公开(公告)号：US4355447A

公开(公告)日：1982-10-26

申请号：US204693

申请日：1980-11-06

Applicant: Paul DiMatteo ,  Robert Segnini ,  Paul Rademacher

Inventor： Paul DiMatteo ,  Robert Segnini ,  Paul Rademacher

IPC: B23C3/16 ,  B23Q33/00 ,  B23Q35/06 ,  B44B1/00 ,  B44C1/22 ,  B44C3/06 ,  G05B19/401 ,  G05B19/42 ,  B23Q35/02

CPC classification number: B23Q35/06 ,  B23C3/16 ,  B23Q33/00 ,  B44B1/006 ,  B44C1/22 ,  B44C1/222 ,  B44C3/06 ,  G05B19/401 ,  G05B19/42 ,  G05B19/4207 ,  G05B2219/37572 ,  G05B2219/45212 ,  G05B2219/49008 ,  G05B2219/49233 ,  G05B2219/49235 ,  G05B2219/49237 ,  G05B2219/49238 ,  G05B2219/50071 ,  Y10T29/5107 ,  Y10T409/30112 ,  Y10T409/301736 ,  Y10T409/30224

Abstract: An arrangement for removing excess material from an object surface, to provide a desired finished surface. Holes are drilled into the object so that the bottoms of the holes lie on the desired finished surface. The holes have a shape so that the observed hole diameter at the prevailing surface of the object is dependent on the hole depth and thereby dependent on the amount of material remaining to be removed between the prevailing surface and the desired finished surface. The prevailing surface is continuously observed and measured, and the depths of material to be removed in a sequence of steps is calculated dependent on the measurements of the prevailing surface and the coordinates of the desired finished surface. As a result of the calculations, the depth of material removed during each step is controlled, so that upon carrying out a sequence of such steps, the surface exposed on the object after the last step has been carried out, coincides with the desired finished surface. The accuracy of the material removal equipment may be substantially less than the accuracy of the finished surface. Grooves instead of circular holes are cut when the radius of curvature of both the prevailing and desired surfaces becomes sufficiently small, so as to provide sufficient definition of the desired surface. With the grooves, the observed parameter is groove width rather than hole diameter.

Abstract translation: 用于从物体表面去除多余材料的装置，以提供所需的成品表面。 将孔钻入物体中，使得孔的底部位于所需的成品表面上。 这些孔具有这样的形状，使得在物体的主要表面处观察到的孔直径取决于孔深度，并且因此取决于在主要表面和期望的成品表面之间剩余的待除去的材料的量。 连续地观察和测量主要表面，并且根据主要表面的测量和所需成品表面的坐标来计算要按顺序排列的材料的深度。 作为计算的结果，控制在每个步骤期间去除的材料的深度，使得在执行一系列这样的步骤时，在最后一步之后暴露在物体上的表面已经被执行，与期望的成品表面重合 。 材料去除设备的精度可以显着小于成品表面的精度。 当主流和期望的表面的曲率半径变得足够小时，切割代替圆形孔的凹槽，以便提供所需表面的足够的定义。 对于凹槽，观察到的参数是凹槽宽度而不是孔直径。

公开(公告)号：US09836844B2

公开(公告)日：2017-12-05

申请号：US14663814

申请日：2015-03-20

Applicant: Tokyo Electron Limited

Inventor： Kazuhito Miyazaki ,  Akira Kakino

IPC: G01B11/16 ,  G06T7/00 ,  G01B11/06 ,  G05B19/402 ,  G06T7/73

CPC classification number: G06T7/73 ,  G01B11/0616 ,  G05B19/402 ,  G05B2219/37572 ,  G05B2219/45013 ,  G06T2207/30164

Abstract: Disclosed is a coating apparatus. A first imaging unit captures an image of the substrate disposed on the stage. A second imaging unit captures an image of the substrate disposed on the stage with a narrower viewing angle and higher resolution than the first imaging unit. The control unit performs a pre-alignment processing of capturing an image of a circular pre-alignment mark formed on the substrate using the first imaging unit and performing positioning of the substrate by controlling the moving mechanism and the rotating mechanism based on the captured image and, after the pre-alignment processing, performs a fine-alignment processing of capturing an image of a circular fine-alignment mark formed on the substrate using the second imaging unit and performing positioning of the substrate by controlling the moving mechanism and the rotating mechanism based on the captured image.

