Source: http://www.google.com/patents/US6317953?dq=6,049,612
Timestamp: 2015-04-27 18:12:29
Document Index: 683721813

Matched Legal Cases: ['art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 300', 'art 300', 'art 301', 'art 300', 'art 702', 'art 712', 'art 712', 'art 712', 'art 712', 'art 702']

Patent US6317953 - Vision target based assembly - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsMethods for assembling, handling, and fabricating are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during...http://www.google.com/patents/US6317953?utm_source=gb-gplus-sharePatent US6317953 - Vision target based assemblyAdvanced Patent SearchPublication numberUS6317953 B1Publication typeGrantApplication numberUS 07/875,282Publication dateNov 20, 2001Filing dateApr 29, 1992Priority dateMay 11, 1981Fee statusPaidAlso published asUS6167607, US6301763, US6314631Publication number07875282, 875282, US 6317953 B1, US 6317953B1, US-B1-6317953, US6317953 B1, US6317953B1InventorsTimothy R. PryorOriginal AssigneeLmi-DiffractoExport CitationBiBTeX, EndNote, RefManPatent Citations (17), Non-Patent Citations (6), Referenced by (45), Classifications (55), Legal Events (5) External Links: USPTO, USPTO Assignment, EspacenetVision target based assembly
US 6317953 B1Abstract
Methods for assembling, handling, and fabricating are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assembling process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.
I claim: 1. An assembly arrangement wherein a work piece is to be connected to a structure, comprising:
means for determining a position in which said work piece should be connected relative to said structure using pre-recorded data which relates to the design of said structure; means for supporting and moving said work piece into its determined position relative to said structure; means for determining a correct position for each of a plurality of reference points defined on said work piece using said pre-recorded structure design data; means for determining the deviation between the actual position and the correct position for each of said reference points while said work piece is supported in situ, memory bank means containing said pre-recorded data; means for controlling said work support means, said control means utilizing said pre-recorded data to position said work piece such that deviations are within predetermined tolerances; and means for fixing said work piece to said structure when the deviations between the correct and actual positions of said reference points are within said predetermined tolerances. 2. An assembly arrangement as claimed in claim 1, wherein said means for determining an actual position includes an electro-optical device.
3. An assembly arrangement as claimed in claim 1, wherein said means for determining an actual position includes a TV camera.
4. An assembly arrangement as claimed in claim 1, wherein the actual position determined by said means for determining an actual position is made in at least two degrees of freedom.
5. An assembly arrangement as claimed in claim 1, wherein the actual position determined by said means for determining an actual position is made in three dimensions.
6. In a method of assembling a structure wherein a work piece is connected to a structure, the steps of:
determining a position in which said work piece should be disposed relative to said structure using pre-recorded data which relates to the design of said structure; using work support means to support and move said work piece into the determined position relative to said structure; determining a correct position for each of a plurality of reference points defined on said work pieces, using said pre-recorded data; determining an actual position for each of said plurality of reference points; determining the deviation between each of the actual positions and the correct positions of each of said reference points after said work piece has been moved into said determined position; using said pre-recorded data to position said work piece such that deviations are within predetermined tolerances; and fixing said work piece to said structure when the deviations between the correct and actual reference points are within said predetermined tolerances. 7. In a method of assembling as claimed in claim 6, wherein said determining of an actual position step is performed electro-optically.
8. In a method of assembling as claimed in claim 6, wherein said determining an actual position step is performed with a TV camera.
9. In a method of assembling as claimed in claim 6, wherein said determining an actual position step determines actual position in at least two degrees of freedom.
10. In a method of assembling as claimed in claim 6, wherein said determining an actual position step determines actual position in three dimensions.
11. An assembly system comprising: a work support robot for supporting a work piece, said work support robot including a gripper which can be changed to assume the configuration of a portion of said work piece, said portion being intended to be gripped by said gripper, said work piece support robot being arranged to move said work piece into a predetermined position relative to a body to which the work piece is to be connected;
a securing robot for securing the work piece to the body; measuring means for determining the disposition of said work piece on said body and for producing data from which the disposition can be determined; control means responsive to said work piece position data means for controlling the operation of said work piece supporting robot, said control means including: a memory in which design and assembly data is stored, processing means for using said design and assembly data for interpreting the data from said measuring means and for producing control signals to control said work piece support and securing robots and said measuring means, said control means being arranged to: move said work support robot to a position wherein the work piece is supported in said predetermined position, induce the measuring means to determine the position of a predetermined reference point on the work piece, compare the actual position of the reference point with that derived from the design data and determine if there is a deviation between the two positions, produce correction values which are used to adjust said work piece support robot in a manner which tends to eliminate any deviation, and induce the securing robot to secure the work piece to said body. 12. An assembly system as claimed in claim 11, wherein said measuring means includes an electro-optical device.
