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    Tool position referencing for CNC machines
    2.
    发明授权
    Tool position referencing for CNC machines 有权
    CNC机床的刀具位置参考

    公开(公告)号：US07252466B1

    公开(公告)日：2007-08-07

    申请号：US11531064

    申请日：2006-09-12

    申请人： Gerald V. Roch

    发明人： Gerald V. Roch

    IPC分类号： B23C1/06 ,  B23Q15/24 ,  B23Q17/22

    CPC分类号： G05B19/4015 ,  B23Q17/2233 ,  G05B2219/50023 ,  G05B2219/50026 ,  Y10T408/172 ,  Y10T408/173 ,  Y10T409/306888 ,  Y10T409/308624

    摘要： A CNC machining center has a table-mounted referencing device having two pedestals, each separately engageable by a tool in a Z-axis drive tool holder to establish a zero reference for vertical machining operations on a work-piece mounted on the table. The first of the pedestals has a relatively soft top so that rapid Z-axis advance of the tool onto the pedestal will not damage the tool tip. A spring load on the pedestal also accommodates limited downward movement from a rest position for the pedestal to operate a Z-axis drive stop switch to further avoid tool damage and to save in the computer controller memory, the height of the tool tip from the table. The second pedestal is provided with a hard top so that when the tool tip is touched on it and moves the hard pedestal to operate the switch 34, the Z-axis drive recorder records in controller memory a number that is precisely related to the height of the tool tip from the table.

    摘要翻译： 数控加工中心具有一个具有两个基座的台式参考装置，每个基座可单独地通过Z轴驱动工具夹具中的工具接合，以便在安装在工作台上的工件上建立垂直加工操作的零参考。 基座中的第一个具有相对较软的顶部，使得工具快速的Z轴前进到基座上不会损坏刀尖。 基座上的弹簧载荷也适应从底座的静止位置的有限向下运动，以操作Z轴驱动停止开关，以进一步避免工具损坏并将计算机控制器存储器中的刀尖高度从工作台 。 第二基座设置有硬顶，使得当工具尖端被触摸并移动硬基座以操作开关34时，Z轴驱动记录器在控制器存储器中记录一个数字，其高度与 工具提示从桌子。

    Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices
    3.
    发明授权
    Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices 有权
    用于校准机器人测量站，操纵器和相关的光学测量装置的方法和装置

    公开(公告)号：US06615112B1

    公开(公告)日：2003-09-02

    申请号：US10019345

    申请日：2002-04-01

    申请人： Eberhard Roos

    发明人： Eberhard Roos

    IPC分类号： G05B1904

    CPC分类号： B25J9/1692 ,  G01B3/30 ,  G01B21/04 ,  G01B21/042 ,  G05B19/4015 ,  G05B2219/37068 ,  G05B2219/39024 ,  G05B2219/40613 ,  G05B2219/45061 ,  G05B2219/50026

    摘要： A method and device is provided for multistage calibration of multiple-axis measuring robots (6) and associated optical measuring devices (10), especially 3D sensors, in a measuring station (1) for workpieces (2), preferably the bodyshells of motor vehicles. Calibration occurs in a measuring cascade comprising at least three calibrating steps, whereby the optical measuring device (10) and the operating point (28) thereof, the manipulator (6) and the axes thereof and the allocation of the manipulator (6) with respect to the workpiece (2) are successively calibrated. The calibration device (47) includes a control and a calibration system (27) for the operating point (28), a calibration body (15) for the axes of the manipulator and a calibration device (12) for the allocation of the manipulator with respect to the workpiece.

    摘要翻译： 提供了一种用于在用于工件（2）的测量站（1）中的多轴测量机器人（6）和相关联的光学测量装置（10），特别是3D传感器的多级校准的方法和装置，优选地是机动车辆的机身 。 校准发生在包括至少三个校准步骤的测量级联中，由此光学测量装置（10）及其操作点（28），操纵器（6）及其轴线以及操纵器（6）的分配与 对工件（2）进行连续校准。 所述校准装置（47）包括用于所述操作点（28）的控制和校准系统（27），用于所述操纵器的轴的校准体（15）和用于将所述操纵器与所述操纵器分配的校准装置（12） 相对于工件。

