公开(公告)号：US5910894A

公开(公告)日：1999-06-08

申请号：US481479

申请日：1995-09-25

Applicant: Timothy R. Pryor

Inventor： Timothy R. Pryor

IPC: G05B19/418 ,  G06F19/00

CPC classification number: G05B19/41875 ,  Y10T29/53052

Abstract: A method and apparatus for assembly particularly addressed to the assembly of automobiles and aircraft done with reconfigurable modular and "intelligent" tooling fixtures (also called jigs, or holding fixtures). Much of the capability of the system is brought by the optical or other non-contact sensing devices incorporated with the tools to provide information on part location, tooling detail location, and automation (such as robots), used to load, weld, rivet, or otherwise perform work with parts in the tool. A preferred version of the invention uses 3-dimensional stereo and/or other simpler electro-optical ranging and feature location sensors operating in real time to perform numerous measurements of location of critical features of assembly tools and the parts placed within them, to even include detection of abnormal features such as missing holes or welds. The computer system associated with the sensors builds up a data base of part condition before, during and after welding (or other working or assembly function within the tool). This data base is used automatically, or by an engineer or operator, to continuously improve the process and to feed data to related processes.

Abstract translation: PCT No.PCT / US94 / 00398 Sec。 371 1995年9月25日第 102（e）1995年9月25日PCT PCT 1994年1月11日PCT公布。 WO94 / 16401 PCT出版物 日期1994年7月21日一种用于组装的方法和装置，特别涉及用可重新配置的模块化和“智能”模具（也称为夹具或夹具）完成的汽车和飞机组装。 系统的许多功能是通过与工具结合的光学或其他非接触式感测装置带来的，以提供关于部件位置，加工细节位置以及用于加载，焊接，铆接等的自动化（例如机器人）的信息。 或以其他方式与工具中的零件进行工作。 本发明的优选版本使用三维立体声和/或其他更简单的电光测距和特征定位传感器来实时操作，以对组装工具和放置在其中的部件的关键特征的位置执行大量测量，甚至包括 检测异常特征，例如缺少孔或焊缝。 与传感器相关联的计算机系统在焊接之前，期间和之后（或工具内的其他工作或组装功能）建立部件状态的数据库。 该数据库自动使用，或由工程师或操作员自动使用，以持续改进流程并向相关流程提供数据。

公开(公告)号：US5877491A

公开(公告)日：1999-03-02

申请号：US462245

申请日：1995-06-05

Applicant: Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  Walter J. Pastorius

Inventor： Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  Walter J. Pastorius

IPC: B25J9/18 ,  G01B11/00 ,  G01B11/02 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/00 ,  G01C3/06 ,  G01C15/00 ,  G01S7/481 ,  G01S7/491 ,  G01S17/46 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G01C3/08

CPC classification number: G01S17/48 ,  G01B11/002 ,  G01B11/24 ,  G01B11/2416 ,  G01B11/245 ,  G01S17/87 ,  G01S17/89 ,  G01S7/4811 ,  G01S7/4813 ,  G01S17/46 ,  G01S17/88 ,  G01S7/481 ,  G01S7/491

Abstract: Method and apparatus for imaging an object illuminated with light onto a photodetector array including a microcomputer for controlling the light gathering of the photodetector array by varying the amount of light reflected onto the photodetector array and by varying a photodetector array variable in response to the output of the photodetector array. In one embodiment, the amount of light reflected onto the photodetector array is varied by modifying either the time the light is reflected onto the array or the power of the light reflected onto the array.

Abstract translation: 将用光照射的物体成像到包括微计算机的光电检测器阵列上的方法和装置，所述微机用于通过改变反射到光电检测器阵列上的光量来控制光电检测器阵列的聚光，并且通过响应于 光电检测器阵列。 在一个实施例中，通过修改光反射到阵列上的时间或反射到阵列上的光的功率来改变反射到光电检测器阵列上的光的量。

公开(公告)号：US5866916A

公开(公告)日：1999-02-02

申请号：US462096

申请日：1995-06-05

Applicant: Timothy R. Pryor ,  Bernard Hockley ,  Nick LipTay-Wagner ,  Omer L. Hageniers ,  W.J. Pastorius

