公开(公告)号：US09740190B2

公开(公告)日：2017-08-22

申请号：US14511100

申请日：2014-10-09

申请人： Mitutoyo Corporation

发明人： Robert Kamil Bryll

IPC分类号： G05B19/21

CPC分类号： G05B19/21 ,  G01B11/005 ,  G01B2210/50 ,  G02B21/0016 ,  G02B21/0064 ,  G05B2219/23182 ,  G05B2219/37208 ,  G05B2219/37449 ,  G05B2219/37553 ,  G06F9/00

摘要： A method for programming a three-dimensional (3D) workpiece scan path for a metrology system comprising a 3D motion control system, a first type of Z-height sensing system, and a second type of Z-height sensing system that provides less precise surface Z-height measurements over a broader Z-height measuring range. The method comprises: placing a representative workpiece on a stage of the metrology system, defining at least a first workpiece scan path segment for the representative workpiece, determining preliminary actual surface Z-height measurements along the first workpiece scan path segment, and determining a precise 3D scan path for moving the first type of Z-height sensing system to perform precise surface Z-height measurements. The precise 3D scan path is based on the determined preliminary actual surface Z-height measurements. The precise 3D scan path may be used for performing precise surface Z-height measurements or stored to be used in an inspection program.

公开(公告)号：US20140301632A1

公开(公告)日：2014-10-09

申请号：US14246271

申请日：2014-04-07

申请人： OMRON Corporation

发明人： Yasuyuki IKEDA ,  Kazushi YOSHIOKA ,  Yutaka KATO ,  Yuichi DOI

IPC分类号： G06T7/00

CPC分类号： G06T7/004 ,  B25J9/1697 ,  G05B2219/37553 ,  G05B2219/41106 ,  G06K9/3216 ,  G06K2009/3225 ,  G06K2209/19 ,  G06T7/0004 ,  G06T7/70 ,  G06T2207/30164

摘要： A control system executes a first control operation, and then executes a second control operation. In the first control operation, the image processing section obtains the image data and specifies a position of a characteristic part. The control section determines a control instruction for accelerating an object to a predetermined first speed based on the specified position of the characteristic part and then decelerating the object to a predetermined second speed lower than the first speed, to move the object to an intermediate target position away from the final target position by a predetermined margin distance. In the second control operation, the image processing section obtains the image data during movement of the moving mechanism and specifies the position of the characteristic part, and the control section determines a control instruction for positioning the object to the final target position based on the specified position of the characteristic part.

摘要翻译： 控制系统执行第一控制操作，然后执行第二控制操作。 在第一控制操作中，图像处理部分获得图像数据并指定特征部分的位置。 控制部基于特征部的指定位置来确定用于将物体加速到预定的第一速度的控制指令，然后将物体减速至比第一速度低的预定的第二速度，将物体移动到中间目标位置 远离最终目标位置预定的距离。 在第二控制操作中，图像处理部分在移动机构移动期间获取图像数据并指定特征部分的位置，并且控制部分基于指定的位置确定用于将对象定位到最终目标位置的控制指令 特征部位的位置。

公开(公告)号：US5570992A

公开(公告)日：1996-11-05

申请号：US480114

申请日：1995-06-07

申请人： Jerome H. Lemelson

发明人： Jerome H. Lemelson

IPC分类号： B23Q11/10 ,  B23Q41/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B25J15/04 ,  B25J19/02 ,  B66C23/00 ,  G05B19/14 ,  G05B19/418 ,  G05B19/425 ,  G06K7/04 ,  G06K13/26 ,  G11B15/18 ,  G11B15/58 ,  G11B27/10 ,  G11B27/28 ,  H03D13/00 ,  H04L27/16

CPC分类号： B23Q11/10 ,  B23Q41/00 ,  B25J15/0491 ,  B25J19/021 ,  B25J19/023 ,  B25J5/005 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/041 ,  B25J9/1015 ,  B25J9/161 ,  G05B19/14 ,  G05B19/41815 ,  G05B19/425 ,  G06K13/26 ,  G06K7/04 ,  G11B15/1883 ,  G11B15/58 ,  G11B27/102 ,  G11B27/28 ,  H03D13/005 ,  H04L27/16 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/41249 ,  G05B2219/45045 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/45213 ,  G05B2219/49395 ,  Y02P90/08

摘要： An automatic, controlled manipulator includes a moveable tool head on an arm and a tool supported at the end of the arm. The manipulator may be moveable in multiple or all directions. A storage for remotely generated control signals can be accessed to control motors causing 3D motion of the tool head, attachment of the tool, and (if applicable) motion of the manipulator, and also to control power to operate the tool. Video signals generated at the manipulator are used to identify the workpiece, to select one of a plurality of stored control programs, and to select the tool operations applied.

