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1. 发明授权

US10556290B2 System for coordinated stationary tracking with root path memory clocking for cylindrical welding 有权
公开(公告)号：US10556290B2
公开(公告)日：2020-02-11
申请号：US14946879
申请日：2015-11-20
申请人： Fanuc America Corporation
发明人： Jianming Tao , Bradley Niederquell , Peter Levick
IPC分类号： B23K9/00 , B23K9/127
摘要： A method for performing coordinated stationary tracking during a welding operation performed on a cylindrical part includes mounting a cylindrical part on a rotating arm having a central rotational axis and directing a welding torch to a weld position wherein the welding torch is directed toward an initial weld joint position. The rotating arm is rotated about the central rotational axis thereof to provide relative movement between the cylindrical part and the welding torch when the welding torch is positioned at the weld position. During the rotating of the rotating arm the welding torch remains substantially stationary while a tracking sensor of the welding robot periodically determines geometric information of the cylindrical part based on a rotational position of the rotating arm. The geometric information regarding the cylindrical part is then used to determine vertical and lateral offsets to be applied to the welding torch relative to the weld position.

2. 发明授权

US09144904B2 Method and system for automatically preventing deadlock in multi-robot systems 有权
标题翻译：自动防止多机器人系统中的死锁的方法和系统
公开(公告)号：US09144904B2
公开(公告)日：2015-09-29
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

3. 发明授权

US08989904B2 Robotic process logger 有权
标题翻译：机器人进程记录器
公开(公告)号：US08989904B2
公开(公告)日：2015-03-24
申请号：US13405954
申请日：2012-02-27
申请人： Scott Dreslinski , Bradley O. Niederquell
发明人： Scott Dreslinski , Bradley O. Niederquell
IPC分类号： G05B19/04 , B25J9/16 , G05B19/418
CPC分类号： B25J9/1674 , G05B2219/35291 , G05B2219/40213
摘要： A method for controlling a robot includes the step of controlling operation of the robot with a robot controller executing a control program having a plurality of process instructions. Associated process data for each of predetermined ones of the process instructions executed by the robot controller is then collected. The collected process data is subsequently stored in a form uniquely identified by at least one unique identifier. The at least one unique identifier may include both the program identifier and the process instruction identifier. The collected process data may be stored on the robot controller.
摘要翻译：一种用于控制机器人的方法包括：利用执行具有多个处理指令的控制程序的机器人控制器来控制机器人的操作的步骤。然后收集由机器人控制器执行的每个预定的处理指令的相关过程数据。收集的过程数据随后以至少一个唯一标识符唯一标识的形式存储。至少一个唯一标识符可以包括程序标识符和处理指令标识符。收集的过程数据可以存储在机器人控制器上。

4. 发明申请

US20130116828A1 ROBOT TEACH DEVICE WITH 3-D DISPLAY 有权
标题翻译：具有3-D显示器的机器人教学装置
公开(公告)号：US20130116828A1
公开(公告)日：2013-05-09
申请号：US13667348
申请日：2012-11-02
申请人： FANUC ROBOTICS AMERICA CORPORATION
发明人： Kenneth W. Krause , Bradley O. Niederquell , Gordon Geheb , Ganesh Kalbavi , Claude Dinsmoor , Scott M. Dreslinski , Chuck Strybis , H. Dean McGee , Glenn Nowak , Judy Evans , Rick E. Wunderlich , Charles R. Strybis
IPC分类号： B25J9/16
CPC分类号： B25J9/1605 , G05B19/409 , G05B2219/35318 , G05B2219/39449
摘要： A method and an apparatus for displaying three-dimensional workcell data includes a hand-held pendant that is provided with 3-D workcell data representing a model of a machine and associated components in a workcell. The hand-held pendant has a display that generates a 3-D visual representation of the workcell data. The pendant can be operated by a user to manipulate the visual representation to change a user viewpoint and to show motion of the machine with associated process information.
摘要翻译：用于显示三维工作单元数据的方法和装置包括：手提式吊坠，其具有表示机器模型和工作单元中相关组件的3-D工作单元数据。手持吊坠具有生成工作单元数据的3-D视觉表示的显示。吊坠可以由用户操作以操纵视觉表示以改变用户观点并且显示具有相关联的处理信息的机器的运动。