    Method and apparatus for calibrating the position of a tool and for gauging the dimension of a workpiece
    4.
    发明授权
    Method and apparatus for calibrating the position of a tool and for gauging the dimension of a workpiece 失效
    用于校准工具位置和测量工件尺寸的方法和装置

    公开(公告)号：US3795054A

    公开(公告)日：1974-03-05

    申请号：US3795054D

    申请日：1971-09-21

    申请人： AMERICAN WELDING MFG CO

    发明人： KINNEY J

    IPC分类号： G05B19/401 ,  G05B19/18 ,  G01B7/02

    CPC分类号： G05B19/4015 ,  B23Q17/2241 ,  G05B2219/37405 ,  G05B2219/50026

    摘要： In a machine tool, a calibration and gauging system comprising drive means for moving a tool or inspection probe to a commanded position which is beyond a calibration position. The calibration and gauging system also includes circuitry for developing a transfer signal when the tool or inspection probe has arrived at the commanded position and a ''''false'''' transfer signal when the tool or probe has arrived at the calibration position. The transfer signals initiate the next sequence of the machine tool program.

    摘要翻译： 在机床中，校准和测量系统包括用于将工具或检查探针移动到超出校准位置的命令位置的驱动装置。 校准和测量系统还包括当刀具或检测探头到达指令位置时用于显影传送信号的电路，以及当刀具或探头到达校准位置时的“错误”传送信号。 传输信号启动机床程序的下一个序列。

    Touch auto-calibration of process modules
    5.
    发明授权
    Touch auto-calibration of process modules 有权
    触摸过程模块的自动校准

    公开(公告)号：US09349629B2

    公开(公告)日：2016-05-24

    申请号：US14162566

    申请日：2014-01-23

    申请人： Lam Research Corporation

    发明人： Richard M. Blank ,  Peter S. Thaulad ,  Jacob Lee Hiester

    IPC分类号： H01L21/68 ,  H01L21/673 ,  H01L21/677 ,  H01L21/687

    CPC分类号： H01L21/68 ,  G05B2219/45031 ,  G05B2219/50026 ,  H01L21/673 ,  H01L21/67742 ,  H01L21/681 ,  H01L21/68707

    摘要： Methods and systems for the touch auto-calibration for robot placement of substrate in process modules are provided. Touch auto-calibration allows for the automatic calibration of robot end effector positioning with respect to an aligning base in a process module. Touch auto-calibration also allows for calibration of process modules at temperatures and pressures similar to the temperatures and pressures experienced during production. The end effector has one or more aligning surfaces configured to align it with the aligning base upon contact with the aligning base. After contact, the position of the end effector and the calibrated position of the end effector during a pick or place move can then be determined. In some implementations, the positioning of the end effector as it transfers a substrate during production is based on a placement coordinate with the placement correction applied.

    摘要翻译： 提供了用于在工艺模块中的基板的机器人放置的触摸自动校准的方法和系统。 触摸自动校准允许相对于过程模块中的对准基座自动校准机器人末端执行器定位。 触摸自动校准还可以在与生产过程中遇到的温度和压力相似的温度和压力下校准过程模块。 末端执行器具有一个或多个对准表面，其配置成在与对准基座接触时将其对准对准基座。 接触后，可以确定末端执行器的位置和末端执行器在拾取或位置移动期间的校准位置。 在一些实施方案中，端部执行器在生产期间传送基板的定位是基于施加位置校正的放置坐标。

    Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot
    6.
    发明授权
    Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot 有权
    用于确定机器人坐标系和位于机器人的工作范围内的局部坐标系之间的关系的方法和系统

    公开(公告)号：US07979159B2

    公开(公告)日：2011-07-12

    申请号：US12936520

    申请日：2008-04-30

    申请人： Peter Fixell

    发明人： Peter Fixell

    IPC分类号： G05B19/401 ,  B25J9/02

    CPC分类号： B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

    摘要： The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method includes attaching a first calibration object (10) in a fixed relation to the robot and determining the position of the first calibration object in relation to the robot. Then, locating at least three second calibration objects (14,15,16) in the working range of the robot, a reference position for each of the second calibration objects in the local coordinate system can be determined by moving the robot until the first calibration object is in mechanical contact with each second calibration object. By reading the position of the robot when the calibration objects are in mechanical contact the relation between the local coordinate system and the robot coordinate system can be calculated.