摘要翻译： 自动控制的操纵器包括臂上的可动工具头和支撑在臂端部的工具。 操纵器可以在多个或所有方向上移动。 可以访问用于远程产生的控制信号的存储器，以控制引起工具头的3D运动，工具的附接和（如果适用的话）运动的机械手的运动，并且还控制用于操作工具的动力。 在机械手处产生的视频信号用于识别工件，选择多个存储的控制程序中的一个，并选择应用的刀具操作。

公开(公告)号：US5097406A

公开(公告)日：1992-03-17

申请号：US416429

申请日：1989-10-03

申请人： Mandayam A. Narasimhan ,  Virge W. McClure ,  Anthony L. Adams

发明人： Mandayam A. Narasimhan ,  Virge W. McClure ,  Anthony L. Adams

IPC分类号： H01L21/60 ,  G05B19/408

CPC分类号： G05B19/4083 ,  G05B2219/37553 ,  G05B2219/37555 ,  G05B2219/45033 ,  H01L2224/05553 ,  H01L2224/48247 ,  H01L2224/49171 ,  H01L2924/01039 ,  H01L2924/09701

摘要： A lead frame locater is used to locate actual positions of lead frame leads in respect to the semiconductor chip to provide accurate wire bonding of the semiconductor chip to the lead frame leads.

摘要翻译： 引线框架定位器用于定位引线框引线相对于半导体芯片的实际位置，以提供半导体芯片与引线框引线的精确引线接合。

公开(公告)号：US5576948A

公开(公告)日：1996-11-19

申请号：US319415

申请日：1994-10-06

申请人： Howard Stern ,  Fereydoun Maali ,  Stanley Elstein

发明人： Howard Stern ,  Fereydoun Maali ,  Stanley Elstein

IPC分类号： G05B19/408 ,  G05B19/18

CPC分类号： G05B19/408 ,  G05B2219/37053 ,  G05B2219/37553 ,  G05B2219/37571 ,  G05B2219/45034

摘要： An arrangement for steering the laser beam, in an active optical triangulation method based on three-dimensional sensors, along paths which are sensitive to the context of the scene of interest, and alleviating the need to undergo a search path by the sensor. A conventional video camera is used to preview the scene of interest and the resultant intensity image is processed to locate the desired path based on the scene context. The sensory system is modeled to enable determination of the instantaneous angular deflections of the laser beam along with the translation of the laser source that can shift the nominal or actual data acquisition path to the desired data acquisition path.

摘要翻译： 用于以基于三维传感器的有源光学三角测量方法沿着对感兴趣场景的上下文敏感的路径来转向激光束并且减轻由传感器进行搜索路径的需要的布置。 常规摄像机用于预览感兴趣的场景，并且处理合成的强度图像以基于场景上下文定位所需的路径。 该感官系统被建模成能够确定激光束的瞬时角度偏转以及可将标称或实际数据采集路径移动到所需数据采集路径的激光源的平移。

公开(公告)号：US5345675A

公开(公告)日：1994-09-13

申请号：US16260

申请日：1993-02-11

申请人： Yasurou Yamanaka ,  Junichi Yamanaga ,  Akira Morizono ,  Akira Miyazaki ,  Noriyuki Unose

发明人： Yasurou Yamanaka ,  Junichi Yamanaga ,  Akira Morizono ,  Akira Miyazaki ,  Noriyuki Unose

IPC分类号： B25J9/16 ,  B62D65/12 ,  G05B19/418 ,  G05B19/417 ,  B62D65/00

CPC分类号： G05B19/4182 ,  B25J9/1697 ,  B62D65/12 ,  G05B2219/37553 ,  G05B2219/45021 ,  G05B2219/49113 ,  Y02P90/04 ,  Y02P90/083 ,  Y10T29/49492 ,  Y10T29/49902

摘要： A pair of second cameras mounted on a robot are located in front of, and symmetrically with respect to the center of a wheel hub of a vehicle, according to approximate coordinates of the center of the wheel hub calculated from an image of the wheel hub taken by a first camera. Revised coordinates of the center of the wheel hub, a rotational displacement from a standard rotational position of the wheel hub, and a turning angle of the wheel hub toward the right or left with respect to a progressive direction of the vehicle are calculated from the images obtained by the second cameras. A wheel is then automatically mounted to the wheel hub by the robot, according to the results of calculation.

