By Using Probe Means Patents (Class 219/124.34)
  • Patent number: 10290118
    Abstract: This invention provides a system and method that ties the coordinate spaces at the two locations together during calibration time using features on a runtime workpiece instead of a calibration target. Three possible scenarios are contemplated: wherein the same workpiece features are imaged and identified at both locations; wherein the imaged features of the runtime workpiece differ at each location (with a CAD or measured workpiece rendition available); and wherein the first location containing a motion stage has been calibrated to the motion stage using hand-eye calibration and the second location is hand-eye calibrated to the same motion stage by transferring the runtime part back and forth between locations. Illustratively, the quality of the first two techniques can be improved by running multiple runtime workpieces each with a different pose, extracting and accumulating such features at each location; and then using the accumulated features to tie the two coordinate spaces.
    Type: Grant
    Filed: July 29, 2016
    Date of Patent: May 14, 2019
    Assignee: COGNEX CORPORATION
    Inventors: Guruprasad Shivaram, Cyril C. Marrion, Jr., Lifeng Liu, Tuotuo Li
  • Patent number: 10232457
    Abstract: To provide an arc welding robot system that displays a current waveform graphically during arc welding and realizes parameter adjustment on a display screen. An arc welding robot system comprises a robot controller and a teaching operation terminal. The robot controller comprises: an arc sensor; and a welding current storage unit that stores the current value of a welding current detected by the arc sensor during implementation of the arc welding. The teaching operation terminal comprises: a control unit; and a display on which data is displayed. The control unit comprises: a welding current display unit that displays the current value and the waveform of the welding current in any weaving cycle on the display; a sampling current area display unit that displays a sampling current area on the display; and a current waveform display shift unit that shifts the waveform of the welding current in a temporal axis direction on the display unit.
    Type: Grant
    Filed: November 27, 2017
    Date of Patent: March 19, 2019
    Assignee: FANUC CORPORATION
    Inventor: Shigeo Yoshida
  • Patent number: 10223589
    Abstract: This invention provides a system and method for guiding the workpieces to optimal positions to train an assembly system that is generally free of the use of a CMM or similar metrology device. The system and method expresses the image features of the workpieces, when they are in their respective stations, in a common coordinate system. This ability allows a user to visualize the result of assembling the workpieces without actually assembling them, in a “virtual assembly”. The virtual assembly assists guiding placement of workpieces in respective stations into a desired relative alignment. The system and method illustratively generates a composite image using the images from cameras used in guiding the workpieces that helps the user visualize how the part would appear following assembly. The user can reposition the images of workpieces in their respective stations until the composite image has a desired appearance.
    Type: Grant
    Filed: March 1, 2016
    Date of Patent: March 5, 2019
    Assignee: Cognex Corporation
    Inventors: Guruprasad Shivaram, Willard Foster
  • Patent number: 10197987
    Abstract: A robotic tool is positioned relative to a feature of a component during a manufacturing process. The tool may be used to perform a manufacturing operation on the component. The tool is also be used to dispose a fiducial mark with a known registration to the feature, even if the feature is subsequently obscured. The position of tools for subsequent manufacturing operations are then set relative to the fiducial mark.
    Type: Grant
    Filed: August 26, 2015
    Date of Patent: February 5, 2019
    Assignee: The Boeing Company
    Inventors: Craig F. Battles, Gregg W. Podnar, Kurt Webster
  • Patent number: 10166622
    Abstract: A method of automatically controlling welding using a welding apparatus having a heat-source and a wire feed. The method includes: setting at least one welding parameter; setting a stable wire interaction position where the wire fed by the wire feed interacts with the heat generated by the heat-source so as to produce an acceptable weld; and monitoring the wire interaction position during welding. If the wire interaction position deviates from the stable wire interaction position by more than an allowable tolerance at least one welding parameter is automatically altered to return the wire interaction position to within the allowable tolerance of the stable wire interaction position. The invention also relates to an apparatus for carrying out the method.
    Type: Grant
    Filed: December 15, 2010
    Date of Patent: January 1, 2019
    Assignee: ROLLS-ROYCE plc
    Inventors: Alexander Kutscherawy, Ajay R Mande
  • Patent number: 10160116
    Abstract: A method is disclosed for calibrating a tool center point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool center point of said tool interrupts said crossing point of said cross beam sensor.
