Positional Compensation Or Modification Compensation Or Mod Patents (Class 700/193)
  • Patent number: 10343798
    Abstract: A wrapping machine has a transfer and accumulation device including an accumulator element on which a part of the sleeve is wound, and a mechanism for performing spreading of the open end of the sleeve after transfer to the covering station. According to the invention, a programmable control device determines the position and/or the inclination angle of the feed axis of the load by synchronizing the positioning control of the transfer device with position data of the load. This results in positioning of the transfer device according to the spatial position of the load to be packaged.
    Type: Grant
    Filed: November 22, 2011
    Date of Patent: July 9, 2019
    Assignee: THIMON
    Inventor: Jean-Christophe Jaconelli
  • Patent number: 10241495
    Abstract: An apparatus for providing a feedback force includes a calculating unit and a force feedback displacement controller. The calculating unit receives relative position information of a first object and a second object and geometric information of the first object and the second object. If the first object and the second object are not in contact, the calculating unit calculates a force feedback value based on the relative position information and the geometric information. The force feedback displacement controller outputs a displacement command, and receives the force feedback value. The displacement command allows the first object to move with respect to the second object. The force feedback displacement controller includes a displacement unit that generates the displacement command based on an operation of a user, and a force feedback unit that provides a feedback force to the displacement unit based on the force feedback value.
    Type: Grant
    Filed: December 4, 2014
    Date of Patent: March 26, 2019
    Assignee: Industrial Technology Research Institute
    Inventors: Chih-Yuan Hsu, Shuo-Peng Liang, Jui-Ming Chang
  • Patent number: 10204769
    Abstract: To provide a wire electric discharge machine capable of suitably and simply performing thermal displacement correction on upper and lower guides. Provided are a storage unit that stores temperatures of machine elements and actual values for relative positions of upper and lower guides to be associated with each other as associated data; and a relational expression calculation unit that infers and calculates a relational expression between the temperature of the machine element and the relative positions of the upper and lower guides by way of machine learning with this associated data as training data. Additionally provided are a position estimation unit that substitutes temperatures of the machine element into the relational expression and calculates an estimated value for the relative position of the upper and lower guides; and a correction amount calculation unit that calculates a correction amount for the upper and lower guides, based on the estimated value for the relative position.
    Type: Grant
    Filed: October 27, 2017
    Date of Patent: February 12, 2019
    Assignee: FANUC CORPORATION
    Inventor: Keita Hada
  • Patent number: 9903774
    Abstract: The human cooperative robot system according to the present invention includes a robot, a force sensor detecting a load applied to a robot, and a robot controller controlling the robot. The force sensor includes at least one temperature detection element detecting temperature, incorporated therein. The robot controller determines whether or not to stop the operation of the robot based on the detected temperature output from the temperature detection element.
    Type: Grant
    Filed: May 1, 2016
    Date of Patent: February 27, 2018
    Assignee: FANUC CORPORATION
    Inventors: Kazutaka Nakayama, Junya Fujita, Youichi Inoue
  • Patent number: 9511492
    Abstract: Methods and systems of determining a location of a target object on a surface are disclosed. A method may include positioning a robotic arm proximate to the target object, moving the robotic arm at a trajectory such that the robotic arm contacts the target object and pushes the target object across the surface into a target area bound by known dimensional coordinates, moving a robotic hand coupled to the robotic arm along a vector that corresponds to one of the known dimensional coordinates such that the robotic hand contacts the target object in the target area, and grasping the target object with the robotic hand.
    Type: Grant
    Filed: March 3, 2015
    Date of Patent: December 6, 2016
    Assignee: Toyota Motor Engineering & Manafacturing North America, Inc.
    Inventors: Aaron M. Blasdel, Joseph M. A. Djugash
  • Patent number: 9360849
    Abstract: In this numerical control method that drives the feed shaft of a machine tool (10) by means of a servo control unit (52), a transmission function is determined by modeling the operation of the servo control unit (52) of the feed shaft, the closed loop transmission function (GBP) of the position loop and/or the closed loop transmission function of the velocity loop of the servo control unit (52) of the machine tool is measured using the frequency response of the feed shaft, the control subject (PP) of the position loop and/or the control subject of the velocity loop is determined using the measured closed loop transmission function, the position loop modeling error (?PP) and/or the velocity loop modeling error is determined from the control subject, and at least one control parameter of the servo control unit (52) is calculated using the closed loop transmission function and/or the modeling error.
    Type: Grant
    Filed: October 26, 2011
    Date of Patent: June 7, 2016
    Assignee: Makino Milling Machine Co., Ltd.
