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公开(公告)号：WO99060452A2
公开(公告)日：1999-11-25
申请号：PCT/DE1999/001468
申请日：1999-05-14
CPC classification number: B25J9/1692 , G05B2219/39008 , G05B2219/39033 , G05B2219/49206 , G05B2219/49207 , Y10S414/13
Abstract: The invention relates to a method for controlling an industrial robot and, more particularly, to a method for reducing thermal influencing variables, whereby reference measuring points are arranged in the working area of the robot, which are traversed by the robot. The actual data of the reference measuring points is processed by a computer with the purpose of obtaining correction data that is fed to the control electronics of the robot. According to the invention, an error model is configured that corrects thermal positioning and/or orientation errors without having to determine the actual temperature on the robot.
Abstract translation: 本发明涉及一种用于控制工业机器人，更具体地说，一个用于减小热影响变量方法的方法，所述参考测量点被布置在所述机器人的工作空间，这可以被机器人接近，基准测量点的当前数据由计算机处理，以获得校正数据 ，它们被提供给机器人的控制电子设备。 根据本发明，产生了一种错误模型，其在机器人不必确定当前温度的情况下校正热定位和/或定向误差。
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公开(公告)号：WO01076830A1
公开(公告)日：2001-10-18
申请号：PCT/SE2001/000784
申请日：2001-04-09
IPC: B25J9/10 , B25J9/16 , B25J9/18 , G05B19/404
CPC classification number: B25J9/1638 , B25J9/1641 , B25J9/1692 , G05B2219/36415 , G05B2219/39024 , G05B2219/39033 , G05B2219/39056 , G05B2219/39176 , G05B2219/39181 , G05B2219/39191 , G05B2219/41084 , Y02P90/86
Abstract: A method in an industrial robot for increasing the accuracy in the movements of the robot, where a tool supported by the robot is brought to adopt a plurality of positions generated by the control system, which are each determined by a measuring system, whereby a deviation between the generated position and the position determined by the measuring system is introduced as a correction in the control system for adjusting the movement. The generated positions and the positions determined by the measuring system, respectively, are adapted to form a first path an a second path, respectively, whereby the correction is determined by a path deviation between geometrically calculated positions in the respective path.
Abstract translation: 一种用于提高机器人运动精度的工业机器人中的方法，其中由机器人支撑的工具被采用由控制系统产生的多个位置，每个位置由测量系统确定，由此偏差 在测量系统确定的位置和位置之间引入作为调整运动的控制系统中的校正。 分别由测量系统确定的所产生的位置和位置分别适于形成第二路径和第二路径，由此校正由相应路径中几何计算的位置之间的路径偏差确定。
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公开(公告)号：WO1997046925A1
公开(公告)日：1997-12-11
申请号：PCT/US1997009434
申请日：1997-06-03
Applicant: THE BOEING COMPANY , GREENWOOD, Thomas, A. , PASTUSAK, Thomas, W.
Inventor： THE BOEING COMPANY
IPC: G05B19/404
CPC classification number: G05B19/401 , G05B19/404 , G05B19/4083 , G05B2219/36503 , G05B2219/37036 , G05B2219/37037 , G05B2219/37043 , G05B2219/37211 , G05B2219/37275 , G05B2219/37304 , G05B2219/39033 , G05B2219/40293 , G05B2219/49207 , G05B2219/49221 , G05B2219/50057 , G05B2219/50166 , Y10T409/303808
Abstract: Large machines, especially those having working envelopes in excess of fifteen feet, exhibit unacceptable errors because of thermal expansion and mechanical misalignments between the axes. The errors have traditionally been minimized by enclosing the machine in a thermal enclosure, by careful calibration, or by mounting a laser interferometer on each axis. These solutions are costly, may require frequent recalibration, and do not correct for small rotations of one axis relative to another axis due to wear etc. The present invention uses an interferometric laser tracker or a comparable 3D position sensor to measure the position of a retroflector attached to the end effector, e.g. a machine head when the machine comes to rest. A computer compares the measured position to the desired position according to the machine media, and adds the appropriate correction with trickle feed media statements to move the machine to the correct position prior to further machining.
