which the workpiece (10) is positioned relative to the tool (1), (2) and during a continuous movement of the workpiece (10) with a tool (1), (2) at the processing location of the workpiece (10) a process takes place, and the tool (1), (2) is moving during the process synchronously to and in the same direction like the workpiece (10) and during the continuous movement of the workpiece (10) the tool (1), (2) is moved to and positioned in another processing location.