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公开(公告)号：US10671047B2
公开(公告)日：2020-06-02
申请号：US15922260
申请日：2018-03-15
申请人： The Boeing Company
IPC分类号： G05B19/402 , B64F5/40 , B29C70/54 , G05B19/401 , B23B35/00 , B29C73/10 , F01N13/18 , F01D5/00 , F01N13/08 , B29C73/26 , F02C7/045
摘要： A method and system for drilling holes in a repaired composite structure. Four corner holes are selected from holes outside of a repaired area in the repaired composite structure. The four corner holes define a rectangle encompassing the repaired area with sides that each include a pair of corner holes with intermediate holes in between. A surface representation is generated based on a scan of the repaired composite structure that includes the rectangle. Side hole locations between a corresponding pair of corner holes are generated for each side of the rectangle. Grid vector lines are generated between corresponding pairs of side hole locations on opposite sides of the rectangle. The grid vector lines intersect each other at intersection points on the surface representation. Point coordinates are determined for intersection points that lie within the repaired area. A path is created for drilling holes at point coordinates for the intersection points.
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公开(公告)号：US10656617B2
公开(公告)日：2020-05-19
申请号：US14946008
申请日：2015-11-19
发明人： Charles Pfeffer , Markus Grau
IPC分类号： G05B19/402 , G01C11/02 , B23Q17/24 , B23Q3/155 , G01B11/25
摘要： A computer numerical control (CNC) machining center is provided. The CNC machining center includes a spindle that receives a cutting tool. A work surface is operably arranged adjacent the spindle. A non-contact three-dimensional (3D) measurement device is operably coupled to the tool mount, the 3D measurement device including a projector and at least one device camera, the at least one camera being arranged to receive light from the light source that is reflected off of a surface. A plurality of targets is provided with at least one of the targets coupled to the 3D measurement device. At least two photogrammetry cameras are provided having a orientation and a field of view to acquire images of the targets. A controller is coupled for communication to the 3D measurement device and the at least two cameras, the controller determining the position of the 3D measurement device within the machining center during operation.
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公开(公告)号：US10654141B2
公开(公告)日：2020-05-19
申请号：US15966615
申请日：2018-04-30
发明人： Guang Lu , Mehmet E. Alpay , Mike Tyler , Qian Xu , Jan Kleinert , Zhibin Lin , James D. Brookhyser , Ho Wai Lo , Kurt M. Eaton
IPC分类号： B23Q1/34 , B23Q15/14 , G05B19/19 , G05B19/402
摘要： One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.
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公开(公告)号：US20200150616A1
公开(公告)日：2020-05-14
申请号：US16185378
申请日：2018-11-09
IPC分类号： G05B19/402 , G05B19/406 , F01D5/14
摘要： A method of removing features from a cast workpiece includes generating a nominal toolpath for machining the cast workpiece. The cast workpiece is mounted onto a platform of a computer numeric control machine. The cast workpiece is inspected with a probe to generate probe data. Features to be removed are identified based upon the probe data generated during the inspection. Any expected features of the cast workpiece that are missing from the cast workpiece are identified. A transformation matrix is applied to the nominal toolpath with a controller of the computer numeric control machine, wherein the transformation matrix is based upon the probe data. Alignment of the cast workpiece is adjusted relative to the computer numeric control machine based on the transformation matrix with the computer numeric control machine. Features are removed from the cast workpiece that were identified during inspection.
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公开(公告)号：US20200108508A1
公开(公告)日：2020-04-09
申请号：US16151968
申请日：2018-10-04
申请人： Caterpillar Inc.
发明人： Jeremy HAMMAR , Craig HABEGER , Michael NOBLE , William BARNICKEL , Joshua GEARY
IPC分类号： B25J11/00 , B25J9/16 , B25J9/00 , G05B19/402
摘要： A tip attachment is disclosed. The tip attachment may an attachment body including a recess to fit on or in a tip of a device during programming of a robotic device. The attachment body may be structured such that the attachment body defines a set of angles of the tip during the programming of the robotic device. The recess may be sized such that the recess defines a distance between the tip and a workpiece during the programming of the robotic device.