公开(公告)号：US09656316B2

公开(公告)日：2017-05-23

申请号：US15029283

申请日：2015-11-02

Applicant: JINAN DOUBLEWIN AUTOMOBILE EQUIPMENT ENGINEERING CO., LTD.

Inventor： Sanyi Zhang

IPC: G06K9/00 ,  B21D43/20 ,  B25J9/16 ,  B25J19/04 ,  B65G47/91 ,  B65G61/00

CPC classification number: B21D43/20 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/04 ,  B65G47/91 ,  B65G61/00 ,  G05B2219/162 ,  G05B2219/37572 ,  G05B2219/40014 ,  G05B2219/45054

Abstract: An automatic packing system and method at a press line full-part end. Robot systems are respectively arranged at both ends of a servo synchronous belt system, a visual system is connected with a PLC controller, the robot systems are connected with a robot controller, the PLC controller is connected with the robot controller, and a charging baskets are connected with a charging basket change system; and parts are conveyed by the servo synchronous belt system, the visual system acquires position image information of the parts and judges position errors of the parts, the PLC controller transmits the position error information to the robot controller, and the robot controller controls a robot to grab the parts and put the parts in corresponding charging baskets according to the shapes of the parts.

公开(公告)号：US20160368039A1

公开(公告)日：2016-12-22

申请号：US15029283

申请日：2015-11-02

Applicant: JINAN DOUBLEWIN AUTOMOBILE EQUIPMENT ENGINEERING CO., LTD.

Inventor： Sanyi ZHANG

IPC: B21D43/20 ,  B25J19/04 ,  B25J9/16 ,  B65G47/91 ,  B65G61/00

CPC classification number: B21D43/20 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/04 ,  B65G47/91 ,  B65G61/00 ,  G05B2219/162 ,  G05B2219/37572 ,  G05B2219/40014 ,  G05B2219/45054

Abstract: An automatic packing system and method at a press line full-part end. Robot systems are respectively arranged at both ends of a servo synchronous belt system, a visual system is connected with a PLC controller, the robot systems are connected with a robot controller, the PLC controller is connected with the robot controller, and a charging baskets are connected with a charging basket change system; and parts are conveyed by the servo synchronous belt system, the visual system acquires position image information of the parts and judges position errors of the parts, the PLC controller transmits the position error information to the robot controller, and the robot controller controls a robot to grab the parts and put the parts in corresponding charging baskets according to the shapes of the parts.

Abstract translation: 全自动包装系统和方法在压线全部分。 机器人系统分别安装在伺服同步带系统的两端，视觉系统与PLC控制器连接，机器人系统与机器人控制器连接，PLC控制器与机器人控制器连接，充电篮 连接充电篮更换系统; 部件由伺服同步带系统传送，视觉系统获取部件的位置图像信息并判断零件的位置误差，PLC控制器将位置误差信息发送给机器人控制器，机器人控制器将机器人控制 抓住零件，并根据零件的形状将零件放入相应的充电筐中。

公开(公告)号：US20160238373A1

公开(公告)日：2016-08-18

申请号：US15025418

申请日：2014-10-02

Applicant: RENISHAW PLC

Inventor： Timothy Charles FEATHERSTONE

IPC: G01B11/00 ,  H04N7/18 ,  G01B11/24

CPC classification number: G01B11/005 ,  G01B11/24 ,  G01B21/047 ,  G01N21/8806 ,  G01N21/954 ,  G05B2219/37063 ,  G05B2219/37199 ,  G05B2219/37572 ,  H04N7/183

Abstract: A method of inspecting an object with a camera probe for capturing an image of an object, the camera probe being movable along a path by a measurement apparatus, at least a part of the camera probe being rotatable about at least one axis. The method includes: a) the measurement apparatus moving the camera probe relative to the object along an inspection path and b) for at least one period as the camera probe moves along the inspection path: turning at least a part of the camera probe about the at least one axis thereby slowing the passage of a feature of interest on the object across the camera probe's field of view; and capturing at least one image of the feature of interest during at least a portion of the turning.

