公开(公告)号：US20230142821A1

公开(公告)日：2023-05-11

申请号：US17587946

申请日：2022-01-28

申请人： James Walter Beard, III ,  Stephen Lee Canfield ,  Stephen Giovanni Zuccaro ,  Nicholas Canfield

发明人： James Walter Beard, III ,  Stephen Lee Canfield ,  Stephen Giovanni Zuccaro ,  Nicholas Canfield

IPC分类号： B25J9/00 ,  B25J13/08

CPC分类号： B25J9/0081 ,  B25J13/08

摘要： This patent defines a method for making robot programming more intuitive for tasks such as welding. The method further is an enhancement of manual guiding methods of robot positioning and can improve situations in which finer resolution or control of the robot end-effector is required. A motion sensor is mounted in series with the n−1 joint and in parallel with the nth joint, where n is the number of degrees of freedom or number of joints of the serial manipulator. The motion sensor is further mounted directly in-line with the nth joint and becomes part the opposing portion of the nth joint. The motion sensor further is uniquely adapted to apply to non-spherical wrist robots. The motion sensor senses input movements by a robot operator and controls the output tool motion in a controlled manner with resolution defined by user input at the motion sensor.

公开(公告)号：US20210260750A1

公开(公告)日：2021-08-26

申请号：US17180734

申请日：2021-02-20

申请人： James Walter Beard, III ,  Stephen Lee Canfield ,  Stephen Giovanni Zuccaro

发明人： James Walter Beard, III ,  Stephen Lee Canfield ,  Stephen Giovanni Zuccaro

IPC分类号： B25J9/00 ,  B25J9/16 ,  B25J13/02 ,  B25J13/08

摘要： Abstract of the Disclosure The Invention describes a method to train and edit robot programs without the need to directly interact with the robot program or code. A new program is created by guiding the robot to desired locations in the program and then teaching those program positions with a button or similar input. An existing program is edited by moving the robot end-effector to a position in its workspace that is near the desired location of the program to be edited. An algorithm then is used to find the nearest program point in the existing program to the current robot end effector position. The algorithm then drives the robot to this nearest location. The operator can then visually confirm that this is the correct point in the program to edit, or move the robot again and repeat the algorithm search. Once the operator is satisfied that the robot is at the location of the program to edit, the operator can delete that point by pressing an appropriately labeled button. The operator could also add positions by first finding an edit point in the program using the manual move near the edit point and then running the search algorithm. The operator will then move the robot to the new position and press a button or input to add this new program position to the program. This process can be repeated as needed to edit the program. In this manner, the weld technician is not required to interact with code that defines the robot program but rather work with the end effector to spatially position the end-effector and edit the program.