公开(公告)号：US5539292A

公开(公告)日：1996-07-23

申请号：US346593

申请日：1994-11-28

申请人： John M. Vranish

发明人： John M. Vranish

IPC分类号： B25J9/16 ,  B25J13/08 ,  H02P7/00

CPC分类号： B25J9/1612 ,  B25J13/086 ,  G05B2219/37284 ,  G05B2219/40082 ,  G05B2219/40087

摘要： A plurality of capaciflector proximity sensors, one or more of which may be overlaid on each other, and at least one shield are mounted on a device guided by a robot so as to "see" a designated surface, hole or raised portion of an object, for example, in three dimensions. Individual current-measuring voltage follower circuits interface the sensors and shield to a common AC signal source. As the device approaches the object, the sensors respond by a change in the currents therethrough. The currents are detected by the respective current-measuring voltage follower circuits with the outputs thereof being fed to a robot controller. The device is caused to move under robot control in a predetermined pattern over the object while directly referencing each other without any offsets, whereupon by a process of minimization of the sensed currents, the device is dithered or "wiggled" into position for a soft touchdown or contact without any prior contact with the object.

摘要翻译： 多个电容器接近传感器中的一个或多个可以彼此重叠，并且至少一个屏蔽件安装在由机器人引导的装置上，以便“看到”物体的指定表面，孔或凸起部分 ，例如，三维。 单独的电流测量电压跟随器电路将传感器和屏蔽接口连接到公共交流信号源。 当设备接近物体时，传感器通过其中的电流的变化来响应。 电流由相应的电流测量电压跟随器电路检测，其输出被馈送给机器人控制器。 使装置在机器人控制下以预定图案移动到物体上，同时直接参考彼此而没有任何偏移，于是通过使感测到的电流最小化的过程，装置抖动或“摆动”到适于软触地的位置 或联系，而无需事先与对象接触。

公开(公告)号：US11853035B2

公开(公告)日：2023-12-26

申请号：US17320270

申请日：2021-05-14

申请人： Stoneridge Electronics AB

发明人： Brad Corrodi ,  Milan Gavrilovic

IPC分类号： G05B19/4155 ,  G06T7/50 ,  B64C39/02 ,  B64D47/08 ,  G08B7/06 ,  H04N7/18 ,  B64U101/30

CPC分类号： G05B19/4155 ,  B64C39/024 ,  B64D47/08 ,  G06T7/50 ,  G08B7/06 ,  H04N7/181 ,  B64U2101/30 ,  G05B2219/40082 ,  G06T2207/10028 ,  G06T2207/10032 ,  G06T2207/20084

摘要： A method for operating a commercial shipping asset includes entering one of a docking and an undocking mode of operations using a vehicle controller of a commercial shipping asset, identifying at least one trusted video source remote from the commercial shipping asset, determining a distance between the commercial shipping asset and at least one object based at least in part on an image analysis of a video feed from the trusted video source, and responding to the determined distance by providing at least one of a warning to an operator of the commercial shipping asset and adjusting an automated or semi-automated operation of the commercial shipping asset.

公开(公告)号：US11845185B2

公开(公告)日：2023-12-19

申请号：US16606831

申请日：2018-04-18

申请人： Franka Emika GmbH

发明人： Tobias Ende ,  Michael Haas ,  Saskia Golz ,  Sven Parusel ,  Simon Haddadin

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1679 ,  G05B2219/39129 ,  G05B2219/40082 ,  G05B2219/45089

摘要： A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.

公开(公告)号：US20180004183A1

公开(公告)日：2018-01-04

申请号：US15198040

申请日：2016-06-30

申请人： Sharp Laboratories of America, Inc.

发明人： Dana Smith

IPC分类号： G05B19/19 ,  G01S19/47 ,  H04B1/38

CPC分类号： G05B19/19 ,  G01C21/18 ,  G01S19/47 ,  G05B2219/40082 ,  H04B1/38 ,  H04B1/3877

摘要： A system and method are presented for docking an actively stabilized platform. The platform includes an active stabilizing mechanism selectively engageable to orient the platform in at least a first axis of rotation. Once the docking procedure is initiated, a docking device engages the platform to prevent rotation in the first axis. When the docking device becomes fixedly engaged with the platform, the active stabilizing mechanism can be disengaged and the platform sustained in a first orientation defined by the first axis of rotation. In addition, the method may sustain the platform aligned in a first spatial position defined by at least two orthogonal axes. Similarly, if the docking device does not provide complete stability for the platform (i.e., engages the platform with a tolerance error), the active stabilizing mechanism can be partially engaged to minimize the tolerance error while minimizing power consumption.

