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公开(公告)号:US20170368649A1
公开(公告)日:2017-12-28
申请号:US15195392
申请日:2016-06-28
CPC分类号: B23P19/02 , B23P2700/50 , B25J9/1687 , G05B2219/39117 , G05B2219/39121 , G05B2219/40032 , G05B2219/45055 , Y10S901/31 , Y10S901/43
摘要: An integrated control system for a flexible pressing system may include a first robot including a gripper for manipulating a part, a second robot including a pressing tool, and a controller configured to instruct the first robot to move the part into a pressing position and to instruct the second robot to concurrently ready the pressing tool for pressing.
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公开(公告)号:US20160023355A1
公开(公告)日:2016-01-28
申请号:US14775694
申请日:2014-03-17
发明人: TAKAMICHI KOMATSU , TATSUYA IKEDA
CPC分类号: B25J9/1682 , B25J3/00 , B25J9/0084 , B25J9/1607 , G05B2219/39121 , G05B2219/39132 , G05B2219/39139 , Y10S901/08
摘要: A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.
摘要翻译: 一种机器人系统控制方法,包括:第一步骤,第五步骤。 特别地,在第二步骤中,生成表示第一从机器人与第二从机器人之间的位置关系的第二变换矩阵并将其存储在主机器人中。 在第四步骤中,基于使用第一变换矩阵和第二变换矩阵获得的第二命令,主机器人指示第二从机器人操作。 在第五步骤中,第一从机器人和第二从机器人与主机器人进行协作操作。 因此,在能够与其他机器人的一部分进行TCP匹配的作业机器人被设定为主机器人的状态下,所有的机器人都可以进行协作操作。
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公开(公告)号:US20170072507A1
公开(公告)日:2017-03-16
申请号:US15124770
申请日:2015-03-16
发明人: Mario Legault
IPC分类号: B23K26/044 , B23K15/00 , B23K26/08 , B25J19/02 , B23K28/02 , B23K37/02 , B25J9/16 , B23K10/02 , B23K26/348
CPC分类号: B23K26/044 , B23K9/167 , B23K9/173 , B23K10/02 , B23K15/006 , B23K26/0884 , B23K26/348 , B23K28/02 , B23K37/02 , B25J9/1682 , B25J19/023 , G05B2219/39121 , G05B2219/39243 , G05B2219/45104
摘要: A welding system comprises a two manipulators and a controller. A first manipulator has a joint detection device and a first welding device, usually of the laser type while the second manipulator has a second welding device, usually of the arc weld type. The joint detection device is operative to read welding joint characteristics along a welding joint. The controller determines a corrected trajectory based on a predetermined welding trajectory and on the welding joint characteristics read by the joint detection device. This corrected trajectory is transmitted with a first time delay to the first manipulator and with a second time delay to the second manipulator. The second time delay is a function of a distance between the joint detection device and the second welding device. A corresponding method for welding components along a welding joint is also disclosed.
摘要翻译: 焊接系统包括两个操纵器和控制器。 第一操纵器具有通常具有激光类型的联合检测装置和第一焊接装置,而第二操纵器具有通常为电弧焊接型的第二焊接装置。 联合检测装置用于沿焊接接头读取焊接接头特性。 控制器基于预定的焊接轨迹和由关节检测装置读取的焊接接合特性来确定校正的轨迹。 该校正的轨迹以第一时间延迟传送到第一操纵器,并且以第二时间延迟传送到第二操纵器。 第二时间延迟是关节检测装置和第二焊接装置之间的距离的函数。 还公开了焊接部件沿着焊接接头的相应方法。
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公开(公告)号:US09533359B2
公开(公告)日:2017-01-03
申请号:US14375979
申请日:2013-01-29
申请人: BAE Systems PLC
IPC分类号: B23B35/00 , B23B39/14 , B25J9/16 , B23B49/00 , G05B19/4069 , G05B19/4099
CPC分类号: B23B39/14 , B23B35/00 , B23B49/00 , B23B2215/04 , B23B2220/04 , B23B2260/128 , B23B2270/48 , B25J9/16 , B25J9/1682 , G05B19/4069 , G05B19/4099 , G05B2219/39109 , G05B2219/39116 , G05B2219/39121 , G05B2219/39129 , G05B2219/45059 , G05B2219/49113 , Y10S901/09 , Y10S901/41 , Y10S901/47 , Y10T408/03 , Y10T408/08 , Y10T408/175 , Y10T408/21 , Y10T408/561
摘要: Drilling apparatus and method, the apparatus comprising: a first robot (10); a first member (30) (e.g. a pressure foot) and a drilling tool (38) both coupled to the first robot (10); a second robot (12); and a second member (52) coupled to the second robot (12); wherein the apparatus is arranged to press the members (30, 52) against opposite sides of a part to be drilled (2, 100) (e.g. an aircraft panel) so as to hold the part (2, 100) and prevent deflection of at least a portion of the part (2, 100); and the first member (30) and the drilling tool (38) are arranged such that the drilling tool (38) may drill into the portion of the part (2, 100) of which deflection is opposed from the side of the part (2, 100) pressed against by the first member (30). The robots (10, 12) may be robotic arms.