13. An assembly system as claimed in claim 11, wherein said measuring means includes a TV camera.
14. An assembly system as claimed in claim 11, wherein said measuring means determines disposition in at least two degrees of freedom.
15. An assembly system as claimed in claim 11, wherein said measuring means determines disposition in three dimensions.
16. A method of assembly comprising:
supporting a work piece on a support robot, said work piece support robot having a gripper which can be changed to assume the configuration of a portion of said work piece, said portion to be gripped by said gripper; moving said work piece into a predetermined position relative to a body to which the work piece is to be connected; using measuring means, determining the position of said work piece while the work piece is supported by said support robot and producing data by which said position can be determined; providing control means responsive to said work piece position data for controlling the operation of said work piece supporting robot, said control means including a memory in which said design and assembly data is stored, and processing means for using said design and assembly data for interpreting the data from said measuring means and for producing control signals to control said work piece support robot and said securing robot and said measuring means, said control means being arranged to: move said supporting robot to a position wherein the work piece is supported in said predetermined position; induce the measuring means to determine the position of a predetermined reference point on the work piece; compare the actual position of the reference point with that derived from the design data and to determine if there is a deviation between the two positions; produce correction values which are used to adjust said work piece support robot in a manner which tends to eliminate said deviation; and induce the securing robot to secure the work piece to said body. 17. A method of assembly as claimed in claim 16, wherein the measuring means used in said determining the position step is an electro-optical device.
18. A method of assembly as claimed in claim 16, wherein the measuring means used in said determining the position step is a TV camera.
19. A method of assembly as claimed in claim 16, wherein said determining the position step determines actual position in at least two degrees of freedom.
20. A method of assembly as claimed in claim 16, wherein said determining the position step determines actual position in three dimensions.
21. A method for flexibly assembling components to form an assembly of components at an assembly station, wherein (a) each of the components has at least one critical positioning feature, (b) the assembly station includes a plurality of spaced programmable locators, and (c) each of the programmable locators is controlled by a control device having a control program, said method comprising the steps of:
supporting at least one of the components by at least one of the plurality of spaced programmable locators; independently moving the programmable locator or locators under program control of the control device to adjust the support location of at least one of the plurality of components; joining the components to obtain an assembly of the components, and determining the location of at least one point on the components or the assembly of components. 22. A method for assembling components as claimed in claim 21, wherein said determining step is performed after said joining step.
23. A method for assembling components as claimed in claim 21, wherein said determination step is performed before said joining step.
24. A method for assembling components as claimed in claim 21, wherein said determination step is performed during said joining step.
25. A method for assembling components as claimed in claim 21, wherein said moving step moves the components to be substantially in contact with each other prior to said joining step.
26. A method for assembling components as claimed in claim 21, including the further step of correcting the position of at least one of the programmable locating robots using the determined location.
27. A method for assembling components as claimed in claim 21, wherein said moving step includes the step of using design data of at least one of said components in positioning one or more of said programmable locators.
28. A method for assembling components as claimed in claim 21, wherein said moving step includes the step of using design data of the assembly in positioning one or more of said programmable locators.
29. A method for assembling components as claimed in claim 21, further including the step of clamping at least one of said components.
30. An apparatus for flexibly assembling components to form an assembly of components at an assembly station, wherein each of the components has at least one critical positioning feature, said apparatus comprising:
a plurality of spaced programmable locators provided at the assembly station; a control device having a control program which controls each of the programmable locators; a supporting means for supporting at least one of the components by at least one of the plurality of spaced programmable locators; a moving means for independently moving the programmable locator or locators under program control of the control device to adjust the support location of at least one of the plurality of components; a joining means for joining the components to obtain an assembly of the components, and a determining means for determining the location of at least one point on the components or the assembly of components. 31. An apparatus for assembling components as claimed in claim 30, wherein said control device causes said determining means to be actuated after said joining step.