    Inventors: Akira Kawana, Norio Mori, Mitsunari Oda
  • Patent number: 9310799
    Abstract: A numerical controller using table format data, the numerical controller including a memory which stores table format data, in which time or a position of a spindle or feed shaft serving as a reference is arranged so as to correspond to a position of a spindle or feed shaft other than the spindle or feed shaft of which position serves as a reference or an output of an auxiliary function, a reference value counter which inputs the time or the position of the spindle or feed shaft serving as a reference, wherein the position of the spindle or feed shaft other than the spindle or feed shaft of which position serves as a reference or the output of the auxiliary function is controlled.
    Type: Grant
    Filed: February 28, 2012
    Date of Patent: April 12, 2016
    Assignee: FANUC Corporation
    Inventors: Yasushi Takeuchi, Takahiro Haraguchi
  • Patent number: 9195227
    Abstract: A motor control device includes a position command generating unit, a difference calculating unit for calculating a difference between a positional detection value of a movable unit and a positional detection value of a driven unit, a retaining unit for retaining, as an engaging difference, the difference when the movable unit is moved in a first or second direction to engage with the driven unit, in association with the first direction and the second direction, and a compensation amount calculating unit for calculating a backlash compensation amount based on the difference calculated by the difference calculating unit and the engaging difference retained by the retaining unit. It is determined whether or not the movable unit is engaged with the driven unit by comparing a movement amount of the driven unit with a threshold.
    Type: Grant
    Filed: January 9, 2014
    Date of Patent: November 24, 2015
    Assignee: Fanuc Corporation
    Inventors: Satoshi Ikai, Tsutomu Nakamura
  • Patent number: 9002502
    Abstract: The present invention provides a method and the like that are capable of calculating a correction value for a rotational axis and make it possible to correct an error in position or position and posture of a tool, which results from a geometric error, correct an error in posture of the tool, and also enhance the accuracy in machining by preventing a translational axis from operating in an infinitesimal manner due to a correction command. In a machine tool having two or more translational axes and one or more rotational axes, a correction value for each of the translational axes is calculated using a command position of each of the rotational axes, a coordinate value of a correction reference point as one point designated in advance in a command position space of each of the translational axes, and a geometric parameter representing the geometrical error.
    Type: Grant
    Filed: March 14, 2012
    Date of Patent: April 7, 2015
    Assignee: Okuma Corporation
    Inventor: Tetsuya Matsushita
  • Patent number: 8977382
    Abstract: Methods and devices for milling a channel-shaped cavity by a five-axis computer numerical control (CNC) machine by selecting a workpiece to be machined, determining cutting tool flow along the channel-shaped cavity, determining cutting tool in-depth penetration, determining a trochoid path, and determining auxiliary movements.
    Type: Grant
    Filed: May 11, 2012
    Date of Patent: March 10, 2015
    Assignee: D.P. Technology Corp.
    Inventor: Giuliano Sona
  • Patent number: 8934999
    Abstract: A robotic processing system includes a microprocessor-controlled workpiece processor having a mobile processing element to be positioned independently in three orthogonal dimensions with respect to each of a plurality of target locations on a workpiece, with each particular target location of the plurality of target locations including an element to be processed, the mobile processing element processing the element at each particular target location by first moving to an initial location that is offset from the particular target location in a single dimension and then second moving along the single dimension towards the element at the particular target location until a contact signal is detected; and a control, coupled to the workpiece and to the mobile processing element, communicating the contact signal to the workpiece processor when the processing element makes physical contact with the element at the particular target location.
    Type: Grant
    Filed: February 13, 2012
    Date of Patent: January 13, 2015
    Assignee: Tesla Motors, Inc.
    Inventor: Nicholas R. Kalayjian
  • Patent number: 8920080
    Abstract: A machine tool 1 comprises a bed 11, a column 12, a spindle head 15, a spindle 16, a saddle 17, a table 18, a feed mechanism for moving the spindle head 15, the saddle 17 and the table 18 in Z-axis, Y-axis and X-axis directions respectively, a position detector for detecting the positions of the spindle head 15, saddle 17 and table 18, a controller for feedback controlling the feed mechanism, a position detector 51 for detecting the position of the spindle head 15, a position detector 54 for detecting the position of the spindle head 15, a position detector 57 for detecting the position of the table 18, and a measurement frame 50 which is configured with a different member from the bed 11 and the column 12 and on which readers 53, 56, 59 of the position detectors 51, 54, 57 are disposed.