Abstract translation: 一种利用用于捕获物体的图像的相机探头检查物体的方法，所述照相机探测器可以通过测量装置沿着路径移动，所述相机探测器的至少一部分可围绕至少一个轴线旋转。 该方法包括：a）测量设备沿着检查路径移动相机探针相对于物体，以及b）当照相机探测器沿着检查路径移动时，至少一个周期：将至少一部分摄像机探头围绕 因此至少一个轴因此减慢了通过照相机探测器的视野在物体上感兴趣的特征的通过; 以及在转动的至少一部分期间捕获感兴趣特征的至少一个图像。

公开(公告)号：US20150281654A1

公开(公告)日：2015-10-01

申请号：US14663814

申请日：2015-03-20

Applicant: Tokyo Electron Limited

Inventor： Kazuhito Miyazaki ,  Akira Kakino

IPC: H04N7/18 ,  G06T7/00 ,  G01B11/06

CPC classification number: G06T7/73 ,  G01B11/0616 ,  G05B19/402 ,  G05B2219/37572 ,  G05B2219/45013 ,  G06T2207/30164

Abstract: Disclosed is a coating apparatus. A first imaging unit captures an image of the substrate disposed on the stage. A second imaging unit captures an image of the substrate disposed on the stage with a narrower viewing angle and higher resolution than the first imaging unit. The control unit performs a pre-alignment processing of capturing an image of a circular pre-alignment mark formed on the substrate using the first imaging unit and performing positioning of the substrate by controlling the moving mechanism and the rotating mechanism based on the captured image and, after the pre-alignment processing, performs a fine-alignment processing of capturing an image of a circular fine-alignment mark formed on the substrate using the second imaging unit and performing positioning of the substrate by controlling the moving mechanism and the rotating mechanism based on the captured image.

Abstract translation: 公开了一种涂布装置。 第一成像单元捕获设置在台上的基板的图像。 第二成像单元以比第一成像单元更窄的视角和更高的分辨率捕获设置在平台上的基板的图像。 控制单元使用第一成像单元执行拍摄形成在基板上的圆形预对准标记的图像的预对准处理，并且通过基于捕获图像控制移动机构和旋转机构来执行基板的定位，以及 在预对准处理之后，使用第二成像单元进行拍摄形成在基板上的圆形微细对准标记的图像的精细对准处理，并且通过基于移动机构和旋转机构的控制来进行基板的定位 在捕获的图像上。

公开(公告)号：US08155769B2

公开(公告)日：2012-04-10

申请号：US12049772

申请日：2008-03-17

Applicant: Sundeep Chandhoke

Inventor： Sundeep Chandhoke

IPC: G05B19/42

CPC classification number: G05B19/0426 ,  G05B2219/23258 ,  G05B2219/37572

Abstract: System and method for performing industrial control. A vision engine operable to execute vision functions to control a vision element in response to received asynchronous commands is stored on a vision system. An application programming interface (API) that provides access to the vision engine is stored. The API includes multiple function blocks operable to be included in an industrial control application, and executable to send the asynchronous commands to the vision engine. The application is created, including inserting at least one function block of the API into the application. The application is executed on a programmable controller, including executing the function block to send a corresponding asynchronous command to the vision engine. The vision engine performs a vision function corresponding to the function block in response to the asynchronous command, and sends resultant data to the industrial control application, which stores the resultant data.

Abstract translation: 执行工业控制的系统和方法。 视觉引擎可操作以执行视觉功能以响应于接收到的异步命令来控制视觉元件被存储在视觉系统上。 存储提供对视觉引擎的访问的应用编程接口（API）。 API包括多个功能块，其可操作以包括在工业控制应用中，并且可执行以将异步命令发送到视觉引擎。 创建应用程序，包括将API的至少一个功能块插入到应用程序中。 应用程序在可编程控制器上执行，包括执行功能块以向视觉引擎发送相应的异步命令。 视觉引擎响应于异步命令执行与功能块对应的视觉功能，并将结果数据发送到存储所得数据的工业控制应用。

公开(公告)号：US20110037839A1

公开(公告)日：2011-02-17

申请号：US12528549

申请日：2008-01-25

Applicant: Johannes Kurth ,  Andreas Sedlmayr

Inventor： Johannes Kurth ,  Andreas Sedlmayr

IPC: H04N7/18

CPC classification number: G05B19/4083 ,  G05B2219/35506 ,  G05B2219/37572 ,  G05B2219/39393

Abstract: The invention relates to methods for determining the position of an industrial robot (1, 81) relative to an object (M, 82) as well as correspondingly equipped industrial robots (1, 81). In one of said methods, a 2D camera (17) that is mounted on the industrial robot (1) is moved into at least two different positions, an image (20, 30) of an object (M) that is stationary relative to the surroundings of the industrial robot (1) is generated in each of the positions, the images (20, 30) are displayed, a graphic model (16) of the object (M) is superimposed on the images (20, 30), points (21A, 22A, 31A, 32A) of the graphic model (16) are manually assigned to corresponding points (21A, 21B, 31A, 31B) in the two images (20, 30), and the position of the industrial robot (1) relative to the object (M) is determined on the basis of the points (21A, 22A, 31A, 32A) of the model (16) assigned to the corresponding points (21B, 22B, 31B, 32B).