32. An apparatus for assembling components as claimed in claim 30, wherein said control device causes said determining means to be actuated before said joining step.
33. An apparatus for assembling components as claimed in claim 30, wherein said control device causes said determining means to be actuated during said joining step.
34. An apparatus for assembling components as claimed in claim 30, wherein said moving means moves the components to be substantially in contact with each other prior to actuation of said joining means.
35. An apparatus for assembling components as claimed in claim 30, further including a correcting means for correcting the position of at least one of the programmable locating robots using the determined location.
36. An apparatus for assembling components as claimed in claim 30, wherein said moving means includes a using means for using design data of at least one of said components in positioning one or more of said programmable locators.
37. An apparatus for assembling components as claimed in claim 30, wherein said moving means includes a using means for using design data of the assembly in positioning one or more of said programmable locators.
38. An apparatus for assembling components as claimed in claim 30, further including a clamping means for clamping at least one of said components.
This application is a continuation of application Ser. No. 07/478,078, filed Feb. 9, 1990, now U.S. Pat. No. 5,148,591, which was a continuation of application Ser. No. 07/110,541, filed Oct. 20, 1987, now abandoned, which was a continuation of application Ser. No. 06/865,637, filed May 14, 1986, now abandoned, which was a continuation of application Ser. No. 06/660,280, filed Oct. 12, 1984, now abandoned, which was a continuation-in-part of application Ser. No. 06/348,803, filed Feb. 16, 1982, now abandoned, and a continuation-in-part of application Ser. No. 06/453,910, filed Dec. 28, 1982, now abandoned, and a continuation-in-part of application Ser. No. 06/323,395, filed Nov. 20, 1981, now U.S. Pat. No. 4,482,960, and a continuation-in-part of application Ser. No. 06/651,325, filed Sep. 17, 1984, now U.S. Pat. No. 4,769,700, and a continuation-in-part of application Ser. No. 06/592,443, filed Mar. 22, 1984, now U.S. Pat. No. 4,602,163, which was a continuation-in-part of application Ser. No. 06/262,492, filed May 17, 1981, now U.S. Pat. No. 4,453,085.
1. Method and Apparatus for Automatically Handling, Assembly or Working on Objects, or �Targets�, U.S. Ser. No. 06/348,803, filed Feb. 16, 1982, now abandoned.
2. Robot Calibration, U.S. Ser. No. 06/453,910, filed Dec. 28, 1982, now abandoned.
3. Electro-Optical Systems for Control of Robots, Manipulator Arms and Coordinate Measuring Machines, or �Robots and Manipulator Arms�, U.S. Ser. No. 06/592,443, filed Mar. 22, 1984, now U.S. Pat. No. 4,602,163.
4. Robot Tractors U.S. Ser. No. 06/323,395, now U.S. Pat. No. 4,482,960.
5. Robot Tractors, Vehicles and Machinery, U.S. Ser. No. 06/651,325, filed Sep. 12, 1984, now U.S. Pat. No. 4,769,400.
FIG. 1 illustrates an assembly operation using a robot 10 with a control computer 11 to place a part 12 of a car on an assembly fixture 15 which has been targeted according to the invention. As is desirable, the CAD system 30 (which has created the design for both the part and/or the fixture) has recorded the target data points 40, 41, 42 and 43 that are to be used by a camera unit 35 to locate the part 12 and/or the features of the part 12 that have been designated as targets plus the target points of the assembly fixture. It is noted that in some cases assembly fixtures are not required as pointed out below. When this data is obtained, the CAD system 30 downloads to the robot control 11 the description of the target point locations and the robot then homes in on these points using the present invention.
In a typical example, a hood inner support is part 12. Part 12 is loaded in a programmable manner from the download data onto locators 17, 18, 19 and 20 on a fixture 15 where targets 36, 37, 38 and 39 have been placed. Targets 36, 37, 38 and 39 are either on or near the locators 17, 18, 19 and 20, or on points 50, 51, 52 and 53 around the framework of the fixture 15 which are related to the locators 17, 18, 19 and 20. The camera system 35 located on the robot (or alternatively off the robot as shown) locates these points and guides the robot 10 in. Differential closing data between part and locators can be provided to allow a smooth close and mate operation.