    Type: Grant
    Filed: August 30, 2016
    Date of Patent: December 25, 2018
    Assignee: ABB Schweiz AG
    Inventors: Jinsong Li, Hao Gu, Yonglin Chi, Yan Xu
  • Patent number: 10144128
    Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: December 4, 2018
    Assignee: X Development LLC
    Inventors: Michael Kolb, Jeff Linnell, Anthony Sean Jules
  • Patent number: 10139656
    Abstract: The present disclosure provides in some embodiments an alignment film detecting device including: an imaging unit configured to obtain image information of the alignment grooves on the alignment film of the substrate; and an image processing unit configured to determine whether there is a defect in the alignment grooves on the alignment film based on the image information. According to the alignment film detecting device and the alignment film detecting method provided the present disclosure, the defect of the alignment film on the substrate may be detected, and the image information of the alignment grooves on the alignment film of the substrate may be obtained by the imaging unit, and a recognizing process may be implemented by the image processing unit based on the image information, so that it may accurately determine whether there is a defect in the alignment grooves.
    Type: Grant
    Filed: April 14, 2016
    Date of Patent: November 27, 2018
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., HEFEI BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Yangkun Jing, Changjun Jiang
  • Patent number: 10124434
    Abstract: A method is provided for controlling a neck detection for a welding power supply. The neck detection can be suitably performed even if the welding power supply is combined with another power supply for performing a simultaneous arc welding operation at a plurality of locations of a workpiece. The method includes using a control target welding power supply together with another power supply for performing arc welding concurrently at a plurality of locations of a common workpiece, detecting a neck in a molten portion of a welding wire which is brought into short-circuiting contact with the common workpiece, reducing the welding current for forming an arc, and automatically adjusting a neck detection value.
    Type: Grant
    Filed: July 16, 2014
    Date of Patent: November 13, 2018
    Assignee: DAIHEN Corporation
    Inventor: Akihiro Ide
  • Patent number: 10118294
    Abstract: The objective of the present invention is to provide a control device capable of suppressing trajectory misalignment due to deviation between the response delay times of a plurality of axes (a plurality of servomotors). In this control device, which issues commands to a plurality of servo drivers corresponding to a plurality of servomotors, the servo driver corresponding to a standard servomotor for which the response delay time is the greatest among the plurality of servomotors is set as a standard servo driver, and the command timing for the other servo drivers is delayed more than the command timing for the standard servo driver, by an amount equal to the difference between the response delay time of the standard servomotor and the response delay time of the servomotors corresponding to the other servo drivers.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: November 6, 2018
    Assignee: OMRON Corporation
    Inventor: Koji Morino
  • Patent number: 10107913
    Abstract: A range finder device for monitoring a 3D position of a robot processing tool relative to a tracking device mounted adjacent to the robot processing tool is disclosed. A body attachable to the tracking device supports a laser unit and a camera unit. The laser unit projects a triangulation laser mark on a target area of the processing tool. The mark, a tool center point and a processing area are in a field of view of the camera unit. A control unit controls operation of the laser unit and has an image analyzer circuit for receiving an image signal produced by the camera unit, producing triangulation laser measurement data from the triangulation laser mark in the image signal, generating a signal indicative of the position of the robot processing tool as function of the triangulation laser measurement data, and transmitting the image signal produced by the camera unit.
    Type: Grant
    Filed: February 8, 2016
    Date of Patent: October 23, 2018
    Assignee: Servo-Robot, Inc.
    Inventors: Jean-Paul Boillot, Jacques-André Gaboury, Andrei Rusnac
  • Patent number: 10095224
    Abstract: An EtherCAT control device and a factory automation system having the same are provided. The EtherCAT control device includes a master including a dummy EtherCAT slave controller (ESC) and a first slave configured to communicate data with the master according to an EtherCAT protocol, such that the master synchronizes a timing with the first slave according to a precision time protocol (PTP) method using the dummy ESC.
    Type: Grant
    Filed: October 30, 2014
    Date of Patent: October 9, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Kyoung-Whan Oh, Jang-Hyoun Youm, Jae-Hyun Kim, Eun-Kyung Hong
  • Patent number: 10076802
    Abstract: A system and methods for electrically starting an arc in a welding process are disclosed. The system and methods may reduce an electromagnetic interference (EMI) footprint during the arc start by reducing the average power spectral density output and broadening the frequency spectrum of the arc EMI footprint. In one embodiment, a welding system may include a welding torch and a welding power source electrically coupled to the welding torch via a weld cable configured to supply electrical energy to the welding torch. The welding power source may include pseudo-random noise (PRN) generator control logic circuitry configured to generate a dithered pulse waveform with a pseudo-randomly selected data sequence of binary values based on one or more baselines, and to apply the dithered pulse waveform to an oscillator during arc starting in a tungsten inert gas (TIG) welding process performed by the welding torch.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: September 18, 2018
    Assignee: Illinois Tool Works Inc.
