公开(公告)号：US20130189903A1

公开(公告)日：2013-07-25

申请号：US13356038

申请日：2012-01-23

申请人： Todd George KUDAS ,  Brian David ALBIN

发明人： Todd George KUDAS ,  Brian David ALBIN

IPC分类号： B24B51/00

CPC分类号： B25J9/1697 ,  B24B19/14 ,  B24B27/0038 ,  B25J9/06 ,  B25J11/0055 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/2619 ,  G05B2219/39391 ,  G05B2219/40425 ,  G05B2219/45058

摘要： A method system and apparatus for cutting turbine bucket covers on a turbine rotor includes marking a cut path on a surface of the turbine bucket cover. The cut path includes a plurality of finite lines defined by a pair of end points, then directing a laser at each end point of each line of the cut path, storing a set of position coordinates of each end point for every line of the cut path; generating the cut path based on the respective end points; and following the cut path on the turbine bucket cover with a grinding machine attached to a robotic device; and cutting the turbine bucket cover according to the cut path.

摘要翻译： 一种用于在涡轮转子上切割涡轮机桶盖的方法系统和装置，包括在涡轮机罩盖的表面上标记切割路径。 切割路径包括由一对端点限定的多个有限线，然后在切割路径的每条线的每个端点处引导激光，存储针对切割路径的每一行的每个端点的一组位置坐标 ; 基于各个端点产生切割路径; 并且利用连接到机器人装置的研磨机沿着所述涡轮机斗盖上的切割路径; 并根据切割路径切割涡轮机罩盖。

公开(公告)号：US07340323B2

公开(公告)日：2008-03-04

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B15/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US5851136A

公开(公告)日：1998-12-22

申请号：US900812

申请日：1997-07-25

申请人： Lawrence L. Lee

发明人： Lawrence L. Lee

IPC分类号： B24B7/24 ,  B24B37/04 ,  B24B37/10 ,  B24B37/30 ,  B24B37/32 ,  G05B19/18 ,  H01L21/304 ,  B24B49/04

CPC分类号： B24B37/105 ,  B24B37/042 ,  B24B37/30 ,  B24B37/32 ,  B24B7/241 ,  G05B19/182 ,  G05B2219/43142 ,  G05B2219/45058 ,  G05B2219/45232

摘要： A method and apparatus is disclosed for polishing the face of a semiconductor wafer. The wafer is held in position by a tooling head and is contacted by an abrasive pad. A table is provided on to which the abrasive pad is fixedly attached, both of which move in directions parallel to the face of the wafer being polished. A controller controls the motion of the table according to a predetermined polishing pattern and is capable of maintaining a constant velocity between the wafer and the abrasive pad. The tooling head includes a circular platen and a retention ring peripherally oriented about the outer edge of the platen which resists lateral forces on the wafer caused by engagement of the face of the wafer with the polishing surface. An adjustable coupling is mounted to the platen and the ring, and serves to adjustably position during polishing the height of the ring relative to the face of the wafer as well as to rigidly support during polishing the position of the retaining ring. A flexible disk is fixedly mounted between a support post and the platen and oriented substantially parallel to the face of the platen. The flexible disk is adapted to prevent rotation of the platen about the axis of the support post and to transmit forces between the platen and the post in directions parallel to the face of the platen.

公开(公告)号：US5711697A

公开(公告)日：1998-01-27

申请号：US737604

申请日：1996-11-25

申请人： Tadashi Taninaga ,  Tetsuya Ogawa

发明人： Tadashi Taninaga ,  Tetsuya Ogawa

IPC分类号： B24B27/04 ,  B24B49/16 ,  B25J9/16 ,  B25J9/18 ,  B24B49/00

CPC分类号： B24B27/04 ,  B24B49/16 ,  B25J11/0065 ,  B25J9/1679 ,  G05B2219/37285 ,  G05B2219/37583 ,  G05B2219/39468 ,  G05B2219/45058 ,  G05B2219/49074 ,  G05B2219/49075 ,  Y10T483/17 ,  Y10T483/1736 ,  Y10T483/18

摘要： When the amount of a change in load current supplied to a grinder is not more than a predetermined threshold value, the amount of piercing into a workpiece by the grinder is controlled according to the load current. When the amount of a change in load current exceeds the predetermined threshold value, the grinding speed of the grinder is controlled according to the load current. When performing a plurality of operations with one robot, a position correction value calculated in one operation is utilized to correct a target position in another operation.

