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1.发明申请公开(公告)号：US20140309762A1
公开(公告)日：2014-10-16
申请号：US14357907
申请日：2012-11-16
发明人： Junji Hayata , Satoru Takizawa
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , B25J9/1682 , B25J9/1697 , G05B2219/39131 , G05B2219/39132 , G05B2219/39393 , G05B2219/39397 , G05B2219/40611 , Y10S901/42 , Y10S901/47
摘要： A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
摘要翻译： 一种用于使用具有预先输入的指令数据的机器人连接第一和第二构件以创建连接件的制造方法。 该方法包括操作机器人，以保持第二构件用于接合到第一构件并拍摄第二构件，以在保持位置获得第二构件的图像; 将图像与连接到参考第一构件的参考第二构件的接合位置的参考图像进行比较; 确定第二构件的保持位置偏离参考图像中的接合位置的偏差量; 要校正用于校正第二构件的保持位置的校正量，以便减小第二构件的保持位置的偏离量; 根据校正量校正第二构件的保持位置，然后接合第一构件和第二构件。
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公开(公告)号：US06804580B1
公开(公告)日：2004-10-12
申请号：US10406521
申请日：2003-04-03
申请人： Kenneth A. Stoddard , R. William Kneifel, II , David M. Martin , Khalid Mirza , Michael C. Chaffee , Andreas Hagenauer , Stefan Graf
发明人： Kenneth A. Stoddard , R. William Kneifel, II , David M. Martin , Khalid Mirza , Michael C. Chaffee , Andreas Hagenauer , Stefan Graf
IPC分类号： G05B19418
CPC分类号： B25J9/1669 , B25J9/1682 , G05B2219/31157 , G05B2219/39109 , G05B2219/39124 , G05B2219/39131 , G05B2219/39132 , G05B2219/39139 , G05B2219/39142 , G05B2219/39144 , G05B2219/39145 , G05B2219/40307 , Y02P90/18 , Y10T74/20305
摘要： A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.
摘要翻译： 一种用于控制多个机器人的系统和一种用于控制所述系统的方法。 所述系统包括多个控制器，每个控制器具有适于控制附接的机器人的相关联的运动系统，每个运动控制器能够从至少一个运动指令源接收运动指令，并且所述运动指令源中的至少一个是控制程序 以及所述控制器在其上进行通信的计算机网络。 通过这种方式，可以将本发明应用于解决诸如负载共享，零件在加工时的配合，无固定转移，教学，协调操作的手动运动以及时间协调运动等协调活动中常见的问题。
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公开(公告)号：US09904271B2
公开(公告)日：2018-02-27
申请号：US14357907
申请日：2012-11-16
发明人： Junji Hayata , Satoru Takizawa
IPC分类号： G05B19/402 , B25J9/16
CPC分类号： G05B19/402 , B25J9/1682 , B25J9/1697 , G05B2219/39131 , G05B2219/39132 , G05B2219/39393 , G05B2219/39397 , G05B2219/40611 , Y10S901/42 , Y10S901/47
摘要： A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
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公开(公告)号：US07024250B2
公开(公告)日：2006-04-04
申请号：US10438062
申请日：2003-05-14
IPC分类号： G05B11/01
CPC分类号： B25J9/1669 , B25J9/1682 , G05B19/41825 , G05B2219/31157 , G05B2219/31199 , G05B2219/34348 , G05B2219/34398 , G05B2219/39121 , G05B2219/39131 , Y02P90/087 , Y02P90/10 , Y02P90/18
摘要： A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.
摘要翻译： 用于几个操纵器（诸如几个工业机器人）的同步控制的方法的特征在于，特定操纵器的控制单元根据包含在相应的控制程序中的数据结构交换控制信息，通过该控制单元将要同步的控制单元和同步点 在发生的控制程序中可以清楚地识别，并且在到达和同步点时，将根据数据结构的内容结合已经交换的控制信息继续同步的控制单元中的程序序列或停止 直到相应的信息从其他控制单元到达以进行同步。
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公开(公告)号：US20040199290A1
公开(公告)日：2004-10-07
申请号：US10406521
申请日：2003-04-03
发明人： Kenneth A. Stoddard , R. William Kneifel II , David M. Martin , Khalid Mirza , Michael C. Chaffee , Andreas Hagenauer , Stefan Graf
IPC分类号： G06F019/00
CPC分类号： B25J9/1669 , B25J9/1682 , G05B2219/31157 , G05B2219/39109 , G05B2219/39124 , G05B2219/39131 , G05B2219/39132 , G05B2219/39139 , G05B2219/39142 , G05B2219/39144 , G05B2219/39145 , G05B2219/40307 , Y02P90/18 , Y10T74/20305
摘要： A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.
摘要翻译： 一种用于控制多个机器人的系统和一种用于控制所述系统的方法。 所述系统包括多个控制器，每个控制器具有适于控制附接的机器人的相关联的运动系统，每个运动控制器能够从至少一个运动指令源接收运动指令，并且所述运动指令源中的至少一个是控制程序 以及所述控制器在其上进行通信的计算机网络。 通过这种方式，可以将本发明应用于解决诸如负载共享，零件在加工时的配合，无固定转移，教学，协调操作的手动运动以及时间协调运动等协调活动中常见的问题。
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公开(公告)号：US20040030452A1
公开(公告)日：2004-02-12
申请号：US10438062
申请日：2003-05-14
IPC分类号： G06F019/00
CPC分类号： B25J9/1669 , B25J9/1682 , G05B19/41825 , G05B2219/31157 , G05B2219/31199 , G05B2219/34348 , G05B2219/34398 , G05B2219/39121 , G05B2219/39131 , Y02P90/087 , Y02P90/10 , Y02P90/18
摘要： A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.
摘要翻译： 用于几个操纵器（诸如几个工业机器人）的同步控制的方法的特征在于，特定操纵器的控制单元根据包含在相应的控制程序中的数据结构交换控制信息，通过该控制单元将要同步的控制单元和同步点 在发生的控制程序中可以清楚地识别，并且在到达和同步点时，将根据数据结构的内容结合已经交换的控制信息继续同步的控制单元中的程序序列或停止 直到相应的信息从其他控制单元到达以进行同步。
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