公开(公告)号：US20170038760A1

公开(公告)日：2017-02-09

申请号：US14821691

申请日：2015-08-08

申请人： General Electric Company

发明人： Jessen COMPAGNAT ,  Marc Andre ETHIER ,  Jean-Pierre LARAMEE ,  Dany DE CHAMPLAIN

IPC分类号： G05B19/404

CPC分类号： G05B19/404 ,  B23P6/002 ,  B24B19/14 ,  B24B27/0023 ,  B24B41/06 ,  B24B49/10 ,  F01D5/005 ,  G05B19/4015 ,  G05B2219/35107 ,  G05B2219/36504 ,  G05B2219/37231 ,  G05B2219/37351 ,  G05B2219/37405 ,  G05B2219/45147 ,  G05B2219/49176 ,  G05B2219/49392

摘要： A method for machining a workpiece using a programmable, numerically controlled machining system by calculating or retrieving a compensated toolpath based on comparing contact position from monitoring a vibration signal from a vibration sensor during probing of workpiece with rotating tool during relative motion therebetween. Contact position is compared to position from predetermined toolpath and wherein the predetermined toolpath extends between initial machining point and end machining point. Machining the workpiece is done along compensated toolpath. The method may be done for repeated passes of machining. The compensated toolpath may include an angle offset to a machining path coordinate system of the predetermined toolpath. Workpiece may be mounted in a multi-axis manipulator of machining system for the probing and machining Multi-axis manipulator may be computer controlled and may be part of a robot.

摘要翻译： 一种用于使用可编程的数控加工系统来加工工件的方法，该方法是通过基于在相对运动期间利用旋转工具探测工件期间来自振动传感器的振动信号的比较来比较接触位置而计算或检索补偿的刀具路径。 将接触位置与预定刀具路径的位置进行比较，其中预定刀具路径在初始加工点和终点加工点之间延伸。 沿补偿的刀具路径加工工件。 该方法可以重复进行加工。 经补偿的刀具路径可以包括与预定刀具路径的加工路径坐标系的角度偏移。 工件可以安装在用于探测和加工的加工系统的多轴操纵器中。多轴机械手可以是计算机控制的，并且可以是机器人的一部分。

公开(公告)号：US20160246288A1

公开(公告)日：2016-08-25

申请号：US15041231

申请日：2016-02-11

申请人： FANUC Corporation

发明人： Shuji OGAWA ,  Motohiko ITO ,  Masaru KUROIWA

IPC分类号： G05B19/41

CPC分类号： G05B19/404 ,  G05B2219/36504 ,  G05B2219/45136 ,  G05B2219/49233 ,  G05B2219/50353

摘要： Command data indicating a command path of a tool is generated on the basis of tool data created on the basis of an inclination and a shape of the tool, and interpolation data for each interpolation period is generated and outputted. When a command block is a block commanding skiving processing, correction data for correcting the command path is generated on the basis of the tool data stored in the tool data storage unit, and the correction data corresponding to interpolation data outputted by an interpolation unit is outputted.

摘要翻译： 根据刀具的倾斜度和形状创建的刀具数据生成表示刀具的指令路径的指令数据，并生成并输出每个内插周期的插补数据。 当命令块是块命令切换处理时，根据存储在刀具数据存储单元中的刀具数据产生用于校正命令路径的校正数据，并且输出与由内插单元输出的内插数据相对应的校正数据 。

公开(公告)号：US20110238215A1

公开(公告)日：2011-09-29

申请号：US13072298

申请日：2011-03-25

申请人： Kouzou YANAGAWA ,  Yasuhiro KOUJINA

发明人： Kouzou YANAGAWA ,  Yasuhiro KOUJINA

IPC分类号： B25J9/10

CPC分类号： G05B19/42 ,  B23Q17/24 ,  G05B19/401 ,  G05B19/423 ,  G05B19/425 ,  G05B19/427 ,  G05B2219/36404 ,  G05B2219/36504 ,  G05B2219/37555 ,  G05B2219/39527 ,  G05B2219/40564 ,  G05B2219/40622

摘要： An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region (S24). A CPU moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.

