公开(公告)