Part 300 is picked up by the robot gripper 304, preferably, but not necessarily, using target points 310, 311, and 312 on part 300 viewed by camera 321. When it is presented to part 301, the second robot can interact in any one of several ways. In the first case, the part 300 has target points that can be identified such as holes or other purposely placed targets that can be identified relative to it, In this case, the camera unit 320 on Robot B can home in on those points. Again, as before, all of this data can be downloaded from a central computer 350.
This coverup was shown relative to the radio knob in FIG. 4a but also would be the case here on the inside where one would cover it up later with wallboard.
This sheet of steel 702 is then formed into a new form such as a car door or, in a more simpler case, a deck lid. It is now desirable to use those target points 700 as viewed by camera means 710 which have now changed their form to determine any irregularities of the forming process as well as to establish the new data base for the part. Where this data base (namely shape and so forth) is a known desired one as it is in the case of a door, one would then like to compare the desired data with that resulting from the new pattern. Furthermore, this new data base can be utilized in the actual handling of the part between stations of a press line, for example, as long as it is known what to anticipate in terms of what it is. Indeed, it is noted that rather than putting down a roll coated impression every one inch at squares on the initially formed blank, one can actually roll coat down a series of dots of other target points which make a square pattern when optimally formed.
Now, take this case one step further, where a formed part 702 such as a deck lid has dot points 700 on it. This formed part is then to have a part 712 welded to its rear by spot weld robot 716, which part 712 is the inner stiffner of the deck lid. The dots 700 are viewed by a camera means 714 and not only used in the handling process of handler 718 to move this part 712 into place also using camera means 714, but also to position the welded inner part 712 relative to part 702. These dots are furthermore used to check after welding whether or not certain distortions have occurred beyond limits in the welding process and to establish the new data base for the part.
One can also use an absolute encoded target pattern, one which has no ambiguity as to where each target is. This could be with clusters of targets on different centers or patterns, different shaved targets, or the like.
In other copending applications such as those referenced above in the Background section, other systems for targeting the work area of robots and automation of guiding vehicles and other target functions are performed. The operation too of the various vehicles and robots can be simulated in the computer relative to these target points as well. Again, a key item is that with target points one is much more assured of accurate reliable operation and therefore the justification for such simulation and expense thereof is paid back by the surety of the function of the final simulated structure. And too, one is dealing with mathematical representations of target points and photogrammetric equations, nit relatively unknown functions of vision systems with gray level images of object features. Simulation of dynamic target tracking also become feasible as the problem is much more defined than with gray level scene analysis. This also leads to faster assembly and more justification.
For example, one might purposely slightly change the A-pillar locations relative to the cowl if another body portion mating to the A-pillar was related more to underbody position. This avoids stackup of errors. This really is a major advance in that it accounts for weld distortion�you can measure and correct while welding and after weld you know the final location.
We should consider the problem of assembly with and without tooling plates. In one case, where the robot holds the part to be assembled, the other robot assembles another part to it having a target Perhaps even the first robot's gripper is targeted, which in essence then is a programmable tooling plate. In fact, changeable grippers can be used, as can changeable tooling plates, all with targets to facilitate their changing.
Assuming that the problem of the wiring could be solved in an instrument panel line, one might replace this with a single fixed panel. As shown in FIG. 7 with respect to a fixed assembly cell 900 for an engine 902, engine 902 is provided into which would be placed all the different items by one, two robots or more robots 904 going out and grabbing them from different containers 916 located nearby. There are certain advantages to cell 900, namely that one does not have to deal with a moving line and that everything is fixed (which means the highest placement accuracy that could be expected.) In this condition, one would have to be able to pick out all the different parts. There might be 20 to 25 parts required for the panel, plus the multiplicity of different versions of the same thing, which might lead to a total of 100 different choices with the robot. This would require either very well positioned parts or a good vision system, and the targets would make it quite easy to do both fast and accurately.
Satisfactory target accuracy could be achieved with an A-pillar roughly 2 ft. long welded to a body cowl. This piece should be accurately positioned within +/− 10 thousandths. Whether it is, in practice, is debatable however. First, one would figure out just what the target error is to do this. In any case, with one robot holding the part per the camera unit (which would now be not on the robot at all but off to the side so that it can get the true reference of the A-pillar to the cowl), another robot comes in and welds it. This can be done with dynamic correction, if necessary, by the first robot for position due to distortion by the welding robot. This could be called �fabrication method with dynamic real time target location�.
