公开(公告)号：US07340323B2

公开(公告)日：2008-03-04

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B15/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US20050113971A1

公开(公告)日：2005-05-26

申请号：US10720592

申请日：2003-11-24

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： B25J9/16 ,  G06F19/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US20070225862A1

公开(公告)日：2007-09-27

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B19/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US5224032A

公开(公告)日：1993-06-29

申请号：US549407

申请日：1990-07-06

申请人： Heinz Worn ,  Dietmar Schmid

发明人： Heinz Worn ,  Dietmar Schmid

IPC分类号： G05B19/4061 ,  G05B19/416 ,  G05B19/42

CPC分类号： G05B19/4207 ,  G05B19/4061 ,  G05B19/4163 ,  G05B2219/36417 ,  G05B2219/36437 ,  G05B2219/41167 ,  G05B2219/42063 ,  G05B2219/42123 ,  G05B2219/49143 ,  G05B2219/49147 ,  G05B2219/49362

摘要： The present invention pertains to a process and a system for controlling the movements of an axis on program-controlled machines, especially industrial robots, comprising a position control unit and/or a velocity control unit and/or a power control unit. The loads acting on the axis from the outside during the operation are measured by one or several sensors. The load signal is fed back regeneratively in the sense of an increase in the position control variance and sent to the summation point of the position and/or velocity control unit. To increase or decrease the mechanical flexibility of the axis, a controllable amplifying or attenuating device is provided. The sensors may have different designs, corresponding to the loads to be measured. They are preferably directly associated with the axes.

摘要翻译： 本发明涉及用于控制包括位置控制单元和/或速度控制单元和/或功率控制单元的程控机器，尤其是工业机器人上的轴的移动的过程和系统。 在操作期间从外部作用在轴上的负载由一个或多个传感器测量。 负载信号在位置控制方差增加的意义上被再生地反馈并发送到位置和/或速度控制单元的求和点。 为了增加或减少轴的机械灵活性，提供可控制的放大或衰减装置。 传感器可以具有不同的设计，对应于待测量的载荷。 它们优选地直接与轴相关联。

公开(公告)号：US07181314B2

公开(公告)日：2007-02-20

申请号：US10720592

申请日：2003-11-24

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B19/04 ,  G05B19/18

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US4926345A

公开(公告)日：1990-05-15

申请号：US173685

申请日：1988-03-25

申请人： C. Tim Novak ,  Thomas J. Alt ,  Arnold D. Chapman ,  David M. Driscoll

发明人： C. Tim Novak ,  Thomas J. Alt ,  Arnold D. Chapman ,  David M. Driscoll

IPC分类号： B25J9/16 ,  G05B19/42

CPC分类号： B25J9/1692 ,  G05B19/4207 ,  G05B2219/36399 ,  G05B2219/36437 ,  G05B2219/49042 ,  G05B2219/50294 ,  Y10T29/515 ,  Y10T83/6544

摘要： A robotic lead trimmer employing a sensor probe guided over a printed wiring board by a robot to determine the contour of a printed wiring board and a lead trimming element guided by the robot to automatically follow the determined contour of the board during lead trimming to achieve tight trimming tolerances. The sensor probe in conjunction with a fixed sensor is employed to determine an offset factor related to dimensional variations in the lead trimming element in order to impart additional accuracy to the lead trimming operation. An air ionizer and blower are utilized to neutralize static charge and remove debris. The robotic lead trimmer may be enclosed and utilized in conjunction with a tooling shuttle which receives a printed wiring board and transfers it to within the working envelope of the robot.

摘要翻译： 使用机器人引导的印刷线路板上的传感器探针的机器人导线修剪器来确定由机器人引导的印刷线路板和引线修整元件的轮廓，以在引线修整期间自动跟随所确定的板的轮廓以实现紧密 修剪公差。 结合固定传感器的传感器探头用于确定与引线修整元件中的尺寸变化相关的偏移因子，以便对引线修整操作赋予额外的精度。 利用空气离子发生器和鼓风机来中和静电和去除碎屑。 机器人导线修剪器可以与接收印刷线路板并将其传送到机器人的工作包络内的工具梭相结合使用。