Abstract translation: 大型机器，特别是那些工作信封超过十五英尺的机器，由于轴的热膨胀和机械的不对准而表现出不可接受的误差。 传统上通过将机器封装在热封闭中，通过仔细校准，或者通过在每个轴上安装激光干涉仪来将误差降至最低。 这些解决方案是昂贵的，可能需要频繁的重新校准，并且由于磨损等而不能针对相对于另一个轴的一个轴的小转动进行校正。本发明使用干涉式激光跟踪器或可比较的3D位置传感器来测量反射器的位置 连接到末端执行器，例如 当机器休息时机头。 计算机根据机器介质将测量位置与所需位置进行比较，并在进行进一步加工之前将机器加入适当的校正，并将其移动到正确的位置。
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4.发明申请
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.
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。
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Patent Agency Ranking
公开(公告)号：WO2012125209A2
公开(公告)日：2012-09-20
申请号：PCT/US2012/000140
申请日：2012-03-14
Applicant: TROMPETER, Matthew, E.
Inventor： TROMPETER, Matthew, E.
CPC classification number: B25J9/1692 , G05B2219/39033
Abstract: The robotic work object cell calibration system includes a calibration device that emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool contact point. The calibration device also emits four plane-projecting lasers, which are used to adjust the yaw, pitch, and roll of the robot tool relative to the tool contact point. Initially, the calibration device is placed in a selected position on a fixture or work piece on the shop floor. The robotic work object cell calibration method increases the accuracy of the off-line programming and decreases robot teaching time. The robotic work object cell calibration system and method are simpler, involve a lower investment cost, entail lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool.
Abstract translation: 机器人工作对象单元校准系统包括校准装置，其发射用作十字准线的一对射束激光器，在工具接触点处相交。 校准装置还发射四个平面投影激光器，其用于调节机器人工具相对于工具接触点的偏转，俯仰和滚动。 最初，校准装置被放置在车间上的夹具或工件上的选定位置。 机器人工作对象单元校准方法提高了离线编程的精度，减少了机器人的教学时间。 机器人工作对象单元校准系统和方法更简单，涉及更低的投资成本，降低了现有技术的运行成本，并且可以用于车间上的不同机器人工具，而不必对每个机器人工具执行重新校准。
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公开(公告)号：WO1987000268A1
公开(公告)日：1987-01-15
申请号：PCT/FR1986000246
申请日：1986-07-08
Applicant: BERTIN & CIE SOCIETE ANONYME , PAVLIN, Cyril, François , PREVOST, Marc
Inventor： BERTIN & CIE SOCIETE ANONYME
IPC: G01D11/16
CPC classification number: G01B11/16 , B25J9/1638 , G01B5/00 , G01B11/272 , G05B2219/39033 , G05B2219/39176
Abstract: Device for controlling the geometry of a mechanical structure comprised of a plurality of interconnected rigid elements by means of an optical skeleton (A, B, C) which is formed of a light beam (24) which travels through the elements (10, 12, 14) of the structure, and photodetector means (28, 32, 36, 40, 42 46) which are associated to elements of the structure and to which are directed fractions of the light beam (24). The invention applies to moving structures such as robots or manipulator arms, as well as to fixed structures.
Abstract translation: 用于通过光学骨架（A，B，C）控制由多个互连的刚性元件组成的机械结构的几何形状的装置，所述光学骨架由穿过所述元件（10,12）的光束（24）形成， 以及与所述结构的元件相关并且是所述光束（24）的定向部分的光电检测器装置（28,32,36,40,44 46）。 本发明适用于诸如机器人或机械臂的移动结构以及固定结构。
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公开(公告)号：WO2014012628A1
公开(公告)日：2014-01-23
申请号：PCT/EP2013/001971
申请日：2013-07-04
Applicant: KUKA ROBOTER GMBH
Inventor： TSCHARNUTER, Dietmar , ROTH, Stefan
IPC: B25J9/16
CPC classification number: B25J9/1692 , B25J9/1697 , G05B2219/39022 , G05B2219/39033 , G05B2219/40588
Abstract: Eine erfindungsgemäße robotergeführte Messanordnung umfasst ein Messgerät (1) mit wenigstens drei Erfassungsmitteln (A, B, C) zur Erfassung einer Position eines passiven Markers (Ρ 1 ,..., P 9 ), die in einem gemeinsamen Gehäuse (1.1) des Messgeräts drehbar sind, und mit einem gemeinsamen Steuermittel (1.2) zum Steuern dieser Erfassungsmittel, einen Referenzkörper (2) mit wenigstens drei nicht kollinearen, durch die Erfassungsmitteln erfassbaren passiven Marker (P 1 ,..., P 9 ), und einen Roboter (3), der eines von dem Messgerät und dem Referenzkörper führt.