Inventor： Timothy R. Pryor ,  Bernard Hockley ,  Nick LipTay-Wagner ,  Omer L. Hageniers ,  W.J. Pastorius

IPC: B25J9/18 ,  G01B11/00 ,  G01B11/02 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/00 ,  G01C3/06 ,  G01C15/00 ,  G01S7/481 ,  G01S7/491 ,  G01S17/46 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G01C3/08

CPC classification number: G01S17/48 ,  G01B11/002 ,  G01B11/24 ,  G01B11/2416 ,  G01B11/245 ,  G01S17/87 ,  G01S17/89 ,  G01S7/4811 ,  G01S7/4813 ,  G01S17/46 ,  G01S17/88 ,  G01S7/481 ,  G01S7/491

Abstract: A method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

Abstract translation: 一种用于光学地确定部件表面的尺寸的方法和装置。 具体实施例描述了能够精确测量诸如齿轮齿轮和涡轮机叶片的复杂表面的基于光学三角测量的坐标测量机。 其他实施例提供用于机器人指导和相关目的的非常有用的传感器。 在各种形式的表面上提供高达5轴的感测能力。

公开(公告)号：US5811827A

公开(公告)日：1998-09-22

申请号：US463097

申请日：1995-06-05

Applicant: Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

Inventor： Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

IPC: B25J9/18 ,  G01B11/00 ,  G01B11/02 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/00 ,  G01C3/06 ,  G01C15/00 ,  G01S7/481 ,  G01S7/491 ,  G01S17/46 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G01C3/08

CPC classification number: G01S17/48 ,  G01B11/002 ,  G01B11/24 ,  G01B11/2416 ,  G01B11/245 ,  G01S17/87 ,  G01S17/89 ,  G01S7/4811 ,  G01S7/4813 ,  G01S17/46 ,  G01S17/88 ,  G01S7/481 ,  G01S7/491

Abstract: A method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

公开(公告)号：US5677541A

公开(公告)日：1997-10-14

申请号：US463343

申请日：1995-06-05

Applicant: Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

Inventor： Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

IPC: B25J9/18 ,  G01B11/00 ,  G01B11/02 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/00 ,  G01C3/06 ,  G01C15/00 ,  G01S7/481 ,  G01S7/491 ,  G01S17/46 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G01C3/10

CPC classification number: G01S17/48 ,  G01B11/002 ,  G01B11/24 ,  G01B11/2416 ,  G01B11/245 ,  G01S17/87 ,  G01S17/89 ,  G01S7/4811 ,  G01S7/4813 ,  G01S17/46 ,  G01S17/88 ,  G01S7/481 ,  G01S7/491

Abstract: This invention discloses method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

Abstract translation: 本发明公开了用于光学确定部件表面尺寸的方法和装置。 具体实施例描述了能够精确测量诸如齿轮齿轮和涡轮机叶片的复杂表面的基于光学三角测量的坐标测量机。 其他实施例提供用于机器人指导和相关目的的非常有用的传感器。 在各种形式的表面上提供高达5轴的感测能力。

公开(公告)号：US5602967A

公开(公告)日：1997-02-11

申请号：US471222

申请日：1995-06-06

Applicant: Timothy R. Pryor

Inventor： Timothy R. Pryor

IPC: A01B69/04 ,  B23P19/00 ,  B25J9/16 ,  B25J13/08 ,  B25J18/00 ,  B25J19/02 ,  B62D1/28 ,  G01B11/00 ,  G05B19/39 ,  G05B19/401 ,  G06F15/46 ,  H04N7/18

CPC classification number: B23P19/10 ,  A01B69/008 ,  B25J13/088 ,  B25J18/002 ,  B25J19/021 ,  B25J19/022 ,  B25J19/023 ,  B25J9/1684 ,  B25J9/1692 ,  B25J9/1697 ,  B62D1/28 ,  G01B11/00 ,  G01B11/002 ,  G05B19/39 ,  G05B19/401 ,  G05B2219/34033 ,  G05B2219/36417 ,  G05B2219/36439 ,  G05B2219/37572 ,  G05B2219/39057 ,  G05B2219/39393 ,  G05B2219/45064 ,  G05B2219/45083

Abstract: Methods and apparatuses for assemblying, handling, and fabrication are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assemblying process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.