    Inventor: Marc Lee Denis
  • Patent number: 10064689
    Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: September 4, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nitish Swarup, Paul G. Griffiths, Brandon D. Itkowitz, Michael Hanuschik, Thomas R. Nixon
  • Patent number: 10067495
    Abstract: A position correcting system, method and tool for guiding a tool during its use based on its location relative to the material being worked on. Provided is a system and tool which uses its auto correcting technology to precisely rout or cut material. The invention provides a camera which is used to track the visual features of the surface of the material being cut to build a map and locate an image on that map used to reference the location of the tool for auto-correction of the cutting path.
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: September 4, 2018
    Assignee: Shaper Tools, Inc.
    Inventors: Alec Rothmyer Rivers, Ilan Ellison Moyer
  • Patent number: 10046410
    Abstract: A system and method is provided in which a welding system modulates the heat input into a weld joint during welding by changing between a high heat input welding waveform and a low heat input welding waveform. The system can utilize detected weld joint geometry and thickness to vary the utilization of the high heat and low heat waveform portions to change the weld bead profile during welding. Additionally, the wire feed speed is changed with the changes between the high heat input and low heat input portions of the welding waveform.
    Type: Grant
    Filed: July 19, 2012
    Date of Patent: August 14, 2018
    Assignee: LINCOLN GLOBAL INC.
    Inventors: Steven R Peters, Brian Simons, Geoff Lipnevicius
  • Patent number: 10037024
    Abstract: An automated method for discovering features in a repeatable process includes measuring raw time series data during the process using sensors. The time series data describes multiple parameters of the process. The method includes receiving, via a first controller, the time series data from the sensors, and stochastically generating candidate features from the raw time series data using a logic block or blocks of the first controller. The candidate features are predictive of a quality of a work piece manufactured via the repeatable process. The method also includes determining, via a genetic or evolutionary programming module, which generated candidate features are most predictive of the quality of the work piece, and executing a control action with respect to the repeatable process via a second controller using the most predictive candidate features. A system includes the controllers, the programming module, and the sensors.
    Type: Grant
    Filed: January 18, 2016
    Date of Patent: July 31, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Diana M Wegner, Jeffrey A. Abell, Michael A. Wincek
  • Patent number: 10022868
    Abstract: This multi-joint link mechanism has a driving joint driven by a driving source and a follower joint driven by the movement of the driving joint. First, an open-loop link mechanism that allows the position and pose of a workpiece to be varied is selected from a multi-joint link mechanism. The amount of movement/rotation of each of the joints constituting the selected open-loop link mechanism is derived. The derived amounts of movement/rotation of each of the joints of the open-loop link mechanism are set as fixed values to derive the amount of movement/rotation of each of the joints of a closed-loop link mechanism composed of non-selected joints and at least some of the joints of the open-loop link mechanism.
    Type: Grant
    Filed: May 29, 2014
    Date of Patent: July 17, 2018
    Assignee: Kobe Steel, Ltd.
    Inventor: Masatoshi Hida
  • Patent number: 10012939
    Abstract: An image forming apparatus includes an image forming device configured to form a first image on a first side of a recording medium and a second image on a second side of the recording medium, a position detector configured to detect respective positions of the first and second images, and a controller configured to perform, based on detection results obtained by the position detector, at least one of an image position correction by matching the first and second images and a magnification error correction by calculating and correcting a magnification error of one of the first and second images relative to the other. A program product used in the image forming apparatus includes a method of forming the first image and the second image, detecting the respective positions of the first and second images, and matching a position or a size of the first and second images.
    Type: Grant
    Filed: October 10, 2016
    Date of Patent: July 3, 2018
    Assignee: RICOH COMPANY, LTD.