摘要翻译: 钻井装置和方法,所述装置包括:第一机器人(10); 耦合到第一机器人(10)的第一构件(30)(例如压力脚)和钻孔工具(38); 第二机器人(12); 以及联接到所述第二机器人(12)的第二构件(52)。 其中所述装置被布置成抵靠所述待钻孔部件(2,100)(例如飞行器面板)的相对两侧的部件(30,52),以便保持所述部件(2,100),并防止所述部件 部分(2,100)的至少一部分; 并且所述第一构件(30)和所述钻孔工具(38)被布置成使得所述钻孔工具(38)可以钻入所述部件(2,100)的从所述部件(2)的所述侧部 ,100)被所述第一构件(30)按压。 机器人(10,12)可以是机器人手臂。
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公开(公告)号:US20110245971A1
公开(公告)日:2011-10-06
申请号:US12117153
申请日:2008-05-08
IPC分类号: G05B19/418
CPC分类号: B25J9/1682 , B21J15/142 , G05B2219/32285 , G05B2219/39121 , G05B2219/39122 , G05B2219/39141 , G05B2219/45059 , G05B2219/45064 , G05B2219/45126 , Y10T29/49826 , Y10T29/49943 , Y10T29/49948 , Y10T29/49956 , Y10T29/51 , Y10T29/5124 , Y10T29/52 , Y10T29/53
摘要: A fully automated method is performed on a structure having a confined space. The structure has a location that is identifiable from within the confined space and from outside the confined space. A first robotic system moves a first end effector inside the confined space such that the first end effector is positioned over the location. A first vector corresponding to the location is generated. A second robotic system moves a second end effector outside the confined space such that the second end effector is positioned over the location. A second vector corresponding to the location is generated. The first and second vectors are used to move the first and second end effectors to a new location such that the first and second end effectors are in working opposition. The first and second end effectors perform a synchronous operation at the new location.
摘要翻译: 对具有有限空间的结构执行完全自动化的方法。 该结构具有可以从密闭空间内和从密闭空间外部识别的位置。 第一机器人系统使第一端部执行器在限制空间内移动,使得第一端部执行器位于该位置上方。 生成与该位置对应的第一向量。 第二机器人系统将第二端部执行器移动到限制空间外部,使得第二端部执行器位于该位置上方。 生成与该位置对应的第二向量。 第一和第二向量用于将第一和第二末端执行器移动到新位置,使得第一和第二末端执行器处于工作对立状态。 第一和第二末端执行器在新位置执行同步操作。
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公开(公告)号:US5645884A
公开(公告)日:1997-07-08
申请号:US418650
申请日:1995-04-10
申请人: Albert L. Harlow, Jr. , Richard E. Bechtold , David Parker , Francis L. Merat , Mark Podany , Raymond C. Laning
发明人: Albert L. Harlow, Jr. , Richard E. Bechtold , David Parker , Francis L. Merat , Mark Podany , Raymond C. Laning
CPC分类号: G05B19/4207 , B05B12/02 , B05B12/122 , B05B7/0815 , G05B19/4182 , B05B13/0431 , B05B5/084 , G05B2219/36462 , G05B2219/36495 , G05B2219/36513 , G05B2219/37047 , G05B2219/37048 , G05B2219/37058 , G05B2219/39121 , G05B2219/45013 , G05B2219/45065 , G05B2219/49056 , G05B2219/50353 , Y02P90/083
摘要: A surface of a 3-D object is digitized automatically and stored in a memory. Based on the signal representation of the 3-D object areas of the surface are defined for color and boundaries. Coatings application paths are defined within each area and various parameters for applying coatings for each point in each path are also defined including spray pattern, amount of coatings to be applied, speed of application along the path, among others; for each area, the points of the selected path are correlated with the angle of attack, spray pattern, amount of coatings and speed. A set of programmed instructions are compiled for execution in a general purpose computer. An assembly line of objects to be painted may then be set up and the retrieved instructions executed.