摘要翻译： 在教学模式中，操作者在传感点输入感测指令，这是粗略的教导点（S22）。 指令和感测点被存储在第二存储区域（S23）中。 此外，在第二存储区域中都输入目标角度和前进/后退角度（S24）。 在感测模式中，CPU将机器人移动到感测点（S33），以通过激光传感器执行检测任务，从而获得工件的形状（S33）。 CPU计算焊枪的位置和姿势以创建任务程序（S35）。 以这种方式，可以在没有工件位移的环境中大大简化教学任务。

公开(公告)号：US20080300723A1

公开(公告)日：2008-12-04

申请号：US12222002

申请日：2008-07-31

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/37555 ,  G05B2219/39024 ,  G05B2219/39057

摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.

摘要翻译： 一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。 使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。 视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。 视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。 移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。 使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。 为了补偿这种变化，校正在换档之前有效的教学位置数​​据。 机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。 在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

公开(公告)号：US20110166693A1

公开(公告)日：2011-07-07

申请号：US13119001

申请日：2008-09-16

申请人： Nobutaka Nishibashi

发明人： Nobutaka Nishibashi

IPC分类号： G05B19/19 ,  G05B19/404

CPC分类号： G05B19/4086 ,  G05B19/4103 ,  G05B19/414 ,  G05B19/416 ,  G05B2219/33269 ,  G05B2219/33271 ,  G05B2219/34202 ,  G05B2219/36231 ,  G05B2219/36504 ,  G05B2219/41405 ,  G05B2219/49121 ,  G05B2219/50162 ,  G05B2219/50165

摘要： A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

摘要翻译： 通过在NC程序中描述固定到加工对象（W）的坐标系（30）中的姿势变化的工具轨迹，固定地布置准备参考坐标系（20 ），其表示加工对象（W）的安装位置和在准备基准坐标系（20）中安装有工具（11）的主轴（91）的位置，并且包含 与主轴（91）的位置（q）和轴坐标（r）之间的相关性的转换函数组中的轴的构造相关的部分。 因此，基于加工对象的安装位置，工具形状和工具尺寸，读取NC程序，校正刀具轨迹和转换到主轴位置的轨迹的过程被完全普遍。

公开(公告)号：US20100057257A1

公开(公告)日：2010-03-04

申请号：US12461538

申请日：2009-08-14

申请人： Yoshihiro Ichikawa

发明人： Yoshihiro Ichikawa

IPC分类号： G05B15/00

CPC分类号： G05B19/4083 ,  G05B2219/36504

摘要： This method controls an automatic finishing machine using a robot with a tool through a model storage step, a data acquisition step, a calculation step, an error derivation step, a correction step and a machining step. In the model storage step, shape data of an unfinished work or data of a three-dimensional model is stored in a memory. In the data acquisition step, the tool is brought into contact with the unfinished work W, thereby obtaining measurement data. Then, in the calculation step, actual-position data on a comparative object point is calculated based on the measurement data. Subsequently, in the error derivation step, a data difference between the calculated actual-position data and position data on the comparative object point in the three-dimensional model is obtained. Thereafter, in the correction step, teaching data indicative of the position of the tool corresponding to the shape data of the three-dimensional model is corrected, based on the data difference. Finally, in the machining step, the finishing process is performed, while the robot (11) is controlled, based on the corrected teaching data.

摘要翻译： 该方法通过模型存储步骤，数据获取步骤，计算步骤，误差导出步骤，校正步骤和加工步骤来控制使用具有工具的机器人的自动整理机。 在模型存储步骤中，未完成的作品的形状数据或三维模型的数据被存储在存储器中。 在数据采集步骤中，使工具与未完成的工件W接触，从而获得测量数据。 然后，在计算步骤中，基于测量数据计算比较对象点上的实际位置数据。 随后，在误差导出步骤中，获得计算出的实际位置数据与三维模型中比较对象点上的位置数据之间的数据差。 此后，在校正步骤中，基于数据差来校正指示与三维模型的形状数据对应的工具的位置的教导数据。 最后，在加工步骤中，基于校正后的教导数据，对机器人（11）进行控制，进行精加工。

公开(公告)号：US20030135298A1

公开(公告)日：2003-07-17

申请号：US10046385

申请日：2002-01-16

发明人： Ming Hung Wu

IPC分类号： G06F019/00

CPC分类号： G05B19/4083 ,  G05B2219/36181 ,  G05B2219/36201 ,  G05B2219/36504 ,  G05B2219/45129

摘要： A generating device for CNC drilling program and the method of generating CNC drilling program and RAM for computer to allow computer to execute production of CNC drilling program. The generating device for CNC drilling program can accomplish the tedious printing arrangement and calculation work based on the customer's original drilling program and the inputting drilling-hole numerical data. The precision of the present device is high and the efficiency of drilling is obtained.