    Inventors: Takayuki Nishimura, Hideyo Makino, Yasuyuki Sekino, Kohtaroh Oda, Tohru Matsumoto, Yuji Karikusa, Yukifumi Kobayashi, Kohsuke Yoshida, Daiki Sekita, Yuusuke Kumagawa, Hiroki Terauchi
  • Patent number: 10005194
    Abstract: A tool path generating device (20) which generates a tool path (L1) for machining a hairline-shaped long narrow groove (Wa) of on a workpiece surface (W0), includes a shape data acquisition part which acquires shape data of a workpiece, a parameter setting part (23) which sets a shape parameter of a hairline corresponding to the long narrow groove (Wa), and a path generating part (24) which generates a tool path (L1) for a hairline machining, based on the shape data acquired by the data acquisition part and the shape parameter set by the parameter setting part (23).
    Type: Grant
    Filed: April 19, 2011
    Date of Patent: June 26, 2018
    Assignee: MAKINO MILLING MACHINE CO., LTD.
    Inventor: Soichiro Asami
  • Patent number: 10002418
    Abstract: A laser beam welding diagnosis apparatus includes: an imaging unit configured to capture images of a laser beam welding penetration side of a laser beam welded portion at a predetermined time interval; a feature amount calculating unit configured to calculate, from an image captured by the imaging unit, a feature amount of a jetted portion accompanying laser beam welding penetration; a welding diagnosis unit configured to determine that a welding defect in the laser beam welded portion has occurred when values of the feature amounts of a predetermined area around the laser beam welded portion on the laser beam welding penetration side become equal to or less than a predetermined value for a predetermined duration or longer; and an output unit configured to output a welding quality state including the occurrence of the welding defect.
    Type: Grant
    Filed: August 29, 2014
    Date of Patent: June 19, 2018
    Assignee: JFE STEEL CORPORATION
    Inventors: Toshifumi Kodama, Shigeto Sakashita
  • Patent number: 9977948
    Abstract: The invention relates to a method for the localization of gripping points of objects, wherein the objects are scanned by means of a 3D sensor and the objects are illuminated by means of at least one first illumination unit while the objects are detected by means of a camera, wherein the relative positions of the 3D sensor, of the first illumination unit and of the camera with respect to one another are known and the 3D sensor, the first illumination unit and the camera are arranged in a fixed position with respect to one another. In this respect, the boundary of the objects is determined from a two-dimensional image generated by the camera, a spatial position is determined from detected distance information of the 3D sensor and of the two-dimensional image and the gripping points for the objects are determined from the boundaries and from the spatial position of the objects.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: May 22, 2018
    Assignee: SICK AG
    Inventors: Klemens Wehrle, Heinrich Hippenmeyer, Hubert Uhl, Björn Denz, Martin Grafmüller
  • Patent number: 9928755
    Abstract: A simulator facilitating virtual welding activity. The simulator may include a logic processor based subsystem operable to generate an interactive welding environment in virtual reality space that emulates welding activity by simulating a virtual weld puddle having dynamic, real time molten metal fluidity and heat dissipation characteristics, responsive to performing a simulated welding activity in real time. The simulator may include a foot pedal device in operative communication with the logic processor based subsystem and configured to affect a characteristic of the virtual weld puddle in real time, responsive to user control of the foot pedal device. The simulator may be configured to track the movements of a mock welding tool and a mock filler wire and determine interaction between the virtual weld puddle, a corresponding virtual welding tool, and a corresponding filler wire in virtual reality space that would result in the welding tool becoming contaminated.
    Type: Grant
    Filed: July 9, 2014
    Date of Patent: March 27, 2018
    Assignee: LINCOLN GLOBAL, INC.
    Inventors: Matthew Wayne Wallace, David Anthony Zboray, Antonius Aditjandra, Adam Lee Webb, Deanna Postlethwaite, Zachary Steven Lenker
  • Patent number: 9915519
    Abstract: System and method for measuring an aerial image are provided. The system may include a lighting unit for providing illuminating light to pass through a mask to form initial light. An imaging unit is configured for imaging the initial light to form imaging light. A beam splitting unit is for splitting the imaging light into projection light and reference light. A projection light is projected to a substrate to form a mask image in the substrate, and the substrate reflects the projection light to form first reflected light onto the beam splitting unit. A reflecting unit is for receiving the reference light to form second reflected light, and for projecting the second reflected light onto the beam splitting unit, the second reflected light and the first reflected light interfering with each other to form interference light. A measuring unit is for measuring an aerial image formed from the interference light.
