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1. 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。

2. 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。

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