摘要翻译： 安装在机器人上的一对第二相机位于相对于车辆的轮毂的中心的前方并对称地根据轮毂的中心的近似坐标，该轮毂的中心由所采用的轮毂的图像计算 由第一台相机。 从图像中计算轮毂中心的修正坐标，轮毂的标准旋转位置的旋转位移以及轮毂相对于车辆的行进方向向左或向左转动的角度 由第二台相机获得。 根据计算结果，轮子由机器人自动安装到轮毂上。

公开(公告)号：US5017084A

公开(公告)日：1991-05-21

申请号：US249404

申请日：1988-09-23

申请人： Jerome H. Lemelson

发明人： Jerome H. Lemelson

IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  G07D7/12 ,  G07D7/20 ,  B25J17/02

CPC分类号： B25J5/005 ,  B25J15/0491 ,  B25J19/023 ,  B25J9/041 ,  G05B19/425 ,  G07D7/12 ,  G07D7/20 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/41249 ,  G05B2219/45045 ,  G05B2219/45051 ,  G05B2219/45083 ,  G05B2219/45213 ,  G05B2219/49395 ,  Y10T29/5107 ,  Y10T483/10 ,  Y10T483/1793

摘要： An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automatically changed and received either from storage on the manipulator or adjacent the manipulator. In a fourth form, the tool head is composed of a turret containing a plurality of different tools and manipulating devices, which turret is automatically operated to bring a selected tool or fixture into an operative location on the manipulator.

摘要翻译： 一种能够执行各种程序和自动控制操作的自动操纵器，包括关于工作的操作。 提供自动换刀装置，其中操纵器相对于其工具夹具，工具头或头部改变工具。 在一种形式中，待使用的多个工具被支撑在与机械手相邻的机架上，并且操纵器被自动操作以实现一个或多个工具从其操作头的脱离，并且一个或多个工具相对于其的联接 操作头。 在另一种形式中，这些工具由操纵器本身支撑，并且自动控制操纵器来实现工具在其操作头和工具的存储位置之间的传送。 在第三种形式中，工具头自身被自动地改变并且从操纵器上的存储器或者与操纵器相邻接收。 在第四种形式中，工具头由包含多个不同工具和操纵装置的转台组成，该转台被自动操作以使选定的工具或固定装置进入操纵器上的操作位置。

公开(公告)号：US07177459B1

公开(公告)日：2007-02-13

申请号：US09546392

申请日：2000-04-10

申请人： Atsushi Watanabe ,  Taro Arimatsu

发明人： Atsushi Watanabe ,  Taro Arimatsu

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37553 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39393 ,  G05B2219/40053 ,  G05B2219/40613

摘要： A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected. A three-dimensional position/posture of the workpiece is determined from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. The position/posture of the second visual sensor to be situated for measurement is determined based on the determined position/posture of the workpiece and the stored relative position/posture of the second visual sensor, and precise position/posture of the workpiece is measured by the second visual sensor at the determined position/posture of the second visual sensor. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the measuring results of the second visual sensor.

摘要翻译： 一种具有图像处理功能的机器人系统，其能够检测随机布置在堆叠中的各个工件的位置和/或姿势，以确定适合于检测到的工件的位置和/或姿势的机器人操作的姿势或姿势和位置。 通过第一视觉传感器从多个方向上捕获的参考工件的二维图像创建参考模型并存储。 此外，存储第一视觉传感器相对于相应图像拍摄时的工件的相对位置/姿势以及相对于工件定位的第二视觉传感器的相对位置/姿势。 执行由照相机拍摄的工件堆叠的图像与参考模型之间的匹配处理，并且选择与一个参考模型匹配的工件的图像。 从所选择的工件的图像，所选择的参考模型和与参考模型相关联的位置/姿势信息确定工件的三维位置/姿势。 基于确定的工件的位置/姿势和第二视觉传感器的存储的相对位置/姿势来确定要测量的第二视觉传感器的位置/姿势，并且通过以下方式测量工件的精确位置/姿态： 在第二视觉传感器的确定的位置/姿势下的第二视觉传感器。 可以通过机器人基于第二视觉传感器的测量结果来执行从随机布置的堆叠中挑选相应工件的拾取操作。

公开(公告)号：US4773815A

公开(公告)日：1988-09-27

申请号：US941554

申请日：1986-12-11

申请人： Jerome H. Lemelson

发明人： Jerome H. Lemelson

IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  B25J17/02

CPC分类号： G05B19/425 ,  B25J15/0491 ,  B25J19/023 ,  B25J5/005 ,  B25J9/041 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/45045 ,  Y10S483/901 ,  Y10T29/5107

摘要： An automatic manipulator capable of performing various programs and adaptively controlled operations with respect to work including operations on work. Automatic tool changing means are provided wherein the manipulator changes tools with respect to its tool holding fixture, tool head or heads. In one form, a plurality of tools to be used are supported on a rack adjacent the manipulator and the manipulator is automatically operated to effect the uncoupling of one or more tools from its operating head and the coupling of one or more tools with respect to such operating head. In another form, the tools are supported by the manipulator itself and the manipulator is automatically controlled to effect the transfer of tools between its operating head and a storage location for the tools. In a third form, tool heads themselves are automtically changed and received either from storage on the manipulator or adjacent the manipulator. In a fourth form, the tool head is composed of a turret containing a plurality of different tools and manipulating devices, which turret is automatically operated to bring a selected tool or fixture into an operative location on the manipulator.

