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    Apparatus and method for situating a tool with respect to a work site on a workpiece
    1.
    发明授权
    Apparatus and method for situating a tool with respect to a work site on a workpiece 有权
    相对于工件上的工作现场来定位工具的装置和方法

    公开(公告)号：US07259535B1

    公开(公告)日：2007-08-21

    申请号：US11430453

    申请日：2006-05-08

    申请人： Thomas W. Pastusak ,  Gregory L. Clark

    发明人： Thomas W. Pastusak ,  Gregory L. Clark

    IPC分类号： B25J15/02

    CPC分类号： B25J9/1684 ,  G05B19/4207 ,  Y10T74/20305 ,  Y10T74/20317

    摘要： An apparatus coupled with a mechanism and cooperating with the mechanism to locate an end-effector within a predetermined distance of a work site for situating the end-effector with respect to the work site includes: (a) a positioning unit coupled with the end-effector for moving the end-effector an adjustment distance with respect to the workpiece; (b) a sensing unit coupled with the apparatus for sensing extant locus of the end-effector with respect to at least one reference locus; and (c) an error determining device coupled with the sensing unit and the positioning unit; the error determining device determining a difference between the extant locus and the work locus. The positioning unit moves the end-effector in response to the difference indicating signal to reduce the difference.

    摘要翻译： 一种与机构相结合并与机构相配合的装置，用于将工作现场的预定距离内的末端执行器定位成使末端执行器相对于工作现场位置包括：（a）定位单元， 用于使所述末端执行器相对于所述工件移动调整距离; （b）感测单元，与所述装置耦合，用于相对于至少一个参考轨迹感测所述末端执行器的存在轨迹; 和（c）与感测单元和定位单元耦合的误差确定装置; 误差确定装置确定现存轨迹和作业轨迹之间的差异。 定位单元响应差值指示信号移动末端执行器以减小差异。

    Software for improving the accuracy of machines
    2.
    发明授权
    Software for improving the accuracy of machines 失效
    提高机器精度的软件

    公开(公告)号：US06980881B2

    公开(公告)日：2005-12-27

    申请号：US10644149

    申请日：2003-08-20

    申请人： Thomas A. Greenwood ,  Thomas W. Pastusak

    发明人： Thomas A. Greenwood ,  Thomas W. Pastusak

    IPC分类号： B25J9/16 ,  G05B19/401 ,  G06F19/00

    CPC分类号： G05B19/401 ,  B25J9/1692 ,  G05B2219/39033 ,  G05B2219/49207 ,  G05B2219/50057

    摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.

    摘要翻译： 大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。 传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。 这些解决方案是昂贵的，可能需要经常重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量后向反射器的位置 连接到末端执行器，例如 当机器休息时机头。 计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。

    Real-time orientation of machine media to improve machine accuracy
    3.
    发明授权
    Real-time orientation of machine media to improve machine accuracy 失效
    实时定位机器介质，提高机器精度

    公开(公告)号：US5949685A

    公开(公告)日：1999-09-07

    申请号：US868414

    申请日：1997-06-03

    申请人： Thomas A. Greenwood ,  Thomas W. Pastusak

    发明人： Thomas A. Greenwood ,  Thomas W. Pastusak

    IPC分类号： G05B19/404 ,  G06F19/00 ,  G06G7/66

    CPC分类号： G05B19/404

    摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining. The present invention scales the media statements for changes in the part that occur during its manufacture or inspection.

    摘要翻译： 大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。 传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。 这些解决方案是昂贵的，可能需要经常重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量后向反射器的位置 连接到末端执行器，例如 当机器休息时机头。 计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。 本发明对于在其制造或检验期间发生的部件变化而缩放媒体说明。

    Method for improving the accuracy of machines
    4.
    发明授权
    Method for improving the accuracy of machines 失效
    提高机器精度的方法

    公开(公告)号：US06681145B1

    公开(公告)日：2004-01-20

    申请号：US08867857

    申请日：1997-06-03

    申请人： Thomas A. Greenwood ,  Thomas W. Pastusak

    发明人： Thomas A. Greenwood ,  Thomas W. Pastusak

    IPC分类号： G06F1900

    CPC分类号： G05B19/401 ,  B25J9/1692 ,  G05B2219/39033 ,  G05B2219/49207 ,  G05B2219/50057

    摘要： Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroreflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.

    摘要翻译： 大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。 传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。 这些解决方案是昂贵的，可能需要经常重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量后向反射器的位置 连接到末端执行器，例如 当机器休息时机头。 计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。