Obviously there are numerous underbody and chassis components that could be targeted without any detrimental aesthetic effects�mufflers, tail pipes, brackets, clamps, tie rods, steering parts, etc. These are obviously labor prone things to assemble and one could envision robots working underneath the car while the other work is going on above in the assembly function. This is, of course, very tiring work for people and therefore would be well set up to robots. There is no reason why the whole operation could not be up above the floor. The car is brought in overhead with some robots on a second tier and other ones underneath.
If parts are targeted, then obviously, an RPS equipped robot can pick up a part in a very well known way. Assuming that the gripper is correct for this, it can then (within the accuracy of the robot itself, which also could be RPS controlled) present this part to another robot in a well positioned manner. Ostensibly, the accuracy of this position could be just as accurate as if it would be fixtured, assuming that the fixturing details and the RPS were equal in accuracy. The only problem would be the inherent inaccuracy of the robot.
One could also grab the part from its targets and then move it over to a drill fixture rather than a second robot. The fixed drill fixture or whatever it is could be different for different cars say�this would of course give it flexibility. The robot would take the part and move it to one of five stations depending on which type it was sensed to be, and then orient itself relative to that station which itself would be targeted.
Clearly some sort of very clever material handling would be required in order to get the parts to these individual drops. The simplest of all, of course, is an overhead monorail conveyor 914 bringing the parts in with the robot simply going over just as the human does in a transmission plant and grabbing off the one it wants in place for its job. This would be by far the cheapest, but would require numerous conveyor loops which might get in the way of each other since we are talking about multiple types of parts coming in at once. The loops might have to go in a circle around the whole operation with the robot moving radially outward from its job to find the part it wants, grabbing it off and bringing it back.
Note too that the CAD system could also design the target on the part�specifying special stamped in (cut in, molded in, etc.) targets etc. at certain points on the part surface. The CAD system too would not only know the location of the targets to other part features, but to all other targets on all other parts used to form the assembly.
Patent CitationsCited PatentFiling datePublication dateApplicantTitleUS4044377 *Apr 28, 1976Aug 23, 1977Gte Laboratories IncorporatedVideo target locatorUS4190890 *Nov 16, 1977Feb 26, 1980Grumman Aerospace CorporationProgrammable light director systemUS4219847 *Feb 22, 1979Aug 26, 1980Canadian Patents & Development LimitedMethod and apparatus of determining the center of area or centroid of a geometrical area of unspecified shape lying in a larger x-y scan fieldUS4314402 *Aug 9, 1979Feb 9, 1982Alfred LemmerDevice for assembling printed circuit boardsUS4380696 *Nov 12, 1980Apr 19, 1983Unimation, Inc.Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensingUS4396945 *Aug 19, 1981Aug 2, 1983Solid Photography Inc.Method of sensing the position and orientation of elements in spaceUS4402053 *Sep 25, 1980Aug 30, 1983Board Of Regents For Education For The State Of Rhode IslandEstimating workpiece pose using the feature points methodUS4412121 *Aug 28, 1981Oct 25, 1983S R I InternationalImplement positioning apparatus and processUS4613942 *Oct 22, 1984Sep 23, 1986Chen Richard MOrientation and control system for robotsUS4639878 *Jun 4, 1985Jan 27, 1987Gmf Robotics CorporationMethod and system for automatically determining