摘要翻译： 一种能够执行各种程序和自动控制操作的自动操纵器，包括关于工作的操作。 提供自动换刀装置，其中操纵器相对于其工具夹具，工具头或头部改变工具。 在一种形式中，要使用的多个工具被支撑在与机械手相邻的机架上，并且操纵器被自动操作以实现一个或多个工具从其操作头的脱离，并且一个或多个工具相对于其的联接 操作头。 在另一种形式中，这些工具由操纵器本身支撑，并且自动控制操纵器来实现工具在其操作头和工具的存储位置之间的传送。 在第三种形式中，工具头自身被自动地改变并从操纵器上的存储器或与操纵器相邻接收。 在第四种形式中，工具头由包含多个不同工具和操纵装置的转台组成，该转台被自动操作以使选定的工具或固定装置进入操纵器上的操作位置。

公开(公告)号：US4636137A

公开(公告)日：1987-01-13

申请号：US638432

申请日：1984-08-06

申请人： Jerome H. Lemelson

发明人： Jerome H. Lemelson

IPC分类号： B25J5/00 ,  B25J9/04 ,  B25J15/04 ,  B25J19/02 ,  G05B19/425 ,  B25J9/00

CPC分类号： G05B19/425 ,  B25J15/0491 ,  B25J19/023 ,  B25J5/005 ,  B25J9/041 ,  G05B2219/33192 ,  G05B2219/33207 ,  G05B2219/36395 ,  G05B2219/36511 ,  G05B2219/36513 ,  G05B2219/37553 ,  G05B2219/37572 ,  G05B2219/40283 ,  G05B2219/40284 ,  G05B2219/40298 ,  G05B2219/45045

摘要： A manipulator has a carriage adapted for free travel movement along a surface and a reversible first motor for driving the carriage. An upstanding support is mounted on the carriage and a manipulation arm assembly is supported for movement on the upstanding support. A reversible second motor drives the arm assembly on the upstanding support. An operating head includes a tool supported at the end of the manipulation arm assembly. A remote control mechanism operates the first and second motors and the operating head at a remote location. A first television camera is supported at the upper end of the upstanding support and adapted to scan a first image field in front of the manipulator. A second camera is supported by the manipulation arm assembly and adapted to scan a second image field including the operating head and an article to be operated on by the operating head. Video signals are transmitted by a transmitting mechanism and received to display picture information defined by the first and second image fields scanned by the first and second television cameras to permit a person operating the remote control mechanism at the remote location to view an area immediately in front of the manipulator, the operating head and an area immediately in front of the operating head. Another feature is directed to a cycle initiating circuit for initiating operation of a program control circuit to cause it to generate command control signals which operate a plurality of motors causing various movements in an article manipulation apparatus. A wireless signal transmitter and wireless receiver circuitry operate with short wave command control signals to effectuate remote control of the manipulation apparatus.

摘要翻译： 机械手具有适于沿表面自由行进的滑架和用于驱动滑架的可逆的第一马达。 直立的支撑件安装在托架上，并且操纵臂组件支撑在直立支撑件上运动。 可逆的第二马达驱动臂组件在直立的支撑上。 操作头包括支撑在操纵臂组件的端部的工具。 远程控制机构在远程位置操作第一和第二电动机和操作头。 第一台电视摄像机在直立支撑的上端被支撑，并适用于扫描操纵器前面的第一个图像场。 第二相机由操纵臂组件支撑并且适于扫描包括操作头的第二图像场和由操作头操作的物品。 视频信号由发送机构发送并被接收以显示由第一和第二电视摄像机扫描的第一和第二图像字段定义的图像信息，以允许在远程位置操作远程控制机构的人员立即观看区域 操纵头和操作头前面的区域。 另一个特征涉及用于启动程序控制电路的操作以使其产生操作多个电动机的命令控制信号的循环启动电路，该多个电动机在物品操纵装置中产生各种移动。 无线信号发射器和无线接收器电路用短波指令控制信号进行操作，以实现对操纵装置的遥控。