    摘要翻译： 本发明涉及一种用于确定位于工业机器人（1）的工作范围内的局部坐标系与机器人坐标系之间的关系的方法和系统。 该方法包括将固定关系中的第一校准对象（10）附接到机器人并且确定第一校准对象相对于机器人的位置。 然后，在机器人的工作范围内定位至少三个第二校准对象（14,15,16），可以通过移动机器人来确定局部坐标系中每个第二校准对象的参考位置，直到第一校准 物体与每个第二校准对象机械接触。 通过读取机器人的位置，当校准对象进行机械接触时，可以计算出局部坐标系与机器人坐标系之间的关系。

    Tool presetter and tool offset amount calculation method
    7.
    发明授权
    Tool presetter and tool offset amount calculation method 有权

    公开(公告)号：US06640676B2

    公开(公告)日：2003-11-04

    申请号：US10044978

    申请日：2002-01-15

    申请人： Katsuaki Ono

    发明人： Katsuaki Ono

    IPC分类号： B23B100

    CPC分类号： G05B19/404 ,  G05B2219/45125 ,  G05B2219/50026 ,  Y10T82/10 ,  Y10T82/2502 ,  Y10T408/08 ,  Y10T409/308624

    摘要： A tool presetter and a tool offset amount calculation method are provided which ensure easy and accurate determination of reference tool offset amounts in a machine tool having a pivotal tool spindle stock. The tool presetter is mounted in a composite lathe having a pivotal tool spindle stock 17. The tool presetter calculates tool offset amounts Oz (=A−Zm), Ox (=B−Xm) on the basis of machine coordinate values Zm, Xm of the tool spindle stock detected when a nose of a tool T is in contact with Z-axis and X-axis detection points of a presetter sensor 18 with the tool spindle stock 17 pivoted by a pivot angle &agr;, and machine coordinate values A, B of the Z-axis and X-axis detection points of the presetter sensor 18, and calculates reference tool offset amounts Lz, Lx from predetermined expressions on the basis of the tool offset amounts Ox, Oz and the pivot angle &agr; of the tool spindle stock 17.

    Datuming device for measuring displacements not parallel with a displacement probe's line of travel
    8.
    发明授权
    Datuming device for measuring displacements not parallel with a displacement probe's line of travel 失效
    用于测量与位移探头的行程不平行的位移的数据装置

    公开(公告)号：US5373222A

    公开(公告)日：1994-12-13

    申请号：US32580

    申请日：1993-03-17

    申请人： R. David Hemmerle ,  Charles W. Muchmore ,  William D. Rouse ,  Timothy M. Heitzman

    发明人： R. David Hemmerle ,  Charles W. Muchmore ,  William D. Rouse ,  Timothy M. Heitzman

    IPC分类号： G01B11/26 ,  G05B19/401 ,  G01B21/04

    CPC分类号： G01B11/26 ,  G05B19/401 ,  G05B2219/37368 ,  G05B2219/37619 ,  G05B2219/41059 ,  G05B2219/50026 ,  G05B2219/50029

    摘要： A datuming device is provided for use with a machine tool having a movable member which is guided under computer numerical control. The datuming device permits measurement of displacements in a direction not parallel with a displacement probe's line of travel. The device includes a non-sensitive surface which, when probed by the displacement probe, does not indicate a changing displacement when the movable member is moved from a first position to a second position. The nonsensitive surface serves as a reference surface. The device further includes a sensitive surface which, when probed by the displacement probe, exhibits a changing displacement when the movable member is moved from the first position to the second position. The sensitive surface is generally configured as an inclined surface on the datuming device.

    摘要翻译： 提供了一种与具有在计算机数字控制下引导的可移动部件的机床一起使用的数据设备。 数据装置允许在与位移探针的行进线不平行的方向上测量位移。 该装置包括非敏感表面，当由可移动元件从第一位置移动到第二位置时，由位移探测器探测到的不敏感表面不表示变化的位移。 非敏感表面用作参考表面。 该装置还包括敏感表面，当敏感表面被位移探头探测时，当可动构件从第一位置移动到第二位置时，敏感表面呈现出改变位移。 敏感表面通常被配置为数据设备上的倾斜表面。