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公开(公告)号：US11850755B2
公开(公告)日：2023-12-26
申请号：US16453811
申请日：2019-06-26
发明人： Derek Jung , Bruce Coldren , Sam Yung-Sen Lee , Leo Keselman , Kenneth W. Krause
CPC分类号： B25J9/1674 , B25J9/163 , B25J9/1661 , G02B27/0093 , G06T7/73 , G06T19/006
摘要： An augmented reality (AR) system for visualizing and modifying robot operational zones. The system includes an AR device such as a headset in communication with a robot controller. The AR device includes software for the AR display and modification of the operational zones. The AR device is registered with the robot coordinate frame via detection of a visual marker. The AR device displays operational zones overlaid on real world images of the robot and existing fixtures, where the display is updated as the user moves around the robot work cell. Control points on the virtual operational zones are displayed and allow the user to reshape the operational zones. The robot can be operated during the AR session, running the robot's programmed motion and evaluating the operational zones. Zone violations are highlighted in the AR display. When zone definition is complete, the finalized operational zones are uploaded to the robot controller.
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公开(公告)号：US11161135B2
公开(公告)日：2021-11-02
申请号：US16403292
申请日：2019-05-03
IPC分类号： B05B13/04 , B05B12/00 , B05B14/40 , B05B16/60 , B05B15/55 , B05B16/00 , B05B5/03 , B25J11/00 , B05B16/40 , B05B13/02 , B25J19/00 , B25J21/00
摘要： A next generation painting robot with advanced fluid delivery system, enhanced kinematics and a service airlock compartment. The painting robot includes a fluid delivery system which places color changing valves and pumping hardware on the back side of the robot's mounting pedestal, where it can be serviced without a technician having to enter the spray booth. The fluid delivery system also allows smaller and lighter robot arms, and is designed to minimize paint waste and wait time during color changes. The robot also features kinematics providing redundant inner arm rotation. The arm kinematics, along with the smaller arms, a paint supply line routed through the center of first and third arm joints, and optimized motor conductor routing, dramatically improve near reach flexibility. The improved near reach flexibility in turn allows a smaller spray booth than possible with previous robot architectures.
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公开(公告)号：US20210325847A1
公开(公告)日：2021-10-21
申请号：US17360520
申请日：2021-06-28
发明人： Ashok Prajapati , Kenneth W. Krause , Michael B. Longo , Rick E. Wunderlich , Judy Evans , Glenn Nowak
摘要： Methods and systems include ways to implement change analysis of an automated production line including at least one robot. Monitoring a plurality of operating parameters associated with the automated production line including the at least one robot is followed by recording at least one change to the plurality of operating parameters. A notification is then provided identifying the at least one change to the plurality of operating parameters. The notification can include mapping the at least one change onto a graphical representation of the automated production line, thereby identifying a portion of the automated production line affected by the at least one change. As a result, at least one of the operating parameters can be adjusted in response to the notification. An action can also be performed in response to the notification. In this manner, the change analysis can optimize operation of the automated production line.
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公开(公告)号：US20200078948A1
公开(公告)日：2020-03-12
申请号：US16566520
申请日：2019-09-10
发明人： Kenneth W. Krause , Derek Jung , Leo Keselman
摘要： A method and system for calibration of an augmented reality (AR) device's position and orientation based on a robot's positional configuration. A conventional visual calibration target is not required for AR device calibration. Instead, the robot itself, in any pose, is used as a three dimensional (3D) calibration target. The AR system is provided with a CAD model of the entire robot to use as a reference frame, and 3D models of the individual robot arms are combined into a single object model based on joint positions known from the robot controller. The 3D surface model of the entire robot in the current pose is then used for visual calibration of the AR system by analyzing images from the AR device camera in comparison to the surface model of the robot in the current pose. The technique is applicable to initial AR device calibration and to ongoing device tracking.