摘要翻译: 3-D物体的表面被自动数字化并存储在存储器中。 基于表面的3-D物体区域的信号表示被定义用于颜色和边界。 在每个区域内定义涂层施加路径,并且还定义了用于为每个路径中的每个点施加涂层的各种参数,包括喷涂图案,待涂覆的涂层量,沿路径施加的速度等等; 对于每个区域,所选路径的点与迎角,喷雾图案,涂层量和速度相关。 一组编程指令被编译用于在通用计算机中执行。 然后可以设置要绘制的对象的装配线,并执行检索的指令。
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公开(公告)号:US09573272B2
公开(公告)日:2017-02-21
申请号:US14352818
申请日:2012-10-15
申请人: Dürr Systems GmbH
CPC分类号: B25J9/0084 , B23P21/00 , B25J9/1682 , B64F5/10 , G05B2219/32285 , G05B2219/39121 , G05B2219/40417 , G05B2219/45071 , Y10T29/49826
摘要: The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.
摘要翻译: 本发明涉及一种用于定位系统1的操作方法,特别是用于飞行器的结构组件,其中定位系统1包括多个定位器2a,2b,2c,每个定位器具有至少一个操纵器M.操纵器 M抓住组件B并以同步的方式操纵它,同时由操纵器M共同掌握。
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公开(公告)号:US20170043414A1
公开(公告)日:2017-02-16
申请号:US15335729
申请日:2016-10-27
申请人: BAE Systems PLC
IPC分类号: B23B39/14 , G05B19/4099 , B25J9/16
CPC分类号: B23B39/14 , B23B35/00 , B23B49/00 , B23B2215/04 , B23B2220/04 , B23B2260/128 , B23B2270/48 , B25J9/16 , B25J9/1682 , G05B19/4069 , G05B19/4099 , G05B2219/39109 , G05B2219/39116 , G05B2219/39121 , G05B2219/39129 , G05B2219/45059 , G05B2219/49113 , Y10S901/09 , Y10S901/41 , Y10S901/47 , Y10T408/03 , Y10T408/08 , Y10T408/175 , Y10T408/21 , Y10T408/561
摘要: Drilling apparatus and method, the apparatus comprising: a first robot (10); a first member (30) (e.g. a pressure foot) and a drilling tool (38) both coupled to the first robot (10); a second robot (12); and a second member (52) coupled to the second robot (12); wherein the apparatus is arranged to press the members (30, 52) against opposite sides of a part to be drilled (2, 100) (e.g. an aircraft panel) so as to hold the part (2, 100) and prevent deflection of at least a portion of the part (2, 100); and the first member (30) and the drilling tool (38) are arranged such that the drilling tool (38) may drill into the portion of the part (2, 100) of which deflection is opposed from the side of the part (2, 100) pressed against by the first member (30). The robots (10, 12) may be robotic arms.