5. 发明授权

US09144860B2 Robotic weld gun orientation normalization 有权
标题翻译：机器人焊枪方向归一化
公开(公告)号：US09144860B2
公开(公告)日：2015-09-29
申请号：US13433850
申请日：2012-03-29
申请人： Frank Garza , Brad Niederquell
发明人： Frank Garza , Brad Niederquell
IPC分类号： B23K11/31 , B23K11/11 , B23K11/25
CPC分类号： B23K11/115 , B23K11/25 , B23K11/315
摘要： A method for controlling a welding robot having a servo gun with a movable tip and a fixed tip includes the steps of separately contacting a surface of a part with the movable tip to measure a base test point and an at least two additional test points displaced from the base test point. Two non-collinear vectors are calculated from the at least two additional test points. A normal vector is calculated from the two non-collinear vectors. An angle between the original servo gun orientation and the normal vector is determined. An orientation of the servo gun may be corrected, for example, if the angle is within user specified tolerances.
摘要翻译：一种用于控制具有可移动末端和固定末端的伺服枪的焊接机器人的方法包括以下步骤：将部件的表面与可动尖端分开接触，以测量基准测试点和至少两个从基准测试点。从至少两个附加测试点计算两个非共线向量。从两个非共线向量计算法向量。确定原始伺服枪方向与法向量之间的角度。例如，如果角度在用户指定的公差之内，则可以校正伺服枪的取向。

6. 发明授权

US09063535B2 Numerical control program execution by robot 有权
标题翻译：机器人执行数控程序
公开(公告)号：US09063535B2
公开(公告)日：2015-06-23
申请号：US13723408
申请日：2012-12-21
申请人： Fanuc Robotics America Corporation
发明人： Akihiro Yanagita , Eric Lee , H. Dean McGee , Jason Tsai
IPC分类号： G06F19/00 , G05B19/408
CPC分类号： G05B19/4083 , G05B19/408 , G05B2219/35252 , G05B2219/36232
摘要： A system and a method for converting a machine tool program in NC programming language to permit a robot controller to execute the program. A robot controller converts the NC program into robot language according to a conversion configuration table, and uses the converted language as pseudo program data internally stored in a data memory within the robot controller. Each M-code (Miscellaneous code) in the NC program is executed as a sub-program call using the robot language. The content of the sub-programs can be freely defined and programmed by the user and, therefore, can be customized for the specific application.
摘要翻译：一种用于以NC编程语言转换机床程序以允许机器人控制器执行程序的系统和方法。机器人控制器根据转换配置表将NC程序转换为机器人语言，并将转换后的语言作为内部存储在机器人控制器内的数据存储器中的伪程序数据。 NC程序中的每个M代码（杂项代码）使用机器人语言作为子程序调用执行。子程序的内容可以由用户自由定义和编程，因此可以针对具体应用进行定制。

7. 发明申请

US20140156068A1 MULTI-ARM ROBOTIC PAINTING PROCESS SYNCHRONIZATION 有权
标题翻译：多臂机器人绘画过程同步
公开(公告)号：US20140156068A1
公开(公告)日：2014-06-05
申请号：US13689890
申请日：2012-11-30
申请人： FANUC ROBOTICS AMERICA CORPORATION
发明人： Randy A. Graca , Di Xiao , Sai-Kai Cheng
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1682 , G05B19/4182 , G05B2219/39135 , G05B2219/45065 , Y02P90/083 , Y10S901/08 , Y10S901/43
摘要： Painting robots processing a part moving on a conveyor are synchronized by creating for each of the robots a master sequence of computer program instructions for a collision-free movement of robots along associated master sequence paths relative to the moving part, each of the master sequence paths including positions of the associated robot and the conveyor at pre-defined synchronization points, and running each of the master sequences on a controller connected to the associated robot to move the associated robot and comparing a current path of the associated robot and the conveyor against the master sequence path. The method further includes operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path, and operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the robots and the conveyor.
摘要翻译：通过为每个机器人创建用于机器人相对于移动部件的相关主序列路径的无碰撞运动的计算机程序指令的主序列，来对运送在传送带上的部件进行加工的绘图机器人是同步的，每个主序列路径包括相关联的机器人和输送机在预定义的同步点处的位置，以及在连接到相关联的机器人的控制器上运行每个主序列以移动相关联的机器人并且将相关联的机器人和输送机的当前路径相对于主序列路径。该方法还包括操作控制器以基于主序列路径和当前路径之间的比较来调整当前路径，并且操作控制器以根据需要请求输送机运动保持以促进机器人和输送机的移动之间的同步。

