公开(公告)号：US20180164788A1

公开(公告)日：2018-06-14

申请号：US15787889

申请日：2017-10-19

申请人： OMRON Corporation

发明人： Junji SHIMAMURA ,  Fumimasa KATAYAMA

IPC分类号： G05B19/418 ,  B25J9/00 ,  B25J9/16 ,  B65G43/00

CPC分类号： G05B19/4189 ,  B25J9/0093 ,  B25J9/1697 ,  B65G43/00 ,  G05B19/41815 ,  G05B19/4182 ,  G05B2219/2205 ,  G05B2219/31078 ,  G05B2219/37614 ,  G05B2219/39102 ,  G05B2219/40007 ,  G05B2219/40554 ,  Y02P90/08 ,  Y02P90/083 ,  Y02P90/28

摘要： A production system includes a manufacturing apparatus, a post-processing apparatus, conveyors for transporting workpieces manufactured by the manufacturing apparatus to the post-processing apparatus, an image sensor arranged above a conveyor connected to the manufacturing apparatus to recognize workpieces traveling on the conveyor and measure the workpiece density on the conveyor, a robot that picks each workpiece on the conveyor connected to the manufacturing apparatus, and a controller. The controller performs a first task for identifying each workpiece position on the conveyor using a recognition result from the image sensor and causing the robot to pick a target workpiece, a second task for processing in the manufacturing apparatus, a third task for processing in the post-processing apparatus, and a fourth task for adjusting a processing capability of the manufacturing apparatus and/or the post-processing apparatus using the workpiece density measured by the image sensor.

公开(公告)号：US06282461B1

公开(公告)日：2001-08-28

申请号：US09349981

申请日：1999-07-09

申请人： Zhongxue Gan ,  Lance T. Fitzgibbons ,  Jeffrey S. Katz

发明人： Zhongxue Gan ,  Lance T. Fitzgibbons ,  Jeffrey S. Katz

IPC分类号： G05B1500

CPC分类号： G06T7/0004 ,  B25J9/1697 ,  G05B2219/37614 ,  G05B2219/40613 ,  G05B2219/4701 ,  G06T7/74 ,  G06T7/80

摘要： An independent tube position verification system includes a TV camera (16) mounted on an end effector (EE) of a robotic arm (20) mounted in a steam generator (10) beneath the tube sheet (12) to visually track changes in position as the end effector (EE) is moved across the tube sheet (12) by a robotic arm (20). The tube sheet (12) and the tube ends (14) thereof are illuminated by one or more light sources (18) at an oblique angle to cause the desirable presence of shadows in the field of view. The TV camera (16) outputs successive image frames so that displacement of a artifact in the image field in successive frames yields physical displacement information which is converted into velocity and direction information. Changes in position determined by the verification system are compared against position information maintained by the robotic arm (20); any mis-match indicates a loss of tracking integrity requiring a system re-calibration.

摘要翻译： 独立管位置验证系统包括安装在安装在管板（12）下方的蒸汽发生器（10）中的机器人臂（20）的末端执行器（EE）上的电视摄像机（16），以可视地跟踪位置变化 端部执行器（EE）通过机械手臂（20）移动穿过管板（12）。 管板（12）及其管端（14）由一个或多个光源（18）以倾斜角度照射，从而在视野中产生希望的阴影存在。 电视摄像机（16）输出连续的图像帧，使得连续帧中的图像场中的伪影的位移产生被转换成速度和方向信息的物理位移信息。 将由验证系统确定的位置的变化与由机器人臂（20）维护的位置信息进行比较; 任何错误表示丢失跟踪完整性，需要进行系统重新校准。

公开(公告)号：US5625561A

公开(公告)日：1997-04-29

申请号：US379950

申请日：1995-01-27

申请人： Chisato Kato ,  Yoshihiko Yamakawa

发明人： Chisato Kato ,  Yoshihiko Yamakawa

IPC分类号： B23Q15/04 ,  B23Q15/00 ,  G05B19/18 ,  G05B19/401 ,  G05B19/404 ,  G06F19/00 ,  G06G7/64 ,  G06G7/66

CPC分类号： G05B19/401 ,  G05B2219/34065 ,  G05B2219/37345 ,  G05B2219/37525 ,  G05B2219/37536 ,  G05B2219/37574 ,  G05B2219/37576 ,  G05B2219/37614 ,  G05B2219/37615 ,  G05B2219/45156 ,  G05B2219/45161 ,  G05B2219/49168 ,  G05B2219/49277 ,  G05B2219/50008 ,  G05B2219/50307

摘要： An apparatus for feedback adjusting the working condition of a working machine on the basis of measured dimensions of processed workpieces, including a determining device for determining automatic and manual compensating values, and an applying device for applying the automatic and manual compensating values (Ui, U') to a machine controller for adjusting the machine working condition. The determining device determines the automatic compensating value on the basis of first or second estimated dimensional values of the workpieces obtained in an automatic compensating cycle. Each first estimated dimensional value is a sum of an actually measured dimension (X) of the workpiece and a last compensating value (U'), while each second estimated dimensional value is a sum of the actually measured dimension, the last compensating value and a previous compensating value (Ui-2, Ui-1) preceding the last compensating value. Also disclosed is a method of feedback adjusting the machine working condition.