    Type: Grant
    Filed: March 24, 2011
    Date of Patent: December 30, 2014
    Assignees: DMG Mori Seiki Co., Ltd., Intelligent Manufacturing Systems International
    Inventors: Kazuo Yamazaki, Toru Fujimori
  • Patent number: 8924003
    Abstract: In a thermal displacement compensation method for a machine tool, in which a feed shaft thermal displacement amount is obtained and an amount which cancels the obtained feed shaft thermal displacement amount is added as a thermal displacement compensation amount to a position command for a feed axis, a position where a signal is first output by a position sensor for detecting the position of a movable part of the machine tool is first stored as an initial position. Then, the position where the signal is output by the position sensor is detected, and the thermal displacement compensation amount is modified according to a compensation error, which is the difference between the detected position (actual position) and the initial position.
    Type: Grant
    Filed: July 14, 2011
    Date of Patent: December 30, 2014
    Assignee: Fanuc Corporation
    Inventors: Susumu Maekawa, Takahiro Endou
  • Publication number: 20140364993
    Abstract: In a control method for a machine tool including two or more translation axes and at least one rotation axis, a command for a distal end position of a tool and an attitude of the tool is provided to correct an error in the distal end position and the attitude with respect to a workpiece due to a geometric error to calculate a command value for controlling the translation axes. The method includes calculating the command value on the basis of a command coordinate value for the distal end position, a converted coordinate value obtained by converting a coordinate value of a rotation center point of the rotation axis in an actual state into a coordinate value without an error in inclination, and an axial unit vector for the ideal rotation axis.
    Type: Application
    Filed: April 23, 2014
    Publication date: December 11, 2014
    Applicant: Okuma Corporation
    Inventor: Tetsuya MATSUSHITA
  • Patent number: 8868228
    Abstract: When a numerical controller executes a tool-center-point control in which a path of a tool center point with respect to a workpiece is instructed, and the workpiece is machined along the instructed path based on a speed instruction, the numerical controller sets the speed instruction so that the speed instruction is a synthesis speed with respect to a synthesis distance of a relative moving distance between the workpiece and a tool center point and a tool-direction changing distance due to a relative change in a tool direction with respect to the workpiece by a rotary axis. The numerical controller interpolates a position of a linear axis and a position of a rotary axis by the tool-center-point control according to the synthesis speed and drives the linear axis and the rotary axis to the position of the linear axis and the position of the rotary axis created by the interpolation.
    Type: Grant
    Filed: November 1, 2011
    Date of Patent: October 21, 2014
    Assignee: FANUC Corporation
    Inventors: Toshiaki Otsuki, Takafumi Sasaki
  • Publication number: 20140297019
    Abstract: A stage apparatus includes: a coarse moving stage; a fine moving stage located at an interval from the coarse moving stage in a first direction; an electromagnetic actuator including a first core located on one of the coarse moving stage and the fine moving stage and a second core located on the other of the coarse moving stage and the fine moving stage and configured to accelerate or decelerate the fine moving stage in a second direction perpendicular to the first direction; and a controller configured to correct a command value of a thrust of the electromagnetic actuator in the second direction in accordance with a relative position of the fine moving stage with respect to the coarse moving stage in the first direction.
    Type: Application
    Filed: March 25, 2014
    Publication date: October 2, 2014
    Applicant: Canon Kabushiki Kaisha
    Inventor: Masanori YAMADA
  • Patent number: 8838265
    Abstract: A work having a non-circular cross-section is machined by relative movement between the work and a tool, as the relative position and angle between the work and tool are changed at least within a plane including the cross-section of the work. In machining along a preset tool path, the difference between the relative angle at a point on the preset tool path which machining is started and that point on the preset tool path at which machining is finished is calculated. Time needed in machining along the preset tool path is equally divided by a preset number at equal time divisions, and positions on the tool path corresponding to equal time divisions are set as tool path points. When the tool moves through each point, the relative angle is continuously changed an angle corresponding to division of the difference of the relative angles by the preset number of equal time divisions.
    Type: Grant
    Filed: December 20, 2011
    Date of Patent: September 16, 2014
    Assignee: Mori Seiki & Co., Ltd.
    Inventors: Akira Kimura, Katsuhiko Ono
  • Patent number: 8805562
    Abstract: A level difference or a uncut portion is prevented from being left between adjoining worked regions without forming any useless worked region. A lathe sectional shape forming unit (222) produces a sheet model of a lathe sectional shape in an X-Z plane on the basis of the solid model of a lathe shape formed by a lathe shape forming unit (220). A first/second step working sectional shape forming unit (227) produces sheet models of the worked sectional shapes of the first step and the second step on the basis of the sheet model of the lathe sectional shape, a step dividing position and an overlap amount. A first step disused shape deleting unit (229) and a second step disused shape deleting unit (230) delete the shape needing no work, from the sheet models of the worked sectional shapes of the first step and the second step.
