公开(公告)号：WO2014107274A1

公开(公告)日：2014-07-10

申请号：PCT/US2013/074233

申请日：2013-12-11

Applicant: 3M INNOVATIVE PROPERTIES COMPANY

Inventor： HEMES, Brett R. ,  SCHUKNECHT, Schoen A. ,  HARTZELL, Andrew K.

IPC: B23K26/34 ,  B25J9/16 ,  G05B19/18

CPC classification number: B23K26/032 ,  B23K26/082 ,  B23K26/142 ,  B23K26/144 ,  B25J9/1684 ,  G05B2219/39033 ,  G05B2219/40623 ,  Y10S901/02

Abstract: An apparatus includes a robotic manipulator with a stationary base, and an end effector actuated by the robotic manipulator, wherein the end effector is adjacent to a workpiece. A scanning laser head unit includes a laser and an optical train configured to move a laser beam over the workpiece. A control unit is configured to move the robotic manipulator such that movement of the end effector tracks movement of the laser beam.

Abstract translation: 一种装置包括具有固定基座的机器人操纵器和由机器人操纵器致动的末端执行器，其中末端执行器与工件相邻。 扫描激光头单元包括激光器和配置为将激光束移动到工件上的光学系统。 控制单元被配置为移动机器人操纵器，使得末端执行器的移动跟踪激光束的移动。

公开(公告)号：WO2012030501A1

公开(公告)日：2012-03-08

申请号：PCT/US2011/047510

申请日：2011-08-12

Applicant: TECHNOLOGIES HOLDINGS CORP. ,  HOFMAN, Henk ,  VAN DER SLUIS, Peter Willem ,  GROENSMA, Ype

Inventor： HOFMAN, Henk ,  VAN DER SLUIS, Peter Willem ,  GROENSMA, Ype

IPC: A01J7/04 ,  A01K1/12

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.

Abstract translation: 在某些实施例中，将消毒剂施加到奶牛家畜的乳头的系统包括安装在轨道上的滑架，滑架可操作以沿着轨道横向平移。 该系统还包括机器人臂，其包括枢转地附接到滑架的第一构件，使得第一构件可围绕与滑架的连接点旋转，第二构件可枢转地附接到第一构件，使得第二构件可围绕 连接到第一构件的点，以及可旋转地附接到第二构件的喷射工具构件，使得喷射工具构件可围绕与第二构件的连接点旋转。 机器手臂还包括附接到喷涂工具构件的喷涂工具。 所述系统还包括控制器，其可操作以使所述机器人手臂的至少一部分在奶牛家畜的后腿之间延伸，使得所述喷雾工具位于喷雾位置，所述喷雾工具可以从所述喷雾位置将一定量的消毒剂排放到 奶牛的奶头。

公开(公告)号：WO2004026672A3

公开(公告)日：2004-09-23

申请号：PCT/EP0309921

申请日：2003-09-06

Applicant: DAIMLER CHRYSLER AG ,  BROSE VOLKER ,  KRAUS HELMUT ,  PHILIPP ENRICO ,  RIESTENPATT GENANNT RICHTER MI ,  SCHULER BERND

Inventor： BROSE VOLKER ,  KRAUS HELMUT ,  PHILIPP ENRICO ,  RIESTENPATT GENANNT RICHTER MI ,  SCHULER BERND

IPC: B25J9/10 ,  B21D28/34 ,  B23P19/04 ,  B23P21/00 ,  B25J9/16 ,  B25J13/08 ,  B62D65/00 ,  B62D65/02 ,  B62D65/06 ,  G05B19/401

CPC classification number: B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

Abstract: The invention relates to a method for the positionally precise mounting of a hinged flap (3) on a production part (1), particularly for mounting a vehicle door on a vehicle body. To this end a robot-guided gripping tool (5) is used that comprises a fixing device (14) for holding the hinged flap (3) and comprises a sensor system (18), which is connected in a fixed manner to the gripping tool (5). Within the scope of a positioning phase (A-2), the gripping tool (5) is, in a first step, moved from a proximity position (37), which is independent of the position of the production part (1) in the working area (27) of the robot (7), and into a mounting position (29), in which the flap (3) held in the fixing device (14) of the gripping tool (5) is aligned in a positionally precise manner with regard to the production part (1). In order to approach the mounting position (29), an iterative control process is run through over the course of which an (actual) measured value of the sensor system (18) is firstly generated that is compared to a (set) measured value generated within the scope of a setting-up phase. A displacement vector of the gripping tool (5) is calculated based on the difference between the (actual) measured value and (set) measured value while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the gripping tool (5) is displaced by this displacement vector. The flap is subsequently attached to the production part (1) with the aid of fastening elements (9). A metric calibration of the sensor system (18) of the gripping tool (5) can be forgone in order to perform this positioning task.