公开(公告)号：US08977395B2

公开(公告)日：2015-03-10

申请号：US14006638

申请日：2012-03-19

申请人： Mahito Negishi ,  Hideaki Suzuki ,  Shinsuke Iizuka

发明人： Mahito Negishi ,  Hideaki Suzuki ,  Shinsuke Iizuka

IPC分类号： G05B19/18 ,  B25J9/16 ,  G05B19/04

CPC分类号： B25J9/1607 ,  B25J9/1679 ,  B25J9/1697 ,  G05B2219/39022 ,  G05B2219/39063 ,  G05B2219/40082 ,  G05B2219/40609

摘要： A first coordinate system CA of the hand unit, a second coordinate system CB of the first workpiece, and a third coordinate system CC of a second workpiece in a camera coordinate system are calculated (S2, S3, and S4). First and second coordinate transformation matrices ATB and ATC are calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S8). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix ATB (S9). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix ATC (S10). Operation instructions are generated using the converted coordinate data (S11).

摘要翻译： 计算手部单元的第一坐标系CA，第一工件的第二坐标系CB和相机坐标系中的第二工件的第三坐标系CC（S2，S3和S4）。 计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。 在第一工件的坐标系中设定目标点的坐标数据（S7）。 在第二工件的坐标系中设定指令点的坐标数据（S8）。 使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。 使用第二坐标变换矩阵ATC对指令点的坐标数据进行坐标变换（S10）。 使用转换的坐标数据生成操作指令（S11）。

公开(公告)号：US20140350769A1

公开(公告)日：2014-11-27

申请号：US14261444

申请日：2014-04-25

申请人： Fu Tai Hua Industry (Shenzhen) Co., Ltd. ,  HON HAI PRECISION INDUSTRY CO., LTD.

发明人： YONG LI ,  XI-SONG SHUAI ,  YUN-QING LIU

IPC分类号： B25J9/16 ,  H01L21/66 ,  H01L21/677

CPC分类号： B25J9/1664 ,  G01R31/2808 ,  G05B2219/40082 ,  G05B2219/40465 ,  G05B2219/45026 ,  H01L22/14 ,  H05K2203/162

摘要： A printed circuit board testing method includes determining a position of a robot at a predetermined time interval and determining whether the determined position of the robot is within a preset position range. The method determines whether one or more shielding boxes are open according to unique identifiers of the shielding boxes stored in a storage system when the determined position of the robot is within the preset position range. The method obtains a predetermined path of each determined open shielding box from the storage system when one or more shielding boxes are open. The method further determines a shortest predetermined path among the obtained predetermined paths, and transmits a control signal including the determined predetermined path to the robot.

摘要翻译： 印刷电路板测试方法包括以预定时间间隔确定机器人的位置，并确定所确定的机器人的位置是否在预设位置范围内。 当所确定的机器人的位置在预设位置范围内时，该方法根据存储在存储系统中的屏蔽盒的唯一标识符确定一个或多个屏蔽盒是否打开。 当一个或多个屏蔽盒打开时，该方法从存储系统获得每个确定的开放屏蔽盒的预定路径。 该方法进一步确定所获得的预定路径中的最短预定路径，并将包括所确定的预定路径的控制信号发送到机器人。

公开(公告)号：US20140045673A1

公开(公告)日：2014-02-13

申请号：US14111061

申请日：2012-03-02

申请人： Thomas Creazzo

发明人： Thomas Creazzo

IPC分类号： B04B9/14

CPC分类号： B04B9/14 ,  B04B2011/046 ,  B25J9/023 ,  B25J9/1692 ,  G01N35/0099 ,  G01N2035/00495 ,  G05B2219/40082

摘要： A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor. As the first registration device is lowered into the second registration device, the fixed orientation of the notches of the second registration device and the rigid nature of the first registration device cause a linear ball slide to displace and the bucket to rotate until the primary axis of the linear ball slide is in compliance with the cross pin axis of the first registration device

摘要翻译： 用于将诸如离心机的转子的极坐标系统装置的分度角与诸如机器人末端执行器之类的笛卡尔坐标系装置的垂直轴对准的方法，系统和装置。 该装置包括第一配准装置，其可移除地附接到末端执行器的夹持装置和第二对准装置，其可拆卸地插入诸如铲斗的枢转平台到离心机转子。 当第一配准装置下降到第二配准装置中时，第二配准装置的槽口的固定取向和第一配准装置的刚性使得直线球滑动件移动并且铲斗旋转直到主轴线 线性球滑块符合第一配准装置的十字销轴线

公开(公告)号：US08504204B2

公开(公告)日：2013-08-06

申请号：US12841191

申请日：2010-07-22

申请人： Kenneth Dewane Owens, Jr.