    Type: Grant
    Filed: July 6, 2009
    Date of Patent: August 12, 2014
    Assignee: Mitsubishi Electric Corporation
    Inventors: Susumu Matsubara, Takashi Kamiya, Kenji Iriguchi, Hiroshi Katano, Mahito Matsuura
  • Patent number: 8779699
    Abstract: A servo device 30 includes: a control portion 31 for driving and controlling a drive mechanism 32 by receiving a control signal from a transmitter 10, and by transforming the control signal into a drive signal corresponding to characteristic data previously stored in a memory portion 35. The control portion 31 includes: a signal processing portion 33 for discriminating whether the control signal is a maneuver signal or a characteristic data signal; and the memory portion for updating and storing the characteristic data based on the received characteristic data signal when the control signal is discriminated as the characteristic data signal.
    Type: Grant
    Filed: May 31, 2012
    Date of Patent: July 15, 2014
    Assignees: Futaba Corporation, Semiconductor Components Industries, LLC
    Inventors: Hiroyuki Tsuchiya, Shinya Fuji
  • Patent number: 8712577
    Abstract: An electronic system for compensating the dimensional accuracy of a 4-axis CNC machining system includes a CNC machining system configured to machine a plurality of features into a part, a dimensional measuring device configured to measure a plurality of dimensions of the part, and to provide an output corresponding to the measured dimensions and a compensation processor in communication with the CNC machining system and dimensional measuring device. The CNC machining system includes a global coordinate system, and at least one feature being defined relative to a local coordinate system that is translated from the machine coordinate system. Additionally, the compensation processor is configured to receive the output from the dimensional measuring device, to calculate a plurality of CNC offsets, including at least one local offset, and to provide the offsets to the CNC machining system.
    Type: Grant
    Filed: February 23, 2011
    Date of Patent: April 29, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Jie Gu, Sheri K. Kurgin, Paula J. Deeds
  • Publication number: 20140107832
    Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
    Type: Application
    Filed: December 12, 2013
    Publication date: April 17, 2014
    Applicant: Board of Regents of the Nevada System of Higher Ed cation, on behalf of the University of Nevada
    Inventor: George L. Danko
  • Patent number: 8694150
    Abstract: A machining installation for workpieces comprises a workpiece positioning device comprising a workpiece holder pivot unit as well as a tool positioning device comprising a tool holder pivot unit. The workpiece holder pivot unit is designed such that a workpiece holder is pivotable about at least three and no more than four workpiece holder pivot axes. Moreover, the tool holder pivot unit is designed such that a tool holder is pivotable about no more than two tool holder pivot axes. The machining installation has a simple design and ensures flexible and accurate machining of workpieces.
    Type: Grant
    Filed: July 1, 2009
    Date of Patent: April 8, 2014
    Assignee: MAG IAS GmbH
    Inventors: Moshe Israel Meidar, Wolfgang Horn, Siegfried Schmalzried, Waldemar Haus
  • Patent number: 8688293
    Abstract: An apparatus on an integrated circuit, and method thereof, provides a real-time flexible interface between inputs from a vehicle components and outputs to the vehicle control components. The functions comprises of a programmable interconnection matrix, engine sensors and a control interface. Both engine sensors and control functions comprise of fixed hardwired functions and a customization hardware area. The apparatus therefore provides means for flexible powertrain events control target for the next generation of low-polluting power trains of vehicles.
    Type: Grant
    Filed: May 6, 2013
    Date of Patent: April 1, 2014
    Assignee: Scaleo Chip
    Inventors: Khaled Douzane, Stephane Le Merdy, Loic Vezier, Pascal Jullien
  • Patent number: 8676373
    Abstract: A method for offsetting a part on a CNC machine comprises clamping a part to a fixture on a table for the CNC machine and machining a plurality of features and surfaces on the part. A plurality of global offsets are calculated for the fixture and the table based on location data of the plurality of features and surfaces. An actual part position on a global coordinate system for the CNC machine is determined by translating the fixture and the table by each the plurality of global offsets to the coordinate system. The actual part position is compensated to a nominal part position for each of the controllable axes of the CNC machine and a controller is programmed with a global offset compensation based upon the calculated offset for each controllable axis of the CNC machine to adjust each of the controllable axes to the actual part position.
    Type: Grant
    Filed: February 23, 2011
    Date of Patent: March 18, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Jie Gu, Sheri K. Kurgin
  • Patent number: 8666534
    Abstract: A machine for machining a work piece with at least one revolving or rotating tool, having a ball screw, which is pivoted by a fix and a floating bearing whereas the machine has a device for measuring the length of the extension of the ball screw. Furthermore, a method is provided for measuring and compensation a thermal displacement comprising the steps of: detecting the length U of the axis of the ball screw, detecting the length I2 of the axis of the ball screw, calculating the difference ?l of the length I1 extended axis and the reference length I2 of the axis and compensating the difference value to the correct value.