8. 发明授权

US10475240B2 System, method, and apparatus to display three-dimensional robotic workcell data 有权
公开(公告)号：US10475240B2
公开(公告)日：2019-11-12
申请号：US13285455
申请日：2011-10-31
申请人： Judy A. Evans , Kenneth W. Krause
发明人： Judy A. Evans , Kenneth W. Krause
IPC分类号： G06T19/00 , G05B19/418 , B25J9/16
摘要： A system and a method for displaying a three-dimensional robotic workcell data includes generating the robotic workcell data, a display device including a web browser for receiving the robotic workcell data in a standard format and displaying a three-dimensional rendering of the robotic workcell data, and manipulating the three-dimensional rendering on the display device.

9. 发明授权

US09227322B2 Multi-arm robotic painting process synchronization 有权
标题翻译：多臂机器人涂装工艺同步
公开(公告)号：US09227322B2
公开(公告)日：2016-01-05
申请号：US13689890
申请日：2012-11-30
申请人： Fanuc Robotics America Corporation
发明人： Randy A. Graca , Di Xiao , Sai-Kai Cheng
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1666 , B25J9/1682 , G05B19/4182 , G05B2219/39135 , G05B2219/45065 , Y02P90/083 , Y10S901/08 , Y10S901/43
摘要： Painting robots processing a part moving on a conveyor are synchronized by creating for each of the robots a master sequence of computer program instructions for a collision-free movement of robots along associated master sequence paths relative to the moving part, each of the master sequence paths including positions of the associated robot and the conveyor at pre-defined synchronization points, and running each of the master sequences on a controller connected to the associated robot to move the associated robot and comparing a current path of the associated robot and the conveyor against the master sequence path. The method further includes operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path, and operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the robots and the conveyor.
摘要翻译：通过为每个机器人创建用于机器人相对于移动部件的相关主序列路径的无碰撞运动的计算机程序指令的主序列，来对运送在传送带上的部件进行加工的绘图机器人是同步的，每个主序列路径包括相关联的机器人和输送机在预定义的同步点处的位置，以及在连接到相关联的机器人的控制器上运行每个主序列以移动相关联的机器人并且将相关联的机器人和输送机的当前路径相对于主序列路径。该方法还包括操作控制器以基于主序列路径和当前路径之间的比较来调整当前路径，并且操作控制器以根据需要请求输送机运动保持以促进机器人和输送机的移动之间的同步。

10. 发明申请

US20130166068A1 NUMERICAL CONTROL PROGRAM EXECUTION BY ROBOT 有权
标题翻译：机器人的数控程序执行
公开(公告)号：US20130166068A1
公开(公告)日：2013-06-27
申请号：US13723408
申请日：2012-12-21
申请人： Fanuc Robotics America Corporation
发明人： Akihiro Yanagita , Eric Lee , H. Dean McGee , Jason Tsai
IPC分类号： G05B19/408
CPC分类号： G05B19/4083 , G05B19/408 , G05B2219/35252 , G05B2219/36232
摘要： A system and a method for converting a machine tool program in NC programming language to permit a robot controller to execute the program. A robot controller converts the NC program into robot language according to a conversion configuration table, and uses the converted language as pseudo program data internally stored in a data memory within the robot controller. Each M-code (Miscellaneous code) in the NC program is executed as a sub-program call using the robot language. The content of the sub-programs can be freely defined and programmed by the user and, therefore, can be customized for the specific application.
摘要翻译：一种用于以NC编程语言转换机床程序以允许机器人控制器执行程序的系统和方法。机器人控制器根据转换配置表将NC程序转换为机器人语言，并将转换后的语言作为内部存储在机器人控制器内的数据存储器中的伪程序数据。 NC程序中的每个M代码（杂项代码）使用机器人语言作为子程序调用执行。子程序的内容可以由用户自由定义和编程，因此可以针对具体应用进行定制。

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