    Type: Grant
    Filed: June 23, 2016
    Date of Patent: March 13, 2018
    Assignee: SEMICONDUCTOR MANUFACTURING INTERNATIONAL (SHANGHAI) CORPORATION
    Inventors: Qiang Wu, Yuntao Jiang
  • Patent number: 9889528
    Abstract: An infrared vision sensing detection method and device for narrow-gap weld seam deviation are provided. The device includes a shaking (or rotating) arc narrow-gap welding torch, an arc current sensor, a computer image processing system, and an infrared photographing system. The infrared photographing system includes an infrared camera which acquires an infrared image of a welding region in an external triggering manner when an arc shakes (or rotates) to a position closest to the left side wall or right side wall of a groove. After computer image processing, a welding wire position and a groove edge information is extracted in real time, and a weld seam deviation is calculated according to position changes of a welding wire relative to the left side wall and the right side wall of the groove, and the weld seam deviation is output.
    Type: Grant
    Filed: December 16, 2015
    Date of Patent: February 13, 2018
    Assignee: JIANGSU UNIVERSITY OF SCIENCE AND TECHNOLOGY
    Inventors: Jiayou Wang, Jie Zhu, Cai Zhang, Maosen Yang, Na Su, Wenhang Li
  • Patent number: 9815200
    Abstract: A method for controlling a multiaxial jointed-arm robot. A plurality of reference data sets are recorded during a previous monitored reference travel. During an operational travel, a trajectory progress variable is established and is used to monitor the movement of the manipulator on the basis of the reference data sets.
    Type: Grant
    Filed: December 4, 2015
    Date of Patent: November 14, 2017
    Assignee: KUKA Roboter GmbH
    Inventors: Uwe Zimmermann, Gerhard Hietmann
  • Patent number: 9808878
    Abstract: A robotic welding equipment station to detect deviation of a tool center point of a welding torch. The station is provided with pairs of light emitting and detecting devices to emit and detect two separate light beams. The pairs of light emitting devices and detectors are oriented at an angle and spaced apart from each other such that the two light beams are at an angle to one another and the weld wire electrode is able to simultaneously interrupt both light beams when there is no deviation in a tool center point. The spacing prevents the weld wire electrode from interrupting both light beams when an increasing deviation of the tool center point propagates along the length of the weld wire electrode. First and second output signals generated by the first and second light detectors are received by a means for detecting deviation of the tool center point.
    Type: Grant
    Filed: April 29, 2014
    Date of Patent: November 7, 2017
    Assignee: Praxair Technology, Inc.
    Inventors: Jeffrey R. Ingraham, I, Kristofer K. Klein
  • Patent number: 9802265
    Abstract: A welding-type component is disclosed having a single user input that requires a user to input only a single parameter to identify a welding-type process. From the single input, operating parameters for the welding-type process automatically are set or otherwise determined. The invention streamlines the welding-type process prescription process by allowing a user to input only a single parameter than can be used to determine and coordinate other parameters for the welding-type process.
    Type: Grant
    Filed: August 28, 2013
    Date of Patent: October 31, 2017
    Assignee: Illinois Tool Works Inc.
    Inventor: Darrell L. Sickels
  • Patent number: 9786198
    Abstract: The invention relates to a method and a device (1) for simulating an electrode welding process having an electrode holder simulator (2) and a simulated electrode (3) arranged thereon, a simulated workpiece (4), an input device (6), an output device (7) and a control device (10). For the ideal training of an electrode welding process under conditions as real as possible, the control device (10) is connected to a memory (11) for storing parameters (Pi) of an ideal motion of the electrode holder simulator (2) during an ignition process and is designed for detecting the parameters (Pr) during an actual motion of the electrode holder simulator (2) and comparing them to the stored parameters (Pi) of the ideal motion of the electrode holder simulator during an ignition process and displaying the deviations between the parameters (Pr) of the actual motion and the parameters (Pi) of the ideal motion in the output device (7).
    Type: Grant
    Filed: April 18, 2014
    Date of Patent: October 10, 2017
    Assignee: Fronius International GmbH
    Inventors: Josef Kreindl, Andreas Hummelbrunner, Harald Grubmair, Wolfgang Poellhuber
  • Patent number: 9757859
    Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.
    Type: Grant
    Filed: January 21, 2016
    Date of Patent: September 12, 2017
    Assignee: X Development LLC
    Inventors: Michael Kolb, Jeff Linnell, Anthony Sean Jules
  • Patent number: 9718189
    Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.