摘要翻译： 一种用于CNC钻孔程序的生成装置以及用于计算机生成CNC钻孔程序和RAM的方法，以允许计算机执行数控钻孔程序的生产。 数控钻孔程序的生成装置可以根据客户的原始钻孔程序和输入钻孔数值数据，完成繁琐的打印布置和计算工作。 本装置的精度高，钻井效率高。

公开(公告)号：US20010013511A1

公开(公告)日：2001-08-16

申请号：US09729164

申请日：2000-12-05

发明人： Sung-Jin Hong

IPC分类号： B23K009/12

CPC分类号： H01L24/78 ,  B23K9/1278 ,  B23K20/004 ,  G05B19/4083 ,  G05B2219/36504 ,  G05B2219/37413 ,  G05B2219/45104 ,  H01L2224/78 ,  H01L2924/00014 ,  H01L2924/01004 ,  H01L2924/01006 ,  H01L2924/01015 ,  H01L2924/01023 ,  H01L2924/01027 ,  H01L2924/01033 ,  H01L2924/01039 ,  H01L2924/12042 ,  H01L2924/3025 ,  H01L2224/48 ,  H01L2224/45099 ,  H01L2924/00

摘要： Disclosed is a method for correcting teaching points for a welding robot. The method for correcting teaching points for a welding robot having a touch sensor, comprising the steps of mounting a workpiece to a welding jig; establishing at least one teaching point between an initial welding point and a terminating welding point; touch-sensing the workpiece at a point corresponding to the established teaching point through the touch sensor; identifying a point detected by the touch-sensing; and obtaining a new teaching point based on the difference between the established teaching point and the detection point. With these steps, the teaching points are correctly updated by a touch sensor tracking without an additional equipment for optional sensor tracking, such as laser sensors, arc sensors, etc., thereby performing the welding operation along the correct welding path.

摘要翻译： 公开了一种用于校正焊接机器人的教导点的方法。 一种用于校正具有触摸传感器的焊接机器人的教导点的方法，包括以下步骤：将工件安装到焊接夹具; 在初始焊接点和终止焊接点之间建立至少一个教学点; 通过触摸传感器在与已建立的教学点相对应的点处触摸感测工件; 识别由触摸感测检测到的点; 并根据已建立的教学点与检测点之间的差异获得新的教学点。 通过这些步骤，通过触摸传感器跟踪正确地更新了教学点，而没有用于可选的传感器跟踪的附加设备，例如激光传感器，电弧传感器等，从而沿着正确的焊接路径执行焊接操作。

