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公开(公告)号：US20100191376A1
公开(公告)日：2010-07-29
申请号：US12755950
申请日：2010-04-07
申请人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
发明人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
IPC分类号： G05B15/00
CPC分类号： B25J9/1617 , G05B2219/33189 , G05B2219/33192 , G05B2219/40099 , G05B2219/45233
摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.
摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。
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公开(公告)号：US08060257B2
公开(公告)日：2011-11-15
申请号：US12755950
申请日：2010-04-07
申请人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
发明人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
IPC分类号： G06F19/00
CPC分类号： B25J9/1617 , G05B2219/33189 , G05B2219/33192 , G05B2219/40099 , G05B2219/45233
摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.
摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。
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公开(公告)号：US07720570B2
公开(公告)日：2010-05-18
申请号：US10956679
申请日：2004-10-01
申请人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
发明人： Eric Close , Adam Slifko , Edison T. Hudson , Ronald G. Genise
IPC分类号： G06F19/00
CPC分类号： B25J9/1617 , G05B2219/33189 , G05B2219/33192 , G05B2219/40099 , G05B2219/45233
摘要： Systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with a tool head interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads to perform various work functions. The robot and tool head may include several levels of digital feedback (local, remote and wide area) depending on the application. The systems include a single umbilical cord to send power, air, and communications signals between the robot and a remote computer. Additionally, all communication (including video) is preferably sent in a digital format. Finally, a GUI running on the remote computer automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks.
摘要翻译： 用于遥控机器人的系统，方法和设备，其包括可互换的工具头。 尽管适用于许多不同的行业，系统的核心结构包括具有工具头接口的机器人，用于机械地，电动地和可操作地互连多个可互换的工具头以执行各种工作功能。 取决于应用，机器人和工具头可以包括数个级别的数字反馈（局部，远程和广泛的区域）。 这些系统包括单个脐带，用于在机器人和远程计算机之间发送电力，空气和通信信号。 另外，所有通信（包括视频）优选地以数字格式发送。 最后，在远程计算机上运行的GUI自动查询并识别网络上的所有各种设备，并自动配置其用户选项以并行安装的设备。 根据优选实施例的系统在流水线技术中找到特定应用。 例如，可互换的工具头可以设计成便于检查，碎片清除，清洁，重新排列，重新排列后的横向切割，映射以及各种其他常见的管道相关任务。
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公开(公告)号：US06988008B2
公开(公告)日：2006-01-17
申请号：US09803001
申请日：2001-03-09
IPC分类号： G01B15/00
CPC分类号： G05B19/0421 , G05B2219/21053 , G05B2219/23298 , G05B2219/23304 , G05B2219/25032 , G05B2219/25072 , G05B2219/25144 , G05B2219/25166 , G05B2219/25178 , G05B2219/25217 , G05B2219/25234 , G05B2219/25308 , G05B2219/2651 , G05B2219/34012 , G05B2219/37494 , G05B2219/37555 , G05B2219/39391
摘要： A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.
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公开(公告)号：US06985780B2
公开(公告)日：2006-01-10
申请号：US10922990
申请日：2004-08-23
IPC分类号： G05B11/01
CPC分类号： G05B19/0421 , G05B2219/21053 , G05B2219/23298 , G05B2219/25032 , G05B2219/25072 , G05B2219/25144 , G05B2219/25166 , G05B2219/25178 , G05B2219/25217 , G05B2219/25234 , G05B2219/2651 , G05B2219/34012 , G05B2219/37494 , G05B2219/37555 , G05B2219/39391
摘要： A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.
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公开(公告)号：US06557251B2
公开(公告)日：2003-05-06
申请号：US09802406
申请日：2001-03-09
申请人： Edison T. Hudson
发明人： Edison T. Hudson
IPC分类号： H05K330
CPC分类号： H01L21/67271 , H01L21/67144 , H05K13/0053 , H05K13/0812 , Y10T29/49131 , Y10T29/49769 , Y10T29/49778 , Y10T29/53087 , Y10T29/53174
摘要： A semiautomatic method for digital feature separation uses a trained sample selected by an operator using a software “eye dropper” tool or a similar region-of-interest tool to sample features of interest on a stored digital image of, for example, an electronic component such as pads, bumps or leads of the component. Pixels from the sampled features are analyzed and plotted based on their color hue and saturation values or gray scale intensity values. The range of such values is chosen by a user. A second digital image is then compared to the sampled feature data gathered by the “eye dropper” tool. If the color and intensity values of the pixels from the second digital image fall within a user defined acceptable absolute value range, then the locations and values of those pixels in the image are saved. Background or surrounding elements in the second digital image which do not fall within the acceptable value range are deleted and replaced with a code that makes these background or surrounding element locations appear as a graphic transparency. This process leaves only the features of interest in their original locations saved in the graphics memory surrounded by pixels that have been made video transparent. The resulting saved image which contains only the selected features is then laid over a live image such as that of a target substrate with corresponding features of interest. The operator then manually aligns the saved features from the component image over the corresponding features of the live image of the substrate to achieve component to substrate registration.