    Type: Grant
    Filed: October 5, 2015
    Date of Patent: August 1, 2017
    Assignee: FANUC CORPORATION
    Inventors: Hiroyuki Atohira, Yoshiharu Nagatsuka, Kozo Inoue
  • Patent number: 9700953
    Abstract: An apparatus for adaptive welding is provided. The apparatus includes an arc welding robot having a repositionable arc welding gun. The arc welding robot is configured to position the arc welding gun at a location of a joint formed at an interface of at least a first workpiece and a second workpiece. The apparatus further includes a thermographic imager that is configured to measure a temperature of at least one of the first workpiece and the second workpiece at the location. The apparatus also includes a controller that is in signal communication with the arc welding robot and the thermographic imager. The controller is configured to select a weld schedule for forming a weld at a location based at least in part on the temperature measured with the thermographic imager and a joint profile of the location before the weld is formed.
    Type: Grant
    Filed: June 25, 2014
    Date of Patent: July 11, 2017
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Eric Flewelling, Paul C. Edwards, II
  • Patent number: 9678510
    Abstract: An electromechanical actuator includes a drive motor having rotatable drive shaft. A magnetic element is disposed on the drive shaft. A rotary-to-linear motion converter is driven by the rotatable drive shaft and includes a non-rotating actuator body that is linearly movable in a traveling direction. A Hall-effect sensor is disposed in a stationary manner proximal to the magnetic element disposed on the drive shaft. A controller is in electronic communication with the Hall-effect sensor. The controller counts the number of impulses output by the Hall-effect sensor when the drive shaft rotates relative to the Hall-effect sensor, and turns off the drive motor after a predetermined number of impulses have been counted since the start-up of the non-rotating actuator body. The controller may also count the number of times that the current of the drive motor exceeds a predetermined maximum value and store this counted value in a memory element.
    Type: Grant
    Filed: September 16, 2013
    Date of Patent: June 13, 2017
    Assignee: AKTIEBOLAGET SKF
    Inventors: Hans Peter Panzer, Christian Stehli, Martin Voegelin
  • Patent number: 9666160
    Abstract: A system comprises light intensity detection circuitry and pixel data processing circuitry. The light intensity detection circuitry is operable to determine whether a welding arc is present based on an intensity of light incident captured by the light intensity detection circuitry, and generate a control signal indicating a result of the determination. A mode of operation of the image processing circuitry may be selected from a plurality of modes based on the control signal. The light intensity detection circuitry may comprise, for example, a passive infrared sensor, a photodiode, and/or circuitry of a camera. The pixel data processing circuitry may comprise, for example, circuitry of a camera, a special purpose graphics processing unit, and/or a general purpose processing unit.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: May 30, 2017
    Assignee: Illinois Tool Works Inc.
    Inventors: Nishank Patel, Praveen Dandu
  • Patent number: 9649726
    Abstract: The invention relates to a method for monitoring a lateral offset of an actual weld seam configuration relative to a desired weld seam configuration in particular in the motor vehicle sector, comprising the following steps: a) providing at least a first structural part having a geometric deviation in the region of the desired weld seam configuration; b) guiding a laser beam along the first structural part to produce a weld seam, forming a melt pool, thereby producing the actual weld seam configuration; and c) detecting a reflection from the melt pool simultaneously with step b).
    Type: Grant
    Filed: February 24, 2012
    Date of Patent: May 16, 2017
    Assignee: Brose Fahrzeugteile GmbH & Co., Kommanditgesellschaft, Coburg
    Inventors: Torsten Seidel, Christof Bladowski
  • Patent number: 9636768
    Abstract: A torch for a welding or plasma cutting operation configured to provide information. The torch includes a torch body. The torch also includes indicators coupled to the torch body and control circuitry coupled to the indicators and configured to provide data relating to the welding or plasma cutting operation to the indicators.
    Type: Grant
    Filed: December 14, 2012
    Date of Patent: May 2, 2017
    Assignee: HOBART BROTHERS COMPANY
    Inventor: Scott Ryan Rozmarynowski
  • Patent number: 9519282
    Abstract: A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, comprising the steps of: (a) moving the tool over the surface in a predetermined direction and/or with a predetermined velocity and/or along a predetermined path, (b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter, (c) determining, by the sensor unit, a response value indicating a response of the tool to treating the surface and/or to being pressed to the surface, and (d) determining a new direction and/or a new velocity and/or a new path and/or a new value for the treatment parameter based on the response value.