公开(公告)号：US6166509A

公开(公告)日：2000-12-26

申请号：US349001

申请日：1999-07-07

申请人： Gary Wyka ,  Jaime Carrera ,  Van Hoskins

发明人： Gary Wyka ,  Jaime Carrera ,  Van Hoskins

IPC分类号： B25J9/06 ,  B25J9/10 ,  B25J19/02 ,  B65G49/07 ,  G05B19/404 ,  H01L21/66 ,  H01L21/68 ,  G05B1/06

CPC分类号： G05B19/404 ,  G05B2219/36504 ,  G05B2219/45057 ,  G05B2219/50063 ,  H01L21/681 ,  Y10S414/136

摘要： The present invention provides a method and apparatus for determining whether a substrate is in a clamped or unclamped state on a robot blade and preferably allows the position of a properly clamped substrate to be compensated for misalignments due to substrates not at or very near to their nominal positions on the blade. A sensor unit comprising a radiation source and a detector and capable of transmitting and receiving a signal is mounted outside a transfer chamber and is positioned to direct the signal therein. A robot blade having a reflecting member is actuated through the transfer chamber and into the path of the signal. The reflecting member is preferably positioned on a clamp finger and causes the signal to be reflected to the detector of the sensor unit when the signal is incident on the reflecting member. As the reflecting member moves through the signal the output of the sensor unit switches states, thereby generating values corresponding to the position of the reflecting member. Positional information may be derived from these values by comparison to predetermined, nominal positional information. The substrate is determined to be either unclamped, in which case the system is halted for operator intervention, or clamped. If the substrate is clamped, the derived positional information can be used to make adjustments for deviations from a nominal position due to variations in the diameter of the substrate.

摘要翻译： 本发明提供了一种用于确定衬底在机器人刀片上是否处于夹紧或未夹紧状态的方法和装置，并且优选地允许由于不在或非常接近其标称的衬底而使适当夹紧的衬底的位置被补偿由于不对准 刀片上的位置。 包括辐射源和检测器并且能够发送和接收信号的传感器单元安装在传送室外部并被定位成将信号引导到其中。 具有反射构件的机器人刀片通过传送室被致动并进入信号的路径。 当信号入射到反射构件上时，反射构件优选地定位在夹钳上并使信号被反射到传感器单元的检测器。 当反射构件移动通过信号时，传感器单元的输出切换状态，从而产生与反射构件的位置对应的值。 通过与预定的标称位置信息进行比较，可以从这些值导出位置信息。 确定底物是松开的，在这种情况下，系统停止操作员干预或夹紧。 如果基板被夹紧，则导出的位置信息可以用于对由于基板的直径的变化引起的与标称位置的偏差进行调整。

公开(公告)号：US5387061A

公开(公告)日：1995-02-07

申请号：US950194

申请日：1992-09-24

申请人： William E. Barkman ,  Edwin F. Babelay ,  Paul D. DeMint ,  Thomas L. Hebble ,  Richard E. Igou ,  Richard R. Williams ,  Edward J. Klages ,  William H. Rasnick

发明人： William E. Barkman ,  Edwin F. Babelay ,  Paul D. DeMint ,  Thomas L. Hebble ,  Richard E. Igou ,  Richard R. Williams ,  Edward J. Klages ,  William H. Rasnick

IPC分类号： B23Q17/09 ,  B23Q17/24 ,  G05B19/401 ,  G05B19/42

CPC分类号： G05B19/401 ,  B23Q17/0985 ,  B23Q17/20 ,  B23Q17/22 ,  B23Q17/24 ,  B23Q3/1574 ,  G05B2219/34321 ,  G05B2219/36504 ,  G05B2219/37133 ,  G05B2219/37272 ,  G05B2219/37559 ,  G05B2219/49204 ,  G05B2219/49215 ,  G05B2219/50136 ,  G05B2219/50137 ,  G05B2219/50252 ,  Y10T409/300896 ,  Y10T409/303976

摘要： A compensation system for a computer-controlled machining apparatus having a controller and including a cutting tool and a workpiece holder which are movable relative to one another along preprogrammed path during a machining operation utilizes sensors for gathering information at a preselected stage of a machining operation relating to an actual condition. The controller compares the actual condition to a condition which the program presumes to exist at the preselected stage and alters the program in accordance with detected variations between the actual condition and the assumed condition. Such conditions may be related to process parameters, such as a position, dimension or shape of the cutting tool or workpiece or an environmental temperature associated with the machining operation, and such sensors may be a contact or a non-contact type of sensor or a temperature transducer.

摘要翻译： 一种具有控制器的计算机控制加工设备的补偿系统，其具有控制器并且包括可在加工操作期间沿预编程路径相对于彼此移动的切割工具和工件保持器，利用传感器在与加工操作相关的预选阶段收集信息 达到实际状况。 控制器将实际条件与程序假设存在于预选阶段的条件进行比较，并根据检测到的实际条件与假定条件之间的变化来改变程序。 这些条件可能与工艺参数有关，例如切削工具或工件的位置，尺寸或形状或与加工操作有关的环境温度，并且这种传感器可以是接触式或非接触型传感器或 温度传感器。