Abstract translation: 本发明涉及一种用于将挡板（3）定位精确地安装在工件（1）上的方法，特别是用于将车门安装在车身中。 为此目的，使用机器人引导的夹持工具（5），其具有用于保持挡板（3）的固定装置（14）和牢固地连接到夹紧工具（5）的传感器系统（18）。 在第一步骤中，夹持工具（5）在从接近位置（37），它是独立于机器人（7）的工作腔（27）在工件（1）的位置的定位阶段（A-2），在一个 安装位置（29）移动，其中在夹持片（3）的夹持工具（5）的固定装置（14）中相对于工件（1）精确地对齐。 要启动组装位置（29）通过一个迭代控制处理传递，首先，（实际）产生测得的，其中的测量值的过程中所述传感器系统（18）的值与在设置阶段（靶）产生的信号进行比较。 从（实际）测量值与（期望的）的测量值之间的差是通过使用计算出的夹持器工具（5）的位移向量设置阶段雅可比矩阵期间计算，和夹持工具（5）通过该位移矢量位移。 随后，通过紧固元件（9）将翼片（3）附接到工件（1）。 为了解决这个定位任务，可以省去夹持工具（5）的传感器系统（18）的公制校准。

公开(公告)号：WO2004026673A2

公开(公告)日：2004-04-01

申请号：PCT/EP0309922

申请日：2003-09-06

Applicant: DAIMLER CHRYSLER AG ,  BECKER FRAUKE ,  SCHRECK ANDREAS ,  SCHULER BERND ,  STAHS THOMAS

Inventor： BECKER FRAUKE ,  SCHRECK ANDREAS ,  SCHULER BERND ,  STAHS THOMAS

IPC: B25J9/10 ,  B21D28/34 ,  B23P19/04 ,  B23P21/00 ,  B25J9/16 ,  B25J13/08 ,  B62D65/00 ,  B62D65/02 ,  B62D65/06

CPC classification number: B25J9/1684 ,  G05B2219/36503 ,  G05B2219/37459 ,  G05B2219/39114 ,  G05B2219/39397 ,  G05B2219/40307 ,  Y10T29/49771 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49828 ,  Y10T29/49902 ,  Y10T29/53022

Abstract: The invention relates to a method for mounting an add-on part (3) on a production part (1), particularly on a vehicle body during which the add-on part (3) should be aligned in a positionally precise manner with regard to a reference area (12, 13) on the workpiece (1). To this end, a robot-guided mounting tool (5) is used that is connected to a sensor system (20) in a fixed manner. In order to achieve a positionally precise alignment of the add-on part (3), an iterative control method is run through, over the course of which an (actual) measured value of the sensor system (20) is firstly generated that is compared with a (set) measured value generated within the scope of a setting-up phase. A displacement vector of the mounting tool (5) is calculated based on the difference between the (actual) measured value and the (set) measured value while using a Jacobian matrix that is calculated within the scope of the setting-up phase, and the mounting tool (5), along with the add-on part (3) fixed therein, is iteratively displaced by these displacement vectors relative to the production part (1) until the desired position is attained. A metric calibration of the sensor system (20) can be forgone in order to perform this positioning task.

Abstract translation: 本发明涉及一种方法，用于在车身上的安装部（3）安装到工件（1），特别是，其中所述连接部分（3）相对于工件上的（1）的基准区域（12,13）精确定位要被对准。 为此，一个机器人引导安装工具（5）被使用，其被固定地与传感器系统（20）连接。 为了实现所述附接部（3）的位置精确对准，一个迭代控制处理被执行时，第一一个（实际）产生测量的过程中的传感器系统（20）的值，其与在设置阶段（目标）测量值而产生的信号进行比较的 是。 所述安装工具（5）的位移矢量可以从（实际）的测量值，并使用（期望的）测量值之间的差来计算一个与固定在其中附接部分设置阶段雅可比矩阵内计算，并且所述安装工具（5）（3） 迭代地移位到这个位移矢量相对于所述工件（1），直至达到所需的位置。 为了实现这一定位任务可以被施加到传感器系统（20）的一个度量校准可以被分配。

公开(公告)号：WO1994029776A1

公开(公告)日：1994-12-22

申请号：PCT/JP1994000930

申请日：1994-06-08

Applicant: HAMURA, Masayuki ,  AZTUMA, Kenji

IPC: G05B19/403

CPC classification number: G05B19/4163 ,  B25J9/1684 ,  G05B19/425 ,  G05B2219/36495 ,  G05B2219/45151 ,  G05B2219/49078 ,  G05B2219/49083 ,  G05B2219/49094 ,  G05B2219/49099 ,  G05B2219/49392

Abstract: In a process of moving the tip of a deburring tool from a point P1 to a point P2 on a work, if the deburring tool encounters a large burr, the cutting resistance increases abruptly near a point P'1. When the resistance exceeds a predetermined threshold value Xth, the robot causes the deburring tool to detour in the direction in which the cutting resistance becomes smaller, and brings the tip of the tool to a point Q from the point P'1. After that, the robot controls the deburring tool to move the tip from the point Q1 to the point P2 (pattern I). In moving the tip from the point Q1 to point P2, if the cutting resistance again exceeds the threshold value, the robot executes the detouring in the same manner (patterns II and III). Unless such a large burr is encountered, the moving speed of the tool is controlled at a value corresponding to the cutting resistance.