摘要翻译: 钻井装置和方法,所述装置包括:第一机器人(10); 耦合到第一机器人(10)的第一构件(30)(例如压力脚)和钻孔工具(38); 第二机器人(12); 以及联接到所述第二机器人(12)的第二构件(52)。 其中所述装置被布置成抵靠所述待钻孔部件(2,100)(例如飞行器面板)的相对两侧的部件(30,52),以便保持所述部件(2,100),并防止所述部件 部分(2,100)的至少一部分; 并且所述第一构件(30)和所述钻孔工具(38)被布置成使得所述钻孔工具(38)可以钻入所述部件(2,100)的从所述部件(2)的所述侧部 ,100)被所述第一构件(30)按压。 机器人(10,12)可以是机器人手臂。
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公开(公告)号:US20160158939A1
公开(公告)日:2016-06-09
申请号:US14945959
申请日:2015-11-19
发明人: Kimihiro NAKADA , Shigeru KATO
IPC分类号: B25J9/16 , B32B37/10 , B25J21/00 , H01L21/67 , H01L21/683 , B32B37/06 , H01L21/677
CPC分类号: B25J9/1682 , B32B37/003 , B32B37/0046 , B32B37/06 , B32B37/10 , B32B38/1841 , B32B41/00 , B32B2038/1891 , B32B2309/02 , B32B2309/68 , B32B2457/14 , G05B2219/39117 , G05B2219/39121 , H01L21/67742 , H01L21/67748 , H01L21/6835 , H01L21/68742 , H01L2221/68327 , Y10S901/08
摘要: A laminate is directly transferred from a first robot arm that carries the laminate from a bonding chamber to an overlapping chamber, to a second robot arm that carries out the laminate from the overlapping chamber to the outside.
摘要翻译: 将层压体从承载层压板的第一机器人手臂从粘合室直接转移到重叠室,从而将层叠体从重叠室执行到第二机器人臂。
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公开(公告)号:US20150177194A1
公开(公告)日:2015-06-25
申请号:US14411319
申请日:2013-07-04
发明人: Chunguang Xu , Xinyu Zhao , Lan Zhang , Hongbo Wang , Dingguo Xiao , Juan Hao , Zongxin Lu
CPC分类号: G01N29/043 , B25J9/1661 , B25J9/1664 , B25J9/1669 , G01N29/225 , G01N29/265 , G01N2291/0231 , G01N2291/044 , G01N2291/101 , G01N2291/105 , G05B2219/39121
摘要: Disclosed is a twin-robot testing apparatus for non-destructive testing. The apparatus comprises two robots (1) for detecting a workpiece (3) from front and back sides thereof; a water circulating unit, comprising a pressure pump, two water ejection coupling probes (2) and water pipes, for providing a coupled water column; an ultrasonic transmitting/receiving device, comprising two ultrasonic transducers, a pulse transmitting/receiving card, and a high-speed data acquisition card, wherein the two ultrasonic transducers are respectively attached at the end-effector of the two robots (1), for transmitting ultrasound and receiving ultrasound respectively, the ultrasonic pulse transmitting/receiving card and the high-speed data acquisition card are mounted on the robot controller mechanism for transmitting and receiving, and acquiring pulse signals, the two robots perform a synchronous transmission testing, with ultrasound transmitted by one robot being received by the other robot, and the ultrasonic transducers are adjusted in position and gesture with the change in the surface shape of the workpiece (3) such that the incidence direction of ultrasonic beam is always in coincidence with the normal direction of the curved surface. The apparatus is used for automatic non-destructive testing of a curved-surface workpiece made of a composite material, and can improve the accuracy, sensitivity and efficiency of the testing.
摘要翻译: 公开了一种用于非破坏性测试的双机器人测试装置。 该装置包括从前后检测工件(3)的两个机器人(1) 水循环单元,包括压力泵,两个水喷射耦合探头(2)和水管,用于提供耦合的水柱; 包括两个超声波换能器,脉冲发射/接收卡和高速数据采集卡的超声波发射/接收装置,其中两个超声波换能器分别连接在两个机器人(1)的末端执行器上,用于 分别发送超声波和接收超声波,超声脉冲发射/接收卡和高速数据采集卡安装在机器人控制器机构上,用于发送和接收,并采集脉搏信号,两台机器人进行超声波同步传输测试 由另一机器人接收的一个机器人传送,并且随着工件(3)的表面形状的变化,超声波换能器被调整到位置和手势,使得超声波束的入射方向总是与法线方向一致 的曲面。 该装置用于由复合材料制成的曲面工件的自动无损检测,可提高测试的准确性,灵敏度和效率。
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