摘要翻译： 用于数字特征分离的半自动方法使用由操作者使用软件“滴眼仪”工具或类似感兴趣的工具选择的经过训练的样本，以在例如电子部件的存储的数字图像上采样感兴趣的特征 例如组件的焊盘，凸块或引线。 根据它们的色调和饱和度值或灰度级强度值分析和绘制来自采样特征的像素。 这些值的范围由用户选择。 然后将第二数字图像与由“滴眼仪”工具收集的采样特征数据进行比较。 如果来自第二数字图像的像素的颜色和强度值落在用户定义的可接受绝对值范围内，则保存图像中那些像素的位置和值。 第二数字图像中不在可接受值范围内的背景或周围元素被删除，并被替换成使得这些背景或周围元素位置显示为图形透明度的代码。 这个过程只留下了保存在由视频透明的像素包围的图形存储器中的原始位置的兴趣特征。 然后将仅包含所选择的特征的所得保存的图像放置在诸如具有相关感兴趣特征的目标基底的实时图像之后。 然后，操作员手动将分量图像中保存的特征对准基板的实时图像的相应特征，以实现元件到基板配准。
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7.发明授权
公开(公告)号：US6031242A
公开(公告)日：2000-02-29
申请号：US12776
申请日：1998-01-23
申请人： Edison T. Hudson
发明人： Edison T. Hudson
CPC分类号： H01L21/681
摘要： The present invention provides for the accurate placement of an object having a surface pattern by relating the perimeter of the object to the surface pattern, such as a circuit pattern of a semiconductor die. This includes illuminating the object at its front and rear faces and viewing the object with a machine vision system. Front-side illumination of the surface pattern enables the machine vision system to obtain an image of the actual position of the circuit pattern or other pattern of interest on the front of the component. Rear illumination provides a silhouette of the perimeter edges of the component enabling the machine vision system to obtain the actual position of the perimeter edges of the component. A corrective offset from a normative feature location, such as the centroid defined by the perimeter edges of the component, is then calculated. The machine vision system is coupled to a conventional automatic component placement system that uses an in-flight perimeter registration and orientation system. The corrective offset from the machine vision system is used to adjust the position calculated by the conventional perimeter registration system to precisely place the component with respect to features of interest on the component, such as the center of the circuit pattern, rather than the mere outline of the component.
摘要翻译： 本发明通过将物体的周边与诸如半导体管芯的电路图案的表面图案相关联来提供具有表面图案的物体的准确放置。 这包括在其前后面照亮物体并用机器视觉系统观察物体。 表面图案的前侧照明使得机器视觉系统能够获得组件前部的电路图案或其他感兴趣图案的实际位置的图像。 后部照明提供组件的周边边缘的轮廓，使得机器视觉系统能够获得部件的周边边缘的实际位置。 然后计算与规范特征位置的校正偏移，例如由组件的周边边界定义的质心。 机器视觉系统耦合到使用飞行中周边配准和定向系统的常规自动部件放置系统。 使用来自机器视觉系统的校正偏移来调整由常规周边配准系统计算的位置，以将组件相对于组件上的特征精确放置在组件上，例如电路图案的中心，而不是仅仅轮廓 的组件。
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公开(公告)号：US07174224B2
公开(公告)日：2007-02-06
申请号：US10922984
申请日：2004-08-23
申请人： Edison T. Hudson , James McCormick , Ronald Genise , Jerome Dahl
发明人： Edison T. Hudson , James McCormick , Ronald Genise , Jerome Dahl
CPC分类号： G05B19/0421 , G05B2219/21053 , G05B2219/23298 , G05B2219/23304 , G05B2219/25032 , G05B2219/25072 , G05B2219/25144 , G05B2219/25166 , G05B2219/25178 , G05B2219/25217 , G05B2219/25234 , G05B2219/25308 , G05B2219/2651 , G05B2219/34012 , G05B2219/37494 , G05B2219/37555 , G05B2219/39391
摘要： A smart camera system provides focused images to an operator at a host computer by processing digital images at the imaging location prior to sending them to the host computer. The smart camera has a resident digital signal processor for preprocessing digital images prior to transmitting the images to the host. The preprocessing includes image feature extraction and filtering, convolution and deconvolution methods, correction of parallax and perspective image error and image compression. Compression of the digital images in the smart camera at the imaging location permits the transmission of very high resolution color or high resolution grayscale images at real-time frame rates such as 30 frames per second over a high speed serial bus to a host computer or to any other node on the network, including any remote address on the Internet.