Abstract translation: 本发明涉及用于确定工业机器人（1,81）相对于物体（M，82）以及相应配备的工业机器人（1,81）的位置的方法。 在所述方法之一中，安装在工业机器人（1）上的2D摄像机（17）被移动到至少两个不同的位置，即相对于所述工业机器人（1）静止的物体（M）的图像（20,30） 在每个位置产生工业机器人（1）的周围，显示图像（20,30），物体（M）的图形模型（16）叠加在图像（20,30）上，点 将图形模型（16）的图形（21A，22A，31A，32A）手动分配给两个图像（20,30）中的对应点（21A，21B，31A，31B），并且工业机器人 ）基于分配给对应点（21B，22B，31B，32B）的模型（16）的点（21A，22A，31A，32A）来确定。

公开(公告)号：US07284652B2

公开(公告)日：2007-10-23

申请号：US11162580

申请日：2005-09-15

Applicant: David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

Inventor： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

IPC: B65G47/10

CPC classification number: B65G47/844 ,  B65G47/52 ,  B65G2207/36 ,  G05B19/4182 ,  G05B2219/33342 ,  G05B2219/36371 ,  G05B2219/37094 ,  G05B2219/37555 ,  G05B2219/37572 ,  G05B2219/39102 ,  G05B2219/45054 ,  Y02P90/083

Abstract: A control architecture for material handling includes multiple tiers of controllers, such as three. The lowest-level controllers interact directly with sensors and actuators used in the material handling system, such as photo-eyes and motors used with conveyors. The lowest-level controllers receive higher level commands from one or more mid-level controllers. The mid-level controllers, in turn, receive still higher level commands and information from at least one upper level controller. Each mid and low level controller is designed to include sufficient intelligence to deal with many of the signals and messages it receives without having to forward those signals or messages to the next higher level controller and await instructions from that higher level controller. The system thus distributes intelligence amongst the controllers. The system is well-adapted for application to conveyor control systems.

Abstract translation: 用于材料处理的控制架构包括多层控制器，例如三个。 最低级别的控制器直接与材料处理系统中使用的传感器和执行器进行交互，例如与输送机一起使用的光眼和电机。 最低级别的控制器从一个或多个中级控制器接收更高级别的命令。 中层控制器又从至少一个上级控制器接收更高级的命令和信息。 每个中低级控制器被设计为包括足够的智能来处理其接收的许多信号和消息，而不必将这些信号或消息转发到下一个较高级别的控制器，并且等待来自该更高级控制器的指令。 因此，系统在控制器之间分配智能。 该系统适用于输送机控制系统。

公开(公告)号：US06871687B2

公开(公告)日：2005-03-29

申请号：US10422235

申请日：2003-04-24

Applicant: Gary L. Wick ,  Douglas K. Linn ,  William A. Crusan ,  Jeffrey J. Chopp

Inventor： Gary L. Wick ,  Douglas K. Linn ,  William A. Crusan ,  Jeffrey J. Chopp

IPC: B22C9/10 ,  B22D33/04 ,  B60C20060101

CPC classification number: G06T7/0004 ,  B22C9/108 ,  G05B2219/37266 ,  G05B2219/37572 ,  G05B2219/39393 ,  G06T2207/30136 ,  G06T2207/30164

Abstract: A method of automatically placing a core package (301) in a mold (505) is provided. Locators (501) and a cavity (503) designed to receive at least a part of the core package (301) are formed in the mold (505). The mold (505) is positioned such that the locators (501) may be illuminated and one or more images are obtained of the locators (501). The images are processed to determine a target location for the core package (301) in the cavity (503), and an automated device (303) places the core package (303) in the mold (505) at the target location.

Abstract translation: 提供了一种将芯包（301）自动放置在模具（505）中的方法。 在模具（505）中形成定位器（501）和设计成容纳芯包装（301）的至少一部分的空腔（503）。 模具（505）被定位成使得定位器（501）可被照亮，并且获得定位器（501）的一个或多个图像。 处理图像以确定空腔（503）中的芯包（301）的目标位置，并且自动化装置（303）将芯包（303）放置在模具（505）中的目标位置处。