    Type: Grant
    Filed: February 27, 2007
    Date of Patent: March 4, 2014
    Assignee: Mikron Agie Charmilles AG
    Inventors: Jean-Philippe Besuchet, Erwin Degen
  • Patent number: 8600523
    Abstract: In a method for controlling an operation of a coordinate measuring device, at least one operational parameter is determined. One value of the operational parameter is allocated to a plurality of components. A sequence for determining the operational parameter is provided for the majority of the components. The method for determining the operational parameter in the predetermined sequence for each component is now described. It starts with the component that is first in the sequence: i) if the value of the operational parameter is allocated to the component, the value is adopted as a value of the operational parameter that is available for the operation, ii) if no value of the operational parameter is allocated to the components, one available value of the operational parameter that was available until then still remains available, iii) if another component is provided in the sequence, the method is carried out with the component.
    Type: Grant
    Filed: January 21, 2008
    Date of Patent: December 3, 2013
    Assignee: Carl Zeiss Industrielle Messtechnik GmbH
    Inventor: Otto Ruck
  • Patent number: 8600555
    Abstract: A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
    Type: Grant
    Filed: January 5, 2011
    Date of Patent: December 3, 2013
    Assignee: FANUC Ltd
    Inventors: Ryo Nihei, Tetsuaki Kato, Hiroji Nishi
  • Patent number: 8588953
    Abstract: The present invention supplies practical procedures, functions or techniques for folding tessellations. Several tessellation crease pattern techniques, and the three-dimensional folded configuration are given. Additionally several new forming processes, including mathematical methods for describing the material flow are disclosed doubly-periodic folding of materials that name the doubly-periodic folded (DPF) surface, including vertices, edges, and facets, at any stage of the folding. This information is necessary for designing tooling and forming equipment, for analyzing strength and deflections of the DPFs under a variety of conditions, for modeling the physical properties of DPF laminations and composite structures, for understanding the acoustic or other wave absorption/diffusion/reflection characteristics, and for analyzing and optimizing the structure of DPFs in any other physical situation.
    Type: Grant
    Filed: August 12, 2011
    Date of Patent: November 19, 2013
    Inventor: Daniel H. Kling
  • Publication number: 20130304249
    Abstract: This working apparatus for a component or a board includes a head unit and a control portion. The control portion performs control of calculating a rotation angle in a horizontal plane of the head unit from displacement of the center of a first imaging portion and displacement of the center of a second imaging portion and correcting the center position of a working mechanism portion on the basis of the amount of rotation-induced displacement of the center of the working mechanism portion due to the rotation angle, a first amount of displacement in a first direction in the horizontal plane being not induced by rotation of the center of the working mechanism portion, and a second amount of displacement in a second direction in the horizontal plane being not induced by the rotation of the center of the working mechanism portion when moving the head unit.
    Type: Application
    Filed: March 14, 2013
    Publication date: November 14, 2013
    Inventors: Yasuhiro SUZUKI, Yasunori NAITOH
  • Patent number: 8577495
    Abstract: A method for calibrating a CNC machine comprises mounting a gauge to a table of the CNC machine and calibrating a probe to the gauge mounted on the CNC machine. A total deviation of the probe and an actual table center position from a nominal table center position for a coordinate system associated with the CNC machine are determined. A controller operatively connected to the CNC machine and the probe is programmed to compensate for the total deviation.
    Type: Grant
    Filed: November 22, 2010
    Date of Patent: November 5, 2013
    Assignee: GM Global Technology Operations LLC
    Inventors: Jie Gu, John S. Agapiou, Sheri K. Kurgin, Paula J. Deeds
  • Patent number: 8571713
    Abstract: Disclosed herein are a robot generating a message using a robot hand, and a control method thereof. When a user types characters using a robot hand, a hand body part and a finger part of the robot hand output displacement signals and a command reading unit accordingly generates a message corresponding to the displacement signals. The message is transmitted to a robot controlling unit. In addition, the message is outputted by sound or displayed to be easily checked by the user.
    Type: Grant
    Filed: November 11, 2009
    Date of Patent: October 29, 2013
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Kyung Rock Kim
  • Publication number: 20130238114
    Abstract: A block in an electric discharge machining program is read out and analyzed, and when determined that a machining route correction command is issued to correct the machining route at a corner formed by consecutive first and second machining blocks, the machining route is corrected such that the end point of the first machining block, an extension point obtained by extending the first machining block from the end point thereof by a predetermined distance in the machining advancing direction, and a new start point obtained by partially removing the second machining block by a predetermined distance from the start point thereof are connected. Then, the wire electrode is moved with respect to the workpiece, following the corrected machining route.