发明人： Kenneth Dewane Owens, Jr.

IPC分类号： A01C7/04 ,  A01G9/08

CPC分类号： B25J9/1687 ,  G05B2219/40053 ,  G05B2219/40082

摘要： A method, system and apparatus to position an organic polarized object to a predetermined orientation and a predetermined location are provided. In an embodiment, an image of the organic polarized object is captured through an image capture device. The image of the organic polarized object is converted to an image data set. This image data set if further converted to a dimension data set. A first location and a first orientation of the organic polarized object are determined through a processor. A pressure is applied to secure organic polarized object. The organic polarized object is secured through a robotic end effector and may be moved to a predetermined location and a predetermined orientation. The organic polarized object is adjusted to the predetermined orientation. The organic polarized object is positioned at a predetermined location. The predetermined location and predetermined orientation may be selected by a user.

摘要翻译： 提供了将有机极化物体定位到预定取向和预定位置的方法，系统和装置。 在一个实施例中，通过图像捕获装置捕获有机极化物体的图像。 将有机极化物体的图像转换为图像数据集。 如果进一步转换为维数据集，则该图像数据集。 通过处理器确定有机极化物体的第一位置和第一取向。 施加压力以固定有机极化物体。 有机极化物体通过机器人端部执行器固定并且可以移动到预定位置和预定取向。 有机极化物被调整到预定取向。 有机极化物位于预定位置。 预定位置和预定取向可由用户选择。

公开(公告)号：US20130096718A1

公开(公告)日：2013-04-18

申请号：US13704818

申请日：2011-06-21

申请人： Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

发明人： Glenn Friedman ,  Thomas Creazzo ,  Chris Beliveau

IPC分类号： G05B19/401

CPC分类号： G05B19/401 ,  B25J9/1692 ,  G05B2219/40082

摘要： Disclosed are systems and apparatus adapted to aid in calibration of an offset position—between a position sensor and an end effector in a processing system. The system includes a robotic component having an end effector and a position sensor coupled thereto, a teach target having a first geometrical feature, and an offset tool adapted to be engaged by the end effector, the offset tool including a first docking feature. The system further includes a moveable offset target having a second docking feature adapted to be engaged by the first docking feature and a second geometrical feature adapted to be sensed by the position sensor. The end effector moves the offset tool to the offset target and docks them. A position of the teach target and the offset target may then be sensed with the position sensor to determine an actual offset of the end effector with respect to the position sensor. Methods of operating the system are provided, as are other aspects.

摘要翻译： 公开了适用于帮助校准处理系统中的位置传感器和末端执行器之间的偏移位置的系统和装置。 该系统包括具有末端执行器和与其连接的位置传感器的机器人部件，具有第一几何特征的教导目标和适于被末端执行器接合的偏移工具，所述偏移工具包括第一对接特​​征。 该系统还包括可移动偏移目标，其具有适于由第一对接特​​征接合的第二对接特征和适于由位置传感器感测的第二几何特征。 末端执行器将偏移工具移动到偏移目标并对准它们。 然后可以用位置传感器感测教导目标和偏移目标的位置，以确定末端执行器相对于位置传感器的实际偏移。 还提供了操作系统的方法，以及其他方面。

公开(公告)号：US20040266276A1

公开(公告)日：2004-12-30

申请号：US10849206

申请日：2004-05-20

申请人： FANUC LTD

发明人： Kazuo Hariki ,  Kazuhisa Otsuka ,  Masaru Oda

IPC分类号： H01R004/50

CPC分类号： B25J9/1697 ,  G05B2219/40082 ,  H01R12/52 ,  H01R43/26

摘要： An intermediate portion of a cable with connector is pinched by a pair of rolls of a first hand of a first robot, and the connector provided to the cable is fixed by causing the firsthand to approach. An image of this connector is obtained by a first camera and a position and posture of the connector are found. A second robot is moved to a gripping position which has been corrected based on the position and posture of that connector, thereby causing the second hand of the second robot to grip the connector at an outer periphery thereof.

摘要翻译： 具有连接器的电缆的中间部分被第一机器人的第一只手的一对辊挤压，并且通过使第一手接近来固定连接到电缆的连接器。 该连接器的图像通过第一相机获得，并且找到连接器的位置和姿势。 第二机器人被移动到已经基于该连接器的位置和姿势被校正的夹持位置，从而使第二机器人的秒针在其外周处抓住连接器。