摘要翻译： 智能相机系统通过在将成像位置发送到主计算机之前处理成像位置处的数字图像，向主计算机的操作者提供聚焦图像。 智能相机具有驻留数字信号处理器，用于在将图像发送到主机之前预处理数字图像。 预处理包括图像特征提取和滤波，卷积和去卷积方法，视差校正和透视图像误差和图像压缩。 在成像位置压缩智能相机中的数字图像允许通过高速串行总线以实时帧速率（例如每秒30帧）向主计算机传送非常高分辨率的颜色或高分辨率灰度图像，或以 网络上的任何其他节点，包括Internet上的任何远程地址。
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公开(公告)号：US06734537B1
公开(公告)日：2004-05-11
申请号：US10428344
申请日：2003-05-01
IPC分类号： H01L2302
CPC分类号： H05K13/0465 , H01L24/75 , H01L2924/12042 , H01L2924/14 , H01L2924/15787 , H05K13/08 , H01L2924/00
摘要： A method and apparatus for component to substrate assembly permits in situ reflow of a flip chip (or other suitable component) in a manner which promotes proper settling of the component as solder begins to flow at the contact points between the component and the substrate. The pick-up head of a placement machine heats the component while applying up to several grams of downward force that serves to level the component. The downward force (downforce) is accurately measured using an electronic force sensor such as a strain gauge, force sensitive resistor, or any other suitable type of force sensor. The initiation of solder reflow can be detected with the pick-up head by sensing a decrease in the downforce. At this instant, the downforce applied to the component with the pick-up head is decreased preferably to zero and the vacuum or other retention mechanism holding the component is then released, freeing the component from the pick-up head and permitting the component to properly self-center using the liquid solder's surface tension. Further, at the instant that solder reflow is detected, the pick-up head may optionally be displaced a short distance from the component. However, because the pick-up head must (where it is used to supply heat) continue to supply heat to complete the reflow of the solder, it is only displaced a minimal distance from the component so that heating by radiation continues to reflow the solder while the pick-up head is displaced from the chip. The approach is applicable to other assembly processes where downforce is helpful to stabilize a component prior to final bonding and a change in measured downforce indicated the beginning of melting, curing or another process which indicates that downforce can be removed.
摘要翻译： 用于组件到衬底组装的方法和装置允许倒装芯片（或其他合适的部件）的原位回流，其方式是当焊料开始在部件和衬底之间的接触点处流动时促进部件的适当沉降。 放置机的拾取头加热组件，同时施加高达几克向下的力，用于使部件平整。 使用诸如应变计，力敏电阻器或任何其他合适类型的力传感器的电子力传感器来精确地测量向下的力（下压力）。 通过感测下压力的降低，可以通过拾取头来检测焊料回流的启动。 在这个时刻，用拾取头施加到部件上的下压力优选地降低到零，然后释放保持部件的真空或其它保持机构，使部件从拾取头释放并允许部件正确地 自我中心使用液体焊料的表面张力。 此外，在检测到焊料回流的时刻，拾取头可以可选地从组件移位一短距离。 然而，由于拾取头必须（用于供热的地方）继续供应热量来完成焊料的回流，所以它仅与组件相距最小的距离移动，使得通过辐射加热继续回流焊料 而拾取头从芯片移位。 该方法适用于其他组装过程，其中下压力有助于在最终粘合之前稳定组分，并且测量的下压力的变化表明熔融开始，固化或表明可以除去下压力的另一过程。
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公开(公告)号：US5768759A
公开(公告)日：1998-06-23
申请号：US753037
申请日：1996-11-19
申请人： Edison T. Hudson
发明人： Edison T. Hudson
CPC分类号： H05K13/0413 , Y10T29/49131 , Y10T29/49769 , Y10T29/4978 , Y10T29/53174 , Y10T29/53313
摘要： An "on-the-fly" component registration system comprises a two-dimensional imaging camera carried by a component placement nozzle platform in turn carried by a positioning gantry. A reflective surface located on or adjacent to a workpiece on which a component is to be placed allows the camera to image by reflection therefrom the component held by the component placement nozzle and an associated machine vision system to determine position correction information (e.g., .DELTA.x, .DELTA.y and .DELTA..theta.) therefrom while the component placement nozzle platform is traveling on the positioning gantry from a component supply station, by the reflective surface, on the way to a component placement target position on the workpiece.
摘要翻译： 一个“即时”部件配准系统包括一个二维成像摄像机，由一个定位台架依次由一个部件放置喷嘴平台承载。 位于其上或附近的工件上的反射表面将允许相机通过反射从该部件保持喷嘴所保持的部件和相关联的机器视觉系统进行成像，以确定位置校正信息（例如，DELTA x ，DELTA y和DELTAθ），而组件放置喷嘴平台在通过反射表面在组件供应站上在定位台架上行进到在工件上的部件放置目标位置的途中。
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