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公开(公告)号：US10606238B2
公开(公告)日：2020-03-31
申请号：US15788995
申请日：2017-10-20
申请人： FANUC CORPORATION
发明人： Kouichi Etou
IPC分类号： G05B19/402 , G05B19/25 , G05B19/406
摘要： A servo controller calculates an alternative movement amount, in a control cycle (n) in which a command cannot be received from the host controller, according to jerk calculated with reference to amounts of movement used for controlling the servomotor in former control cycles before the control cycle (n) and the movement amount used for controlling the servomotor in the previous control cycle before the control cycle (n). The servo controller controls movement of the servomotor by use of the alternative movement amount in the control cycle (n) in which the command cannot be received from the host controller.
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97.发明授权公开(公告)号：US10603790B2
公开(公告)日：2020-03-31
申请号：US15875239
申请日：2018-01-19
申请人： FANUC CORPORATION
发明人： Takefumi Gotou
摘要： A workpiece picking device includes a sensor measuring a plurality of workpieces randomly piled in a three-dimensional space; a robot folding the workpieces; a hand mounted to the robot and hold the workpieces; a holding position posture calculation unit calculating holding position posture data of a position and a posture to hold the workpieces by the robot based on an output of the sensor; a loading state improvement operation generation unit generating loading state improvement operation data of improving a loading state of the workpieces by the robot based on an output of the sensor; and a robot control unit controlling the robot and the hand. The robot control unit controls the robot and the hand based on an output of the holding position posture calculation unit and the loading state improvement operation generation unit to pick the workpieces or perform a loading state improvement operation.
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公开(公告)号：US10599136B2
公开(公告)日：2020-03-24
申请号：US15662493
申请日：2017-07-28
发明人： Yusuke Oka , Tadashi Okubo , Katsumi Ouchida
IPC分类号： G05B21/02 , G05B15/02 , G05D3/12 , H02K11/21 , G05B19/402
摘要： A motor controller includes memory, and processing circuitry that controls a motor based on a position command and based on a position detection value corresponding to a detected position of the motor, calculates a tolerance position error in a successive manner based on the position command and based on a control parameter used to control the motor, calculates a position error maximum threshold that depends on the tolerance position error, detects an abnormality based on the position error maximum threshold, and triggers an indication when the abnormality is detected.
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99.发明申请公开(公告)号：US20200086419A1
公开(公告)日：2020-03-19
申请号：US16616271
申请日：2018-05-23
IPC分类号： B23K15/02 , B23K10/00 , B23K26/03 , B23K26/044 , G05B19/402
摘要： In a method for severing a solid body, a defined contour is stored in a control unit configured to detect contour breaches and to avoid contour breaches. A high-energy beam is moved along a contour on a surface of the solid body, with the surface of the solid body facing the high-energy beam, to produce with the high-energy beam a cutting gap. The contour on the surface is compared with the defined contour stored in the control unit, and avoidance of the contour breach is automatically deactivated when the contour on the surface of the solid body matches the defined contour and a contour breach is detected. Otherwise, the contour is omitted. Advantageously, the high-energy beam travels along the contour with an averaged line movement.
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100.发明申请公开(公告)号：US20200070281A1
公开(公告)日：2020-03-05
申请号：US16547573
申请日：2019-08-22
申请人： FANUC CORPORATION
发明人： Toshiya TAKEDA
IPC分类号： B23K26/08 , B23K26/03 , B23K26/38 , B25J15/00 , B25J9/16 , G05B19/4155 , G05B19/402
摘要： Provided is a teaching device including a grouping unit which divides machining points into machining point groups so that a machining head can sequentially machine each machining point for a machining time and so that a non-machining time can be minimized, a machining path determination unit which determines a machining path on which an in-group movement time of a robot is shortest for each machining point group, a teaching process adjustment unit which adjusts a machining order of the machining points and an operation order of the machining point groups so as to minimize a distance between groups and which optimizes the grouping so as to minimize a total movement time for completing machining, and a teaching data output unit which outputs, as teaching data, machining execution positions on the machining path obtained as a result of processing of the teaching process adjustment.
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