    Type: Application
    Filed: December 24, 2012
    Publication date: September 12, 2013
    Applicant: FANUC CORPORATION
    Inventors: Kaoru HIRAGA, Koji SUZUKI
  • Patent number: 8509941
    Abstract: The present invention relates to a method and a device for the machining of an object using a tool, in which the tool (2) or the object (18) is guided using a handling apparatus, which has multiple movement axes for the coarse positioning of the tool (2) or object (18), which form a kinematic chain. In the method, an additional actuator (3), which has a higher positioning precision in at least one dimension or axis than the other movement axes, is inserted between a terminal link (1) of the kinematic chain and the tool (2) or object (18). A relative movement of the tool (2) or terminal link (1) of the kinematic chain to the object (18) is detected using at least one sensor (5) and a deviation from a target movement path is compensated for using the additional actuator (3). The method and the associated device allow the use of robots or other handling apparatuses having lower path precision for applications which require a high precision during the guiding of the tool.
    Type: Grant
    Filed: October 18, 2007
    Date of Patent: August 13, 2013
    Assignees: Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Rheinisch-Westfaelische Technische Hochschule Aachen
    Inventors: Boris Regaard, Stefan Kaierle
  • Patent number: 8504188
    Abstract: In a method, device and in a non-transitory computer-readable storage medium for computer-assisted generation of a manipulator path of a computer-controlled manipulator, a processor is loaded with a virtual tool and generates a virtual tool path based in a virtual component and the loaded virtual tool. The processor is also loaded with a virtual manipulator kinematic and generates a virtual manipulator path based on the virtual tool path and the virtual manipulator kinematic.
    Type: Grant
    Filed: May 14, 2009
    Date of Patent: August 6, 2013
    Assignee: Kuka Laboratories GmbH
    Inventor: Andreas Keibel
  • Patent number: 8494671
    Abstract: The invention relates to a grinding machine for grinding a workpiece, which has been set on a chuck top surface, by moving a rotating grinding wheel in relation to the workpiece. The grinding machine includes: a microscope configured to be vertically movable; a CCD camera configured to take an image viewed through the microscope; and an image processor configured to process the image taken by the CCD camera to measure a vertical distance between a reference plane of the microscope and an object of the microscope. The image processor is adapted to measure the vertical distance between the reference plane of the microscope and the object of the microscope based on sharpness of the image, which corresponds to how clear the microscope is focused.
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: July 23, 2013
    Assignee: Toshiba Kakai Kabushiki Kaisha
    Inventors: Takanobu Akiyama, Hiroyuki Kakishima
  • Patent number: 8489225
    Abstract: A system for performing alignment of two wafers is disclosed. The system comprises an optical coherence tomography system and a wafer alignment system. The wafer alignment system is configured and disposed to control the relative position of a first wafer and a second wafer. The optical coherence tomography system is configured and disposed to compute coordinate data for a plurality of alignment marks on the first wafer and second wafer, and send that coordinate data to the wafer alignment system.
    Type: Grant
    Filed: March 8, 2011
    Date of Patent: July 16, 2013
    Assignee: International Business Machines Corporation
    Inventors: Yongchun Xin, Xu Ouyang, Yunsheng Song, Tso-Hui Ting
  • Patent number: 8483858
    Abstract: Embodiments of the invention disclose a method for optimizing a simulation of a machining of a workpiece performed by removing a set of swept volumes from a volume of the workpiece, wherein the volume is partitioned into a set of cells, comprising the steps of: associating with each cell a subset of distance fields representing a subset of swept volumes intersecting with the cell, wherein at least part of the subset of swept volumes forms a composite surface of the cell; subjecting the cell with a set of rays incident to the cell from at least one direction; and selecting a distance field of the subset of distance fields into an optimal subset associated with the cell, wherein a boundary of the swept volume represented by the distance field intersects with at least one ray at a point of intersection lying on the composite surface.
    Type: Grant
    Filed: March 31, 2010
    Date of Patent: July 9, 2013
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Alan Sullivan, William S. Yerazunis
  • Publication number: 20130173047
    Abstract: A micro-machining tool is disclosed herein. It includes a micro-moving platform, a supporting device to support the micro-moving platform, an anti-rotation device embedded in a bar for preventing the supporting device from rotating, and a fixing device for fixing the supporting device for limiting its rotation as the bar is moving.