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公开(公告)号：US20190389069A1
公开(公告)日：2019-12-26
申请号：US16453838
申请日：2019-06-26
发明人： Ganesh Kalbavi , Derek Jung , Leo Keselman , Min-Ren Jean , Kenneth W. Krause , Jason Tsai
摘要： An augmented reality (AR) system for production-tuning of parameters for a visual tracking robotic picking system. The robotic picking system includes one or more robots configured to pick randomly-placed and randomly-oriented parts off a conveyor belt and place the parts in an available position, either on a second moving conveyor belt or on a stationary device such as a pallet. A visual tracking system identifies position and orientation of the parts on the feed conveyor. The AR system allows picking system tuning parameters including upstream, discard and downstream boundary locations to be visualized and controlled, real-time robot pick/place operations to be viewed with virtual boundaries, and system performance parameters such as part throughput rate and part allocation by robot to be viewed. The AR system also allows virtual parts to be used in simulations, either instead of or in addition to real parts.
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公开(公告)号：US20190337003A1
公开(公告)日：2019-11-07
申请号：US16403333
申请日：2019-05-03
发明人： Scott J. Clifford
摘要： A next generation painting robot with advanced fluid delivery system, enhanced kinematics and a service airlock compartment. The painting robot includes a fluid delivery system which places color changing valves and pumping hardware on the back side of the robot's mounting pedestal, where it can be serviced without a technician having to enter the spray booth. Additionally, the robot enables routine cleaning and maintenance to be performed without personnel entering the spray booth and without stopping the vehicle conveyor, due to simplified outer arm design, improved home positioning and an airlock booth adjacent to the robot pedestal. Service personnel can clean and service the applicator and other components on the outer arm from the airlock booth, while other robots continue painting parts moving on the conveyor, without allowing fume-laden vapors into the operator aisle.
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公开(公告)号：US20190227532A1
公开(公告)日：2019-07-25
申请号：US16336046
申请日：2017-09-26
发明人： Leo Keselman , Matthew DeNio , Eric Lee , Ho Cheung Wong , Peter Swanson , Sai-Kai Cheng
IPC分类号： G05B19/418 , B25J9/00 , B25J9/16 , B25J11/00
摘要： Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.
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公开(公告)号：US10081109B2
公开(公告)日：2018-09-25
申请号：US14018914
申请日：2013-09-05
发明人： Gary Kowalski , Matthew F. Denio , H. Dean McGee
IPC分类号： B25J13/06 , B25J9/16 , G05B19/409
CPC分类号： B25J13/06 , B25J9/161 , G05B19/409 , G05B2219/36162 , G05B2219/40132
摘要： An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.
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公开(公告)号：US10052759B2
公开(公告)日：2018-08-21
申请号：US14228318
申请日：2014-03-28
CPC分类号： B25J9/1602 , B23K26/0884 , B23K26/70 , B23K2101/006 , B25J9/1679 , G05B13/021 , G05B2219/36495 , G05B2219/45104 , Y10S901/42
摘要： A method for adaptive control of a robotic operation of a robot includes providing a software program to generate process signals executable during the robotic operation, including one or more execution commands. A first Signal Value channel is provided to control at least one control process parameter of the robot, where the first Signal Value channel is subject to a first time latency. The execution timing of the first Signal Value channel is synchronized with the one or more execution commands by accounting for the first time latency in relation to the one or more execution commands. The software program is run to generate the process signals and the robot is operated in response to the synchronized execution timing of the execution commands.
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公开(公告)号：US20180029155A1
公开(公告)日：2018-02-01
申请号：US15223122
申请日：2016-07-29
发明人： Frank Garza
CPC分类号： B23K11/255 , B23K11/11 , B23K11/115 , B23K31/125 , G01L5/0066 , G01L5/0076 , G01L25/003
摘要： A method and an apparatus detects pressure changes at servo gun tips of a robotic welding system having a servo gun with a movable tip and an opposed fixed tip configured to weld a part. The method and apparatus observe a tip deflection value and convert the value to a current pressure value using a pressure estimator. The current pressure value is compared to a benchmark pressure value to detect any difference.
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