Abstract translation: 根据本发明的机器人控制的测量装置包括：测量装置（1）具有至少三个检测装置（A，B，C），用于检测的无源标记的位置（RHO1，...，P9）布置在所述测量装置的一个共同的壳体（1.1）是可旋转地 并有用于控制这些检测机构的公共控制装置（1.2）共线的基准主体（2）具有至少三个不通过检测装置检测到被动标志物（P1，...，P9）和机器人（3），的 从仪表和参考的身体线索。
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公开(公告)号：WO2012125209A3
公开(公告)日：2012-12-27
申请号：PCT/US2012000140
申请日：2012-03-14
Applicant: TROMPETER MATTHEW E
Inventor： TROMPETER MATTHEW E
CPC classification number: B25J9/1692 , G05B2219/39033
Abstract: The robotic work object cell calibration system includes a calibration device that emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool contact point. The calibration device also emits four plane-projecting lasers, which are used to adjust the yaw, pitch, and roll of the robot tool relative to the tool contact point. Initially, the calibration device is placed in a selected position on a fixture or work piece on the shop floor. The robotic work object cell calibration method increases the accuracy of the off-line programming and decreases robot teaching time. The robotic work object cell calibration system and method are simpler, involve a lower investment cost, entail lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool.
Abstract translation: 机器人工作对象细胞校准系统包括校准装置，该校准装置发射用作十字准线的一对束投影激光器，其在工具接触点相交。 校准装置还发射四个平面投影激光器，用于调整机器人工具相对于刀具接触点的偏航，俯仰和滚转。 最初，校准装置被放置在车间固定装置或工件上的选定位置。 机器人工作对象单元校准方法提高了离线编程的准确性并减少了机器人的教学时间。 机器人工作对象单元校准系统和方法更简单，投资成本更低，运行成本比现有技术低，并且可以用于车间的不同机器人工具，而不必对每个机器人工具执行重新校准。
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公开(公告)号：WO9960452A3
公开(公告)日：1999-12-29
申请号：PCT/DE9901468
申请日：1999-05-14
Applicant: INST WERKZEUGMASCHINEN UND BET , GRAESER RALF GUNTER , KLINGEL ROBERT
Inventor： GRAESER RALF-GUNTER , KLINGEL ROBERT
CPC classification number: B25J9/1692 , G05B2219/39008 , G05B2219/39033 , G05B2219/49206 , G05B2219/49207 , Y10S414/13
Abstract: The invention relates to a method for controlling an industrial robot and, more particularly, to a method for reducing thermal influencing variables, whereby reference measuring points are arranged in the working area of the robot, which are traversed by the robot. The actual data of the reference measuring points is processed by a computer with the purpose of obtaining correction data that is fed to the control electronics of the robot. According to the invention, an error model is configured that corrects thermal positioning and/or orientation errors without having to determine the actual temperature on the robot.
Abstract translation: 本发明涉及一种用于控制工业机器人，更具体地说，一个用于减小热影响变量方法的方法，所述参考测量点被布置在所述机器人的工作空间，这可以被机器人接近，基准测量点的当前数据由计算机处理，以获得校正数据 ，其被提供给机器人的控制电子器件。 根据本发明，故障模型被创建，其校正所述热定位和/或不考虑必须在机器人上确定的当前温度定向误差。
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