    Type: Application
    Filed: March 7, 2012
    Publication date: July 4, 2013
    Applicant: CHUNG YUAN CHRISTIAN UNIVERSITY
    Inventors: Yi-Hua Fan, Ching-En Chen, Wen-Wei Fan, Ying Tsun Lee
  • Patent number: 8478438
    Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.
    Type: Grant
    Filed: September 16, 2008
    Date of Patent: July 2, 2013
    Assignee: Shin Nippon Koki Co., Ltd.
    Inventor: Nobutaka Nishibashi
  • Patent number: 8473092
    Abstract: A working route of a main shaft is divided into a plurality of measurement points, and a length from a center of a complete round to the working route of the main shaft at each of the measurement points is measured, and this measured value is compared with a radial length of the complete round to operate a deviation amount from the complete round at each of the measurement points. This deviation amount is utilized to find a transferred position. As correction values for correcting the deviation value, an X-axis incremental amount and a Y-axis incremental amount obtained from a difference in the transferred position between the respective measurement points, or an X-axis absolute value and a Y-axis absolute value of the transferred position at each of the measurement points are incorporated into an NC working program to perform complete round working according to the program.
    Type: Grant
    Filed: August 5, 2005
    Date of Patent: June 25, 2013
    Assignee: Horkos Corporation
    Inventors: Shinsuke Sugata, Kunihiko Murakami
  • Patent number: 8452425
    Abstract: A position control device for suppressing occurrence of stick-slip during a feed operation performed in a very low speed region is provided. Adders add an output obtained by multiplying actual speed deviation by a proportional gain, an integral component of actual speed deviation obtained by inputting actual speed deviation to an integral compensator, an output obtained by multiplying motor speed deviation by a proportional gain, and an integral component of the motor speed deviation obtained by inputting motor speed deviation to an integral compensator. The result is output as a torque feedback command. Each integral compensator has a coefficient changer capable of changing a coefficient from 0 to 1 to adjust integral gains in accordance with a speed feedforward command or a speed command. Large integral gain increases the response speed of switching from static to kinetic friction torque in a very low speed region thereby suppressing occurrence of stick-slip.
    Type: Grant
    Filed: March 25, 2011
    Date of Patent: May 28, 2013
    Assignee: Okuma Corporation
    Inventors: Yuji Kawazu, Tomohisa Kameyama
  • Patent number: 8447438
    Abstract: An apparatus on an integrated circuit provides a real-time flexible interface between inputs from a vehicle components and outputs to the vehicle control components. The functions comprises of a programmable interconnection matrix, engine sensors and a control interface. Both engine sensors and control functions comprise of fixed hardwired functions and a customization hardware area. The apparatus therefore provides means for flexible powertrain events control target for the next generation of low-polluting power trains of vehicles.
    Type: Grant
    Filed: November 29, 2011
    Date of Patent: May 21, 2013
    Assignee: Scaleo Chip
    Inventors: Khaled Douzane, Stephane Le Merdy, Loic Vezier, Pascal Jullien
  • Patent number: 8442665
    Abstract: A system is disclosed including a three-dimensional object having a non-conforming region, and a photogrammetry device adapted to scan the three-dimensional object. The system further includes optical reference targets and a controller structured to perform functions of repairing the three-dimensional object. The controller commands the photogrammetry device to scan the three-dimensional object, and calculates a nominal surface location and contour for the three-dimensional object. The controller further commands the photogrammetry device to scan the non-conforming region of the three-dimensional object, and calculates a material removal tool path comprising a path adapted to remove material from the object located beyond the nominal surface location and contour. The controller generates a solid model of the damaged region of the object based on the nominal surface location and contour, and computes a material addition tool path according to the solid model.
    Type: Grant
    Filed: August 19, 2010
    Date of Patent: May 14, 2013
    Assignee: Rolls-Royce Corporation
    Inventor: Gregory Thomas Krause
  • Patent number: 8423171
    Abstract: In a method for processing a workpiece in a tool machine, a first step (Step S4) for continuously measuring a position of a tip portion of a tool attached to a main axis, a second step (Step S5) for computing a displacement amount of the position of the tip point of the tool based on a result of the measurement, a third step (Step S8) for observing a time period while the displace amount is belonged in arrange of allowable displace amount previously determined, a fourth step (Step S9) for keeping an idling operation in case that the time for which the displace amount is belonged in the range of the allowable displacement amount is shorter than a time period previously determined and intermitting the idling operation in the case that the time for which the displace amount is belonged in the range of the allowable displacement amount become the time period previously determined and a fifth step (Step S10) for starting a process with respect to the workpiece in the case that the idling operation is finished are
    Type: Grant
    Filed: October 23, 2008
    Date of Patent: April 16, 2013
    Assignee: Mitsubishi Heavy Industries, Ltd.