the position and attitude of an objectUS4670298 *Dec 9, 1985Jun 2, 1987Northern Telecom LimitedFluorescent solder paste mixtureUS5239739 *Oct 9, 1992Aug 31, 1993Gmfanc Robotics CorporationMethod for the flexible assembly of assembliesUS5272805 *Sep 22, 1992Dec 28, 1993Fanuc Robotics North America, Inc.System for the flexible assembly of assembliesDE2430058A1 *Jun 22, 1974Jan 8, 1976Kyborg GesPositions-mess-system fuer roboter-gliederEP0114505A1 *Dec 21, 1983Aug 1, 1984Diffracto Ltd.Apparatus and method for robot calibrationJPS60219537A * Title not availableJPS62229252A * Title not available* Cited by examinerNon-Patent CitationsReference1Decade of Robots 1983, pp 30-33, Yoon Yong, Maurice Bonner, "Simulation: Preventing Some Nasty Snarl-ups", copy class 901, sublclass 6.*2Hollingum, "Robots That See, Feel and Sense", The Engineer, Nov. 1980, p. 45, 48.*3IBM Technical Disclosure Bulletin, vol. 27 No. 6, Nov. 1984, pp. 3653-3655, M.S. Chester, M.A. Lavin, R.H. Taylor, "Chip-Placement Alignment Technique", copy available in class 29 subclass 833.*4Merritt, "Industrial Robots: Getting Smarter All the Time", Instruments & Control Systems, Jul. 1982, pp. 32-38.*5 *Ruoff, "PACS-An Advanced Multitasking, Robot System", The Industrial Robot, Jun. 1980, pp. 87-98.6Ruoff, "PACS�An Advanced Multitasking, Robot System", The Industrial Robot, Jun. 1980, pp. 87-98.* Cited by examinerReferenced byCiting PatentFiling datePublication dateApplicantTitleUS6472676 *Oct 6, 2000Oct 29, 2002Bae Systems PlcMicropositioning systemUS6615112 *Jun 6, 2000Sep 2, 2003Kuka Schweissanlagen GmbhMethod and device for calibrating robot measuring stations, manipulators and associated optical measuring devicesUS6757586 *Sep 5, 2001Jun 29, 2004Abb Automation Inc.Multiple arm robot arrangementUS6763573 *Nov 19, 2001Jul 20, 2004Lms-Walt, Inc.Assembly system for monitoring proper fastening of an article of assembly at more than one locationUS6928332 *Mar 21, 2001Aug 9, 2005Alfing Montagetechnik GmbhProcess system and process tool for processing a workpieceUS6945460Dec 10, 2001Sep 20, 2005Leonard ReiffelImaged coded data source transducer productUS6971175 *May 5, 2003Dec 6, 2005Utica Enterprises, Inc.Assembly line and method for vehicle body manufacturingUS7000840Mar 18, 2004Feb 21, 2006Leonard ReiffelDual mode data imaging productUS7034803Sep 19, 2000Apr 25, 2006Leonard ReiffelCursor display privacy productUS7039500Jan 20, 2004May 2, 2006Abb Inc.Multiple arm robot arrangementUS7062831Feb 27, 2004Jun 20, 2006Lms-Walt, Inc.Method for monitoring proper fastening of an article of assembly at more than one locationUS7099070Dec 10, 2001Aug 29, 2006Leonard ReiffelMulti-imager multi-source multi-use coded data source data input productUS7137711Mar 21, 2000Nov 21, 2006Leonard ReiffelMulti-user retro reflector data inputUS7143494 *Feb 16, 2004Dec 5, 2006Utica Enterprises, Inc.Method and apparatus for assembling exterior automotive vehicle body components onto an automotive vehicle bodyUS7161581Aug 15, 2001Jan 9, 2007Leonard ReiffelAnnotating imaged data productUS7184075Dec 10, 2001Feb 27, 2007Leonard ReiffelImaged coded data source tracking productUS7201032 *Mar 4, 2005Apr 10, 2007Trumpf Maschinen Austria Gmbh & Co. KgTransillumination unitUS7377438Apr 10, 2007May 27, 2008Leonard ReiffelCombined imaging coded data source data acquisitionUS7383715 *Mar 28, 2007Jun 10, 2008Ras Reinhardt MaschinenbauBending apparatus and method for bending flat materialsUS7451768 *Sep 26, 2006Nov 18, 2008Shing-San KuSystem for placement of circuit panel having interconnected board unitsUS8157155Dec 5, 2008Apr 17, 2012Caterpillar Inc.Automated assembly and welding of structuresUS8295585Feb 1, 2005Oct 23, 2012Isra Vision Systems AgMethod for determining the position of an object in spaceUS8315455 *Nov 2, 2009Nov 20, 2012Seiko Epson CorporationRobot system, robot control device and method for controlling