摘要翻译： PCT No.PCT / JP95 / 01197 Sec。 371日期：1996年11月25日 102（e）日期1996年11月25日PCT归档1995年6月16日PCT公布。 WO95 / 35187 PCT出版物 日期1995年12月28日当提供给研磨机的负载电流的变化量不大于预定阈值时，根据负载电流来控制由研磨机刺入工件的量。 当负载电流变化量超过预定阈值时，根据负载电流来控制研磨机的磨削速度。 当使用一个机器人执行多个操作时，利用在一个操作中计算的位置校正值来校正另一个操作中的目标位置。

公开(公告)号：US09855636B2

公开(公告)日：2018-01-02

申请号：US14978501

申请日：2015-12-22

申请人： FerRobotics Compliant Robot Technology GmbH

发明人： Ronald Naderer

IPC分类号： B24B49/00 ,  B24B49/16 ,  B25J9/16 ,  G05B19/416

CPC分类号： B24B49/006 ,  B24B49/16 ,  B25J9/1694 ,  G05B19/416 ,  G05B2219/40071 ,  G05B2219/43132 ,  G05B2219/45058

摘要： A robot-supported grinding method is described. In accordance with one example of the invention, the grinding method includes contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to the tool center point (TCP) of a manipulator. The method further includes controlling an actuator that influences the grinding tool or the workpiece to produce a grinding force between the grinding tool and the workpiece, as well as measuring an actual deflection of the actuator. The rotational velocity of the grinding tool is adjusted depending on the measured actual deflection of the actuator and a reference deflection of the actuator.

公开(公告)号：US20170021505A1

公开(公告)日：2017-01-26

申请号：US15302448

申请日：2015-03-25

申请人： WOBBEN PROPERTIES GMBH

发明人： Frank KNOOP ,  Rainer SCHLÜTER ,  Thomas MÜNK ,  Rolf CONERS

IPC分类号： B25J11/00 ,  G05B19/409 ,  G05B19/402 ,  G05B11/01 ,  B25J5/02 ,  B25J5/06

CPC分类号： B25J11/005 ,  B25J5/02 ,  B25J5/06 ,  F03D1/0691 ,  F03D80/00 ,  F05B2230/10 ,  F05B2230/21 ,  G05B11/01 ,  G05B19/402 ,  G05B19/409 ,  G05B2219/45044 ,  G05B2219/45058 ,  G05B2219/45151 ,  Y02P70/523

摘要： An apparatus for automated machining, such as grinding, cutting and/or deburring, of workpieces, in particular of cast components, e.g., of wind turbines. For this purpose, the apparatus comprises a motor spindle for machining the workpiece, the motor spindle having a tool interface for receiving a tool for the machining operation. Moreover, the motor spindle is designed, in particular, to change a tool automatically. In addition, the apparatus comprises a robot for holding and guiding the motor spindle, and a control unit for controlling the motor spindle and the robot. The disclosure additionally relates to a method for automated machining of workpieces.

摘要翻译： 用于自动加工的装置，例如研磨，切割和/或去毛刺工件，特别是诸如风力涡轮机的铸件。 为此，该装置包括用于加工工件的电动机主轴，电动机主轴具有用于接收用于加工操作的工具的工具接口。 此外，电机主轴的设计特别是自动更换工具。 此外，该装置包括用于保持和引导电动机主轴的机器人，以及用于控制电动机主轴和机器人的控制单元。 本公开另外涉及一种用于工件的自动加工的方法。

公开(公告)号：US20070225862A1

公开(公告)日：2007-09-27

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B19/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US5880956A

公开(公告)日：1999-03-09

申请号：US607750

申请日：1996-02-27

申请人： Timothy L. Graf

发明人： Timothy L. Graf

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  B25J13/00 ,  G05B19/4069 ,  G05B19/42 ,  G05B19/423 ,  G05B19/18

CPC分类号： B25J9/1671 ,  G05B19/423 ,  G05B2219/39198 ,  G05B2219/40403 ,  G05B2219/45058 ,  G05B2219/45151

摘要： A lead-through robot programming system for programming a robot to drive an end effector through a series of desired path points along a desired path with respect to a workstation. The system includes a six DOF digitizing arm having a working end, an end effector model mounted to the working end, a workstation model, and a programming computer system. A user manipulates the working end to move the end effector model through a model path with respect to the workstation model. At selected model path points, the digitizing arm generates model path point data representing the position and orientation of the end effector model with respect to the workstation model. The programming computer system includes a video monitor, a user interface, and memory for storing data including the model path point data, robot simulation and motion program generation software, and models of the robot, workstation and end effector. The simulation and motion program generation software is run as a function of the model path point data to generate motion-control program segments that direct the robot to drive the end effector through the desired path. The simulation and motion program generation software also generates graphic images of the robot driving the end effector through the desired path. Interactively controlling the simulation and motion program generation software through the interface, and using visual feedback provided by the monitor, the user performs collision and out-of-range checking and singularity point identification, and optimizes the motion-control program segments.