    Inventors: Yoshikatsu Sato, Shigeru Honda
  • Patent number: 8423172
    Abstract: Methods, systems, and techniques for automatically determining jet orientation parameters to correct for potential deviations in three dimensional part cutting are provided. Example embodiments provide an Adaptive Vector Control System (AVCS), which automatically determines speeds and orientation parameters of a cutting jet to attempt to insure that a part will be cut within prescribed tolerances where possible. In one embodiment, the AVCS determines the tilt and swivel of a cutting head by mathematical predictive models that examine the cutting front for each of “m” hypothetical layers in a desired part, to better predict whether the part will be within tolerances, and to determine what corrective angles are needed to correct for deviations due to drag, radial deflection, and/or taper.
    Type: Grant
    Filed: May 21, 2010
    Date of Patent: April 16, 2013
    Assignee: Flow International Corporation
    Inventors: Glenn A. Erichsen, Jiannan Zhou, Dana Haukoos, Hyun Jung
  • Patent number: 8401692
    Abstract: A system and method for improving a tool tip path of a machine, such as a waterjet cutting machine, by testing and compensating for tool misalignment. The system and method using a sensor positioned to sense a portion of the machine, such as a cutting head assembly, during a sequence of movements thereof and configured to output information indicative of various positions and orientations of a tool of the machine so as to generate an improved tool tip path based on transformation parameters derived from such information.
    Type: Grant
    Filed: September 9, 2010
    Date of Patent: March 19, 2013
    Assignee: Flow International Corporation
    Inventors: Michael Knaupp, Andreas Meyer
  • Patent number: 8401698
    Abstract: A method for optimizing performance of a robot. At least one experiment is designed including at least two tests. Each test differs from at least one other test in the experiment regarding the location of the task in relation to the robot. The boundaries that are allowable for location of a task are calculated/determined. The effect on optimality for at least one test in the experiment is calculated/determined. The experimental data is fit to an algorithm. The optimal location of the task is calculated/determined.
    Type: Grant
    Filed: November 23, 2004
    Date of Patent: March 19, 2013
    Assignee: ABB Research Ltd
    Inventors: Behnam Kamrani, Viktor Berbyuk, Xiaolong Feng, Daniel Wäppling
  • Patent number: 8401691
    Abstract: The present invention provides dynamic metrology methods and systems for: periodically determining an actual position of one or more of a machine and a tool with respect to a workpiece using one or more laser interferometers; tracking a tracked position of the one or more of the machine and the tool with respect to the workpiece using one or more accelerometers; and altering a controlled position of the one or more of the machine and the tool with respect to the workpiece when either the actual position or the tracked position of the one or more of the machine and the tool with respect to the workpiece diverges from a desired position of one or more of the machine and the tool with respect to the workpiece.
    Type: Grant
    Filed: April 27, 2009
    Date of Patent: March 19, 2013
    Assignee: University of North Carolina at Charlotte
    Inventors: Kevin Scott Smith, Robert J. Hocken
  • Patent number: RE44696
    Abstract: A method for manufacturing a ring (i.e. class, championship, or affiliation) begins by receiving order data specifying a series of personalization elements, such as the addition of text and icon designs. A geometric model for each personalization item is constructed. To assemble text panels, the operating system provides font geometry for a desired TrueType font. Then a set of splines are created from the font geometry and are then tessellated to generate polyline sets of data, which are then spaced and mapped between two boundary curves. The personalization elements are then projected onto one of the model's 3D surfaces. A set of machining instructions for a milling machine is generated by obtaining a set of machining pattern strategies, generating a set of curves, projecting the toolpath onto the surface of the ring to calculate the 3D toolpath, and rotating it to a desired angle.
    Type: Grant
    Filed: September 20, 2011
    Date of Patent: January 7, 2014
    Assignee: Jostens, Inc.
    Inventors: Timothy D. Saarela, Carlos D. Carbonera, Michael J. Frisch, Yuriy Malinin
  • Patent number: RE45391
    Abstract: A drilling machine drills at a multiplicity of target locations on a component. Two robots, calibrated with calibration data, move the component in a 6-D coordinate system. A metrology system ascertains the position of the component relative to the drilling machine. The movement of the robots is effected by commands generated by off-line programming. The component is moved relative to the drilling machine to a target position, ready for drilling, by a closed-loop process in which the differences in position between the expected position (the target position) and the actual position (as viewed by the metrology system) are corrected.
    Type: Grant
    Filed: June 18, 2013
    Date of Patent: February 24, 2015
    Assignee: Airbus Operations Limited
    Inventors: Mark Derren Summers, Roger Holden, Brett Jason Green