robotUS8322591Feb 27, 2012Dec 4, 2012Caterpillar Inc.Automated assembly and welding of structuresUS8393066 *Feb 19, 2010Mar 12, 2013Lawrence Livermore National Security, LlcMethod and system for assembling miniaturized devicesUS8413308Oct 24, 2008Apr 9, 2013Shing-San KuBoard placement method for printed circuit board panelUS8651046 *Jul 23, 2010Feb 18, 2014The Boeing CompanyRobotic sealant and end effectorUS8666141 *Oct 15, 2012Mar 4, 2014Seiko Epson CorporationRobot system, robot control device and method for controlling robotUS8954183Jun 1, 2011Feb 10, 2015Airbus Operations LimitedAircraft component manufacturing method and apparatusUS20100119146 *Nov 2, 2009May 13, 2010Seiko Epson CorporationRobot system, robot control device and method for controlling robotUS20100212133 *Feb 19, 2010Aug 26, 2010Lawrence Livermore National Security, LlcMethod and system for assembling miniaturized devicesUS20100269652 *Apr 20, 2010Oct 28, 2010Benteler Maschinenbau GmbhApparatus and method of perforating a componentUS20110066290 *Jun 23, 2008Mar 17, 2011Fmc Technologies SaControl device for fluid loading and/or unloading systemUS20110316268 *Aug 11, 2011Dec 29, 2011Aletto Mark VCollectable fingerprinted apparatus and methodsUS20130039541 *Oct 15, 2012Feb 14, 2013Seiko Epson CorporationRobot system, robot control device and method for controlling robotUS20140135990 *Jan 16, 2014May 15, 2014Intouch Technologies, Inc.Remote presence system including a cart that supports a robot face and an overhead cameraCN101733755BNov 6, 2009Oct 1, 2014精工爱普生株式会社机械手系统、机械手控制装置以及机械手控制方法CN102430883BNov 7, 2011Aug 13, 2014柳州高华机械有限公司焊接在线监控系统DE10300402A1 *Jan 9, 2003Jul 29, 2004Wente, Holger, Dr.-Ing.Lasermesseinrichtung und Laserkoordinatenmessger�tDE10300402B4 *Jan 9, 2003Sep 21, 2006Wente, Holger, Dr.-Ing.LasermesseinrichtungDE102007060653A1 *Dec 15, 2007Jun 18, 2009Abb AgPositionsermittlung eines ObjektesDE102008007382A1 *Feb 1, 2008Aug 13, 2009Kuka Innotec GmbhVerfahren und Vorrichtung zum Positionieren eines Werkzeugs an einem Werkst�ck einer Scheibe in ein KraftfahrzeugDE102013103087A1 *Mar 26, 2013Oct 2, 2014G. Taube Modellbau Cad Service GmbhElektronisch steuerbare Universal-MessaufnahmeEP1671757A2 *Dec 9, 2005Jun 21, 2006AFE MetalMethod for controlling robots, parts processing equipment and use of the equipmentWO2004026539A2 *Jul 24, 2003Apr 1, 2004Johannes KempMethod for measuring the position of robot-guided workpieces and measuring device for the same* Cited by examinerClassifications U.S. Classification29/407.04, 29/721, 700/114, 29/701, 29/407.01, 29/720International ClassificationG05D1/02, B25J19/02, B25J13/08, A01B69/04, G05B19/39, B23P19/00, G01B11/00, B25J9/16, G05B19/401, B62D1/28, B25J18/00Cooperative ClassificationB25J9/1684, G05B2219/36417, B25J9/1697, G05B2219/36439, G05B2219/39393, B25J18/002, B25J19/022, G05B2219/45064, G05B2219/34033, G01B11/002, G05B2219/39057, B62D1/28, G01B11/00, G05B2219/45083, G05B2219/37572, B25J19/023, B25J19/021, B25J13/088, B23P19/10, A01B69/008, B25J9/1692, G05B19/39, G05B19/401European ClassificationB23P19/10, A01B69/00F1, B25J9/16T2, B25J18/00B, B25J19/02B4, B25J9/16V1, G01B11/00, B62D1/28, G05B19/401, B25J13/08V, G05B19/39, G01B11/00D, B25J19/02B2, B25J9/16T5, B25J19/02BLegal EventsDateCodeEventDescriptionMay 8, 2013FPAYFee paymentYear of fee payment: 12Oct 26, 2010ASAssignmentFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SENSOR ADAPTIVE MACHINES INC.;REEL/FRAME:025192/0394Effective date: 19991004Owner name: LASER MEASUREMENT INTERNATIONAL INC., CANADAApr 22, 2009FPAYFee paymentYear of fee payment: 8Apr 28, 2005FPAYFee paymentYear of fee payment: 4Jun 8, 1992ASAssignmentOwner name: SENSOR ADAPTIVE MACHINES INCORPORATED, CANADAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:DIFFRACTO LTD.;REEL/FRAME:006148/0918Effective date: 19920516RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services