摘要翻译： 一种直通机器人编程系统，用于对机器人进行编程，以通过沿着相对于工作站的期望路径的一系列期望的路径点来驱动末端执行器。 该系统包括具有工作端的六自由度数字化臂，安装到工作端的端部执行器模型，工作站模型和编程计算机系统。 用户操纵工作端以通过相对于工作站模型的模型路径移动末端执行器模型。 在选定的模型路径点，数字化臂产生代表端部执行器模型相对于工作站模型的位置和方位的模型路径点数据。 编程计算机系统包括视频监视器，用户界面和用于存储包括模型路径点数据，机器人仿真和运动程序生成软件以及机器人，工作站和末端执行器的模型的数据的存储器。 模拟和运动程序生成软件作为模型路径点数据的函数运行，以生成引导机器人通过所需路径驱动末端执行器的运动控制程序段。 仿真和运动程序生成软件还生成通过所需路径驱动末端执行器的机器人的图形图像。 通过界面交互控制仿真和运动程序生成软件，并使用监视器提供的视觉反馈，用户执行碰撞和超出范围检查和奇异点识别，并优化运动控制程序段。

公开(公告)号：US5509847A

公开(公告)日：1996-04-23

申请号：US49426

申请日：1993-04-20

申请人： Makoto Jinno ,  Takashi Yoshimi

发明人： Makoto Jinno ,  Takashi Yoshimi

IPC分类号： B23Q17/09 ,  B24B27/04 ,  B24B49/16 ,  B24B51/00 ,  B25J9/16 ,  B25J9/18 ,  B24B49/02

CPC分类号： B25J9/1638 ,  B23Q17/0961 ,  B23Q17/0966 ,  B23Q17/10 ,  B24B27/04 ,  B24B49/16 ,  B24B51/00 ,  B25J11/0065 ,  B25J9/1684 ,  G05B2219/45058

摘要： Disclosed is a control robot having a machining tool comprising a rotatable tool for grinding at the distal end of the robot arm thereof so as to carry out grinding work with pressing the machining tool against the surface of a work to be machined under predetermined pressure, comprising a posture control shaft for controlling the posture of the machining tool provided at the robot arm; a rotation shaft of the rotatable tool; and arrangement in which the posture control shaft and the rotation shaft of the rotatable tool are respectively arranged in different axial directions.

摘要翻译： 公开了一种具有加工工具的控制机器人，其包括用于在其机器人臂的远端进行研磨的可旋转工具，以便在预定压力下将加工工具压靠在待加工的工件的表面上进行研磨加工，包括 姿势控制轴，用于控制设置在所述机器人臂处的所述加工工具的姿势; 旋转工具的旋转轴; 并且其中姿态控制轴和可旋转工具的旋转轴分别布置在不同的轴向上的布置。

公开(公告)号：US5193314A

公开(公告)日：1993-03-16

申请号：US838942

申请日：1992-02-21

申请人： David Wormley ,  Edward A. Agranat

发明人： David Wormley ,  Edward A. Agranat

IPC分类号： B24B19/14 ,  B24B21/16 ,  B24B47/25 ,  G05B19/18

CPC分类号： B24B47/25 ,  B24B19/14 ,  B24B21/16 ,  G05B19/184 ,  G05B2219/35116 ,  G05B2219/45058 ,  G05B2219/49244 ,  G05B2219/50336 ,  G05B2219/50356

摘要： A grinding machine is particularly adapted to produce blades and buckets of the kind used in turbines and other objects having complex curved surfaces. Data blocks representing the surface of the object to be created are stored in a computer that controls the machine to finish a rough blank into the final object. An abrasive belt passes over a nose roller to make a line contact with the workpiece. The belt and the workpiece are subject to six computer-controlled degrees of freedom: three in translation and three in rotation. The supporting arm of the nose roller can be moved angularly about the belt contact point while the nose roller can be adjusted about a perpendicular axis through the contact point of the belt. Feedback controls indicate the position of and the motion velocity about the six axes. A positional feedback indicates the precise position of the workpiece at the finishing point to permit automatic compensation for belt wear.

摘要翻译： 研磨机特别适用于生产用于涡轮机和具有复杂曲面的其它物体的刀片和铲斗。 表示要创建的对象的表面的数据块存储在控制机器的计算机中，以将粗略的空白完成到最终对象中。 研磨带通过鼻辊以与工件线接触。 皮带和工件受六个计算机控制的自由度：三个平移和三个旋转。 鼻辊的支撑臂可以围绕带接触点成角度地移动，而鼻辊可以通过带的接触点围绕垂直轴线调节。 反馈控制指示关于六个轴的位置和运动速度。 位置反馈指示工件在精加工点的精确位置，以便自动补偿皮带磨损。