    Type: Grant
    Filed: March 2, 2011
    Date of Patent: December 13, 2016
    Assignee: FIDIA S.P.A.
    Inventor: Giuseppe Morfino
  • Patent number: 9492921
    Abstract: A robot controller for ensuring safety of an operator, which is capable of reducing operational cost by avoiding unnecessary emergency stop of a robot. A teaching pendant has an emergency stop button for interrupting drive power for the robot, and a main body of the controller has a signal part which receives an emergency stop signal from the teaching pendant when the emergency stop button is pushed, and a power interrupting part which interrupts the drive power for the robot when the signal part receives the emergency stop signal under a predetermined condition. Until a first predetermined period of time has passed after a connection/disconnection switch is operated, the power interrupting part does not interrupt the drive power when a connection-recognition signal representing that the teaching pendant is connected to the main body is not generated, even when the emergency stop signal is input from the teaching pendant.
    Type: Grant
    Filed: July 28, 2015
    Date of Patent: November 15, 2016
    Assignee: FANUC CORPORATION
    Inventors: Gou Inaba, Tomoyuki Yamamoto
  • Patent number: 9439277
    Abstract: A system and method for the automated or “robotic” application of hardfacing to a surface of a drill bit.
    Type: Grant
    Filed: December 22, 2008
    Date of Patent: September 6, 2016
    Assignee: BAKER HUGHES INCORPORATED
    Inventors: John H. Stevens, James L. Overstreet, David K. Luce
  • Patent number: 9417192
    Abstract: An optical device for detecting quality of welding gun electrodes An optical sensor device comprises a housing (10) with a pair of openings (11, 11a) communicating with a pair first (14) and a second (15) seat for accommodating a respective one of a pair of electrodes (E1, E2). A first set of lights (16, 17) emit a first (L1) and a second (L2) light beam in an intermediate geometric plane (p1) between the seats (14, 15). Two oblique reflecting elements (25, 26), interposed between the two seats (14, 15), to reflect the first (L1) and second (L2) light beams in two opposite directions perpendicular to the geometric plane (p1) toward the first and the second seats. Other lights (47, 32) emit third (L3) and fourth (L4) light beams on opposite sides of the geometric plane (p1) to illuminate the first and the second seat (14, 15).
    Type: Grant
    Filed: August 1, 2013
    Date of Patent: August 16, 2016
    Assignee: Sinterleghe S.R.L.
    Inventors: Michael Leuckefeld, Jens Knobbe, Tino Pügner
  • Patent number: 9403233
    Abstract: A welding operation is performed by moving or rotating an arc in a welding torch, and feeding a metal cored wire through the torch in a direct current, electrode negative welding process. The electrode may include one or more arc stabilizers. The welding process may be pulsed or non-pulsed. Moreover, the process may be used with a number of different base metals intended to be welded, such as thin plate, galvanized metals, painted metals, coated metals, and so forth.
    Type: Grant
    Filed: November 20, 2012
    Date of Patent: August 2, 2016
    Assignee: ILLINOIS TOOL WORKS INC.
    Inventors: Kevin Pagano, James Lee Uecker, Steven Barhorst, Bryan Dustin Marschke, Mario Amata
  • Patent number: 9375808
    Abstract: A movement control system is provided for cutting and welding applications which uses a laser movement detection system to detect deflection or displacement in a guide rail movement system. A movement controller controls the movement of the cutting or welding operation based on the detected laser beam displacement.
    Type: Grant
    Filed: September 16, 2013
    Date of Patent: June 28, 2016
    Assignee: LINCOLN GLOBAL, INC.
    Inventors: Jonathan V. Fikes, Ryan Owens, Dionysus Damato, Dane Weiler
  • Patent number: 9375812
    Abstract: A welding carriage traveling with a welding torch mounted thereon includes: a carriage body; and a torch supporting part disposed between the front and rear ends of carriage body and supporting a tip of the welding torch in a state of positioning on a side surface side of the carriage body and facing diagonally downward. The torch supporting part includes a torch swinging unit and a weaving unit. The torch swinging unit includes a torch swinging mechanism which swings the tip of the welding torch in a forward and rearward direction of the carriage body, and thereby moves tip close to the welding line. The weaving unit includes a weaving mechanism which operates so as to integrally rotate a unit case and a torch mounting bar of the torch swinging unit about a screw, thereby to cause the welding torch to perform a weaving operation.