摘要翻译： 一种用于基于经处理的工件的测量尺寸反馈调整工作机器的工作状态的装置，包括用于确定自动和手动补偿值的确定装置，以及用于施加自动和手动补偿值（Ui，U '）到机器控制器，用于调整机器工作状态。 确定装置基于在自动补偿周期中获得的工件的第一或第二估计尺寸值来确定自动补偿值。 每个第一估计尺寸值是工件的实际测量尺寸（X）和最后补偿值（U'）的和，而每个第二估计尺寸值是实际测量尺寸，最后补偿值和 先前的补偿值（Ui-2，Ui-1）。 还公开了一种反馈调整机器工作状态的方法。

公开(公告)号：US20180334336A1

公开(公告)日：2018-11-22

申请号：US15949396

申请日：2018-04-10

申请人： FANUC CORPORATION

发明人： Hiroshi OOWATARI

IPC分类号： B65G47/90 ,  B25J15/02 ,  B25J9/16

CPC分类号： B65G47/905 ,  B25J9/0093 ,  B25J9/1697 ,  B25J15/0253 ,  B25J19/023 ,  B65G43/08 ,  B65G47/1457 ,  G05B2219/37614 ,  G05B2219/40235 ,  Y10S901/09 ,  Y10S901/31 ,  Y10S901/47

摘要： Articles are continuously supplied to a robot by control circulation speed. In a supply control device for controlling a circulation device that causes an article to circulate in a system that includes the circulation device, and a robot that retrieves the article during circulation with the circulation device, the supply control device includes: a detection unit that detects the article circulating with the circulation device, and a position of the article; a measurement unit that measures a number of the articles in a predetermined region on the circulation device, based on detection results of the detection unit; and a control unit that controls a speed of circulation of the circulation device according to the number of the articles in the predetermined region measured by the measurement unit.

公开(公告)号：US20180213160A1

公开(公告)日：2018-07-26

申请号：US15875663

申请日：2018-01-19

申请人： TOSHIBA TEC KABUSHIKI KAISHA

发明人： Takashi TOMIYAMA

IPC分类号： H04N5/232 ,  H04N7/18 ,  G06K9/00 ,  G06Q10/08 ,  G05B19/402

CPC分类号： H04N5/23296 ,  B25J5/007 ,  B25J9/162 ,  B25J19/023 ,  B65G1/1371 ,  G01B21/16 ,  G01J5/0003 ,  G05B19/402 ,  G05B19/4183 ,  G05B2219/37614 ,  G05B2219/40298 ,  G05B2219/40572 ,  G05B2219/45045 ,  G06K9/00664 ,  G06Q10/08 ,  G06Q10/087 ,  H04N7/183 ,  Y02P90/04 ,  Y02P90/10

摘要： In one embodiment, an information collecting apparatus has a sensor, an arm, an arm drive mechanism, and a processor. The processor controls the arm drive mechanism to make the arm operate, and thereby makes the sensor move in the vicinity of an article arranged in a shelf. The processor acquires information indicating a state of the article to be measured by the sensor.

公开(公告)号：US3983376A

公开(公告)日：1976-09-28

申请号：US524212

申请日：1974-11-15

申请人： Mario Pozzetti

发明人： Mario Pozzetti

IPC分类号： B23Q15/04 ,  B24B49/04 ,  G06G7/18

CPC分类号： G06G7/18 ,  B23Q15/04 ,  B24B49/04 ,  G05B2219/37345 ,  G05B2219/37525 ,  G05B2219/37536 ,  G05B2219/37576 ,  G05B2219/37614 ,  G05B2219/50182 ,  G05B2219/50276 ,  G05B2219/50307 ,  Y10T408/05

摘要： An apparatus for controlling a machine tool which includes a measuring head for measuring a dimension (i.e. a diameter) of a workpiece, a detector for detecting and holding the maximum dimension measured by the measuring head, a circuit for determining the mean dimension of a plurality of measurements, a circuit for determining the dispersion between the measured dimensions and the mean, and a counter for inhibiting the control operation until a predetermined minimum number of workpieces have been measured.

摘要翻译： 一种用于控制机床的装置，其包括用于测量工件的尺寸（即，直径）的测量头，用于检测和保持由测量头测量的最大尺寸的检测器，用于确定多个测量头的平均尺寸的电路 的测量值，用于确定测量尺寸和平均值之间的色散的电路，以及用于抑制控制操作的计数器，直到已经测量了预定的最小数量的工件。

公开(公告)号：US3809874A

公开(公告)日：1974-05-07

申请号：US27371272

申请日：1972-07-21

申请人： FINIKE ITALIANA MARPOSS

发明人： POZZETTI M ,  MORDINI C

IPC分类号： B23Q15/04 ,  B24B49/04 ,  G06G7/18

CPC分类号： B24B49/04 ,  B23Q15/04 ,  G05B2219/37345 ,  G05B2219/37525 ,  G05B2219/37536 ,  G05B2219/37576 ,  G05B2219/37614 ,  G05B2219/50182 ,  G05B2219/50276 ,  G05B2219/50307 ,  G06G7/18

摘要： A device for calculating the mean value of a succession of data including a storage capacitor memory element for storing the mean value of a succession of input data, and a control element connected to the storage capacitor for controlling the charging and discharging of the capacitor, the control element also applying a predetermined percentage of the last data piece to the memory element and discharging the same percentage of the mean value previously stored in the memory element.

摘要翻译： 一种用于计算包括用于存储一系列输入数据的平均值的存储电容器存储元件的连续数据的平均值的装置，以及连接到用于控制电容器的充电和放电的存储电容器的控制元件， 控制元件还将最后一个数据段的预定百分比施加到存储器元件，并且将先前存储在存储元件中的平均值的相同百分比排除。