Abstract translation: 在将去毛刺工具的尖端从点P1移动到工件上的点P2的过程中，如果去毛刺工具遇到大的毛刺，则切割阻力在点P'1附近突然增加。 当电阻超过预定阈值Xth时，机器人使去毛刺工具在切割阻力变小的方向上弯曲，并使工具的尖端从点P'1到达点Q。 之后，机器人控制去毛刺工具将尖端从点Q1移动到点P2（图案I）。 在将尖端从点Q1移动到点P2时，如果切割阻力再次超过阈值，则机器人以相同的方式执行迂回（图案II和III）。 除非遇到这样大的毛刺，否则刀具的移动速度被控制在与切削阻力相对应的值。

公开(公告)号：WO1990014633A1

公开(公告)日：1990-11-29

申请号：PCT/US1990002872

申请日：1990-05-14

Applicant: WENZEL, Dennis, Jerome ,  McFALLS, David, Stuart, II

IPC: G06F15/46

CPC classification number: B25J9/1684 ,  G01N21/91 ,  G01N21/9515 ,  G01N2021/8874 ,  G05B19/401 ,  G05B2219/37206 ,  G05B2219/37572 ,  G05B2219/45058 ,  G05B2219/49362

Abstract: A method and apparatus for providing an automated optical robotic polishing system for removing flaws in transparencies, such as transparent canopies (12) used in aircraft. A pneumatic random orbital polishing tool (10) attached to a robot arm (14) is used to polish canopies to remove flaws. The flaws are removed by grinding the area surrounding the flaw and smoothing the flaw site to conform to the contour of the canopy. To identify optimum motions for the polishing tool for grinding to remove the bulk of the plastic material around a flaw, mathematical topology simulation techniques are implemented using various polishing pad pressure profiles and various polishing motions.

公开(公告)号：WO2016067163A1

公开(公告)日：2016-05-06

申请号：PCT/IB2015/058119

申请日：2015-10-21

Applicant: FIVES INTRALOGISTICS S.P.A. CON SOCIO UNICO

Inventor： MORONI, Lorenzo ,  CHIEREGO, Lorenzo ,  SOLDAVINI, Attilio

IPC: B65G43/08 ,  B07C5/10 ,  B65G47/96 ,  B07C5/36

CPC classification number: B65B35/36 ,  B07C1/06 ,  B07C3/06 ,  B07C3/14 ,  B25J9/1684 ,  B25J9/1697 ,  B65B35/30 ,  B65G1/137 ,  B65G43/08 ,  B65G47/52 ,  B65G47/905 ,  B65G47/918 ,  B65G47/96 ,  G05B2219/37555

Abstract: A device for feeding items to a sorting machine (1), comprising: a conveyor plane for feeding items or parcels along an advancement direction; an optical detection device (18), to allow the acquisition, while the items are in motion on the conveyor plane of the three-dimensional coordinates of a determined number of points on the surface of the items and to organize them into coordinate vectors; a manipulator (19) provided to pick the items from the conveyor plane and to place the items picked in a desired position; a control system, provided to process, for each item in motion on the conveyor plane, the coordinate vectors in order to obtain a three-dimensional representation of the item, comprising the information based on which the control system handles the manipulator for picking and placing the items. The invention also relates to a sorting machine and a method for feeding items to a sorting machine aimed at increasing production capacity and accuracy thereof.

Abstract translation: 一种用于将物品输送到分拣机（1）的装置，包括：用于沿着前进方向进给物品或包裹的输送机平面; 光学检测装置（18），用于允许在物品在物品的表面上的确定数量的点的三维坐标的输送机平面上运动的物品并且将它们组织成坐标向量; 设置为从输送机平面拾取物品并将拾取的物品放置在期望位置的操纵器（19） 控制系统，用于处理在输送机平面上运动的每个物品的坐标向量，以获得物品的三维表示，包括基于该信息的控制系统处理用于拾取和放置的操纵器的信息 的项目。 本发明还涉及一种分拣机和一种将物品送入分拣机的方法，其目的是提高生产能力和精度。