    Type: Grant
    Filed: April 10, 2012
    Date of Patent: June 28, 2016
    Assignee: Kokuho Company Limited
    Inventor: Yoshihiro Inoue
  • Patent number: 9272365
    Abstract: A superalloy substrate, such as a turbine blade or vane, is fabricated or repaired by laser beam welding to clad one or more layers on the substrate. Laser optical energy is transferred to the welding filler material and underlying substrate to assure filler melting and adequate substrate surface wetting for good fusion. Energy transfer is maintained below a level that jeopardizes substrate thermal degradation. Optical energy transfer to the filler and substrate is maintained uniformly as the laser beam and substrate are moved relative to each other along a translation path by varying the energy transfer rate to compensate for localized substrate topology variations.
    Type: Grant
    Filed: September 12, 2012
    Date of Patent: March 1, 2016
    Assignee: Siemens Energy, Inc.
    Inventors: Gerald J. Bruck, Ahmed Kamel, Brandon W. Shinn
  • Patent number: 9259801
    Abstract: A laser processing head for processing a workpiece by means of laser beam, including a housing through which a beam path for the laser beam is led and which has a focusing optical unit for focusing the laser beam onto a joint of the workpiece to be processed. A light cutting device is fitted to the housing and has a light source for generating a light line on the workpiece. A camera is arranged in an observation beam path in front of the camera such that the camera images the light line at the location to be joined and also the portion. The system also includes an image processor which calculates a minimum distance between the stored target trajectory and the current welding path midpoint.
    Type: Grant
    Filed: March 10, 2011
    Date of Patent: February 16, 2016
    Assignee: PRECITEC KG
    Inventor: Bert Schurmann
  • Patent number: 9230329
    Abstract: According to one aspect of the invention, there is provided a method comprising: obtaining at least one image comprising at least one object; analyzing the at least one image to determine at least one gripping location to grip an object; selecting a gripping location from the at least one gripping location based on a predetermined criterion; and issuing at least one instruction to a gripper to grip the object at the selected gripping location.
    Type: Grant
    Filed: December 30, 2011
    Date of Patent: January 5, 2016
    Assignee: ZENROBOTICS OY
    Inventor: Tuomas Lukka
  • Patent number: 9207668
    Abstract: A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
    Type: Grant
    Filed: February 10, 2006
    Date of Patent: December 8, 2015
    Assignee: ABB Research Ltd.
    Inventors: Hui Zhang, Torgny Brogardh, Jianjun Wang, George Zhang
  • Patent number: 9208910
    Abstract: The installation provided includes at least one structure for receiving and holding guide tubes and structural elements; a carriage movable parallel to the guide tubes; at least one welding tool; and displacement means for moving the welding tool, the displacement means connecting the pincer to the carriage and presenting at least six degrees of freedom.
    Type: Grant
    Filed: June 7, 2013
    Date of Patent: December 8, 2015
    Assignee: AREVA NP
    Inventor: Thierry Taillandier
  • Patent number: 9186792
    Abstract: In a teaching system including a display unit, an image generating unit generates a virtual image of a robot, a workpiece and a positioner for holding the workpiece. A display control unit controls the display unit to display the generated virtual image. Upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, a work line generating unit extracts individual teaching target points of the ridgeline and generates a work line as a set of line segments each interconnecting the target points adjoining each other. A calculation unit calculates teaching values for positions and postures of the positioner on a point-by-point basis so that a vector direction of the work line at each target point becomes substantially parallel to a horizontal direction. A teaching program generating unit generates a teaching program for operating the positioner based on the calculated teaching values.
    Type: Grant
    Filed: February 21, 2014
    Date of Patent: November 17, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Koichi Kuwahara
  • Patent number: 9120233
    Abstract: The systems and methods are directed to mechanical arms and manipulators, and more particularly, to optical distance sensors in use for approach, grasping and manipulation. The system may include a manipulator having an arm and a multi fingered end-effector coupled to the distal end of the arm. The end-effector may include an optical proximity sensor configured to detect the distance to an object prior to contact with the object. The end-effector may include an optical proximity sensor configured detect a measurement of force applied to the object by the manipulator post contact with the object. The measurement of force may be a range of force measurements including a minimum, a maximum and a measurement between or within the minimum and the maximum.
    Type: Grant
    Filed: May 31, 2012
    Date of Patent: September 1, 2015
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventor: Douglas A. Moore