Abstract translation: 公开了用于组装，处理和制造的方法和装置，其中在对象上使用目标。 目标可以专门应用于对象，或者可以是对象的其他正常特征。 方便地，在组装过程中，目标物可从物体上移除或被另一物体覆盖。 使用一个或多个用于目标的机器人和成像设备。 机器人可用于处理或组装零件，或者可以将机具与机器人结合使用。 方便的是，CAD设计系统用于设计目标以及使用目标的装配过程。 还可以使用多个目标来监视和检查诸如在片材板上的成形过程。

公开(公告)号：US5866915A

公开(公告)日：1999-02-02

申请号：US465260

申请日：1995-06-05

Applicant: Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

Inventor： Timothy R. Pryor ,  Bernard Hockley ,  Nick Liptay-Wagner ,  Omer L. Hageniers ,  W. J. Pastorius

IPC: B25J9/18 ,  G01B11/00 ,  G01B11/02 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/00 ,  G01C3/06 ,  G01C15/00 ,  G01S7/481 ,  G01S7/491 ,  G01S17/46 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G01C3/08

CPC classification number: G01S17/48 ,  G01B11/002 ,  G01B11/24 ,  G01B11/2416 ,  G01B11/245 ,  G01S17/87 ,  G01S17/89 ,  G01S7/4811 ,  G01S7/4813 ,  G01S17/46 ,  G01S17/88 ,  G01S7/481 ,  G01S7/491

Abstract: A method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

公开(公告)号：US5854880A

公开(公告)日：1998-12-29

申请号：US465742

申请日：1995-06-06

Applicant: Timothy R. Pryor

Inventor： Timothy R. Pryor

IPC: B25J9/16 ,  B25J19/02 ,  G06F15/46

CPC classification number: B25J9/1697 ,  B25J19/023 ,  B25J9/1692

Abstract: Target based machine vision useful for alignment of sensors and other objects affixed to structures, robots and the like. While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.

Abstract translation: 基于目标的机器视觉对于固定到结构，机器人等上的传感器和其它物体的对准是有用的。 虽然特别涉及机器视觉系统相对于结构的对准，但是所公开的技术对于许多不同的传感器和对象是有用的。

公开(公告)号：US5828566A

公开(公告)日：1998-10-27

申请号：US466874

申请日：1995-06-06

Applicant: Timothy R. Pryor

Inventor： Timothy R. Pryor

IPC: B25J9/16 ,  B25J9/18 ,  G05B19/4097 ,  G05B19/418 ,  G06F19/00

CPC classification number: G05B19/4097 ,  B25J9/1697 ,  G05B19/41805 ,  G05B2219/36503 ,  G05B2219/37205 ,  G05B2219/37572 ,  G05B2219/45055 ,  G05B2219/50132 ,  Y02P90/04 ,  Y10T29/49769 ,  Y10T29/4978

Abstract: A new method and apparatus for fabrication or alignment of fixtures, jigs and structures is disclosed. The invention uses target points on one or more details which are referenced to the overall structure via targets on the details. These targets are monitored by a TV camera unit which is alternatively interfaced to a display for the human operator or a robot to provide position data. The interface may include input from a CAD system which allows display on robot coordinates to be offset by design data of the structure or a part to be located on it. While mainly envisioned for assistance in constructing fixtures for automobile assembly, the disclosed invention is widely useable for all types of construction including aircraft, bridges, boats, buses, houses, buildings and the like. A means for improving resolution of automatically servoed camera based systems is also disclosed.

公开(公告)号：US5706408A

公开(公告)日：1998-01-06

申请号：US467409

申请日：1995-06-06

Applicant: Timothy R. Pryor

Inventor： Timothy R. Pryor

IPC: B25J9/16 ,  B25J19/02 ,  G06F19/00

CPC classification number: B25J9/1697 ,  B25J19/023 ,  B25J9/1692

Abstract: Target based machine vision useful for alignment of sensors and other objects affixed to structures, robots and the like. While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.