公开(公告)号：WO2014135113A1

公开(公告)日：2014-09-12

申请号：PCT/CN2014/073035

申请日：2014-03-07

Applicant: 科沃斯机器人科技(苏州)有限公司

Inventor： 冯勇兵

IPC: G05D1/02 ,  A47L1/02

CPC classification number: B25J9/1684 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1697 ,  B25J19/022 ,  G05D1/0234 ,  G05D2201/0203 ,  Y10S901/01

Abstract: 一种自移动机器人激光引导行走作业系统，包含自移动机器人（10）和激光束发射器（20），自移动机器人机体（11）上设有控制机构（12）和行走机构（13），激光束发射器（20）设置在自移动机器人作业区域的边缘，机体（11）上对应设有激光接收器（15），控制机构控制行走机构使自移动机器人（10）在作业区域内按照激光束发射器（20）发射的激光束信号所引导的直线路径行走作业。该系统的控制方法为：设置在自移动机器人作业区域边缘的激光束发射器（20）发射激光信号；自移动机器人的机体（11）上的激光接收器（15）接收到激光信号，按照激光信号的引导，自移动机器人（10）在作业区域内沿直线路径行走作业。该自移动机器人激光引导行走作业系统及其控制方法可远距离控制机器人，工作效率高。

公开(公告)号：WO2013033351A2

公开(公告)日：2013-03-07

申请号：PCT/US2012/053070

申请日：2012-08-30

Applicant: 5D ROBOTICS, INC. ,  BRUEMMER, David, J.

Inventor： BRUEMMER, David, J.

IPC: G06K9/62

CPC classification number: B25J9/1602 ,  B25J9/08 ,  B25J9/161 ,  B25J9/1633 ,  B25J9/1666 ,  B25J9/1684 ,  B25J9/1694 ,  B25J9/1697 ,  G01C21/34 ,  G06F3/016 ,  G06K9/00791 ,  G06K9/6293 ,  G06T11/206 ,  G08G1/22 ,  Y10S901/09 ,  Y10S901/10

Abstract: Changes and anomalies in multi-modal data are detected, collected and abstracted into understandable and actionable formats utilizing, for example, color, intensity, icons and texture creating a rendition of current and developing situations and events. Changes and anomalies in multi-modal sensor data are detected, aggregated, abstracted and filtered using case-based reasoning providing a tractable data dimensionality. From this collection of data situations are recognized and presented in a means so as to assist a user in accessing an environment and formulate the basis a recommended course of action.

Abstract translation: 使用例如颜色，强度，图标和纹理来检测，收集并抽象为可理解且可操作的格式中的多模态数据中的变化和异常，从而创建当前和发展情况和事件的再现。 多模式传感器数据中的变化和异常被检测，汇总，抽象和过滤，使用基于案例的推理提供易于处理的数据维度。 从这些数据收集中，情况被识别并以一种方式呈现，以帮助用户访问环境并根据推荐的行动方案制定基础。

公开(公告)号：WO2012151126A2

公开(公告)日：2012-11-08

申请号：PCT/US2012/035480

申请日：2012-04-27

Applicant: HARVEST AUTOMATION, INC. ,  JONES, Joseph, L. ,  COMINS, Todd ,  VU, Clara ,  BUSH, Michael ,  GRAY, Larry ,  GRINNELL, Charles, M.

Inventor： JONES, Joseph, L. ,  COMINS, Todd ,  VU, Clara ,  BUSH, Michael ,  GRAY, Larry ,  GRINNELL, Charles, M.

IPC: B25J13/08 ,  B25J15/00

CPC classification number: A01G9/143 ,  A01G9/088 ,  B25J5/007 ,  B25J9/162 ,  B25J9/1684 ,  B60L11/18 ,  B60L11/1877 ,  B60L15/38 ,  B60L2200/26 ,  B60L2200/40 ,  B60L2200/44 ,  B60L2260/32 ,  B65G1/04 ,  B66F9/063 ,  G05B2219/39219 ,  G05B2219/39387 ,  G05B2219/40298 ,  G05D1/0234 ,  G05D1/0244 ,  G05D1/0272 ,  G05D2201/0216 ,  Y02A40/252 ,  Y02P90/60 ,  Y02T10/7005 ,  Y02T10/705

Abstract: An adaptable container handling robot includes a chassis, a container transport mechanism, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem configured to reduce adverse effects of outdoor deployment, and a controller subsystem responsive to the boundary sensing subsystem. The controller subsystem is configured to detect a boundary, control the drive subsystem to turn in a given direction to align the robot with the boundary, and control the drive subsystem to follow the boundary.

Abstract translation: 可适应的容器处理机器人包括底盘，容器运输机构，用于操纵底盘的驱动子系统，被配置为减少户外展开的不利影响的边界检测子系统以及响应于边界检测子系统的控制器子系统。 控制器子系统被配置为检测边界，控制驱动子系统向给定方向转动以使机器人与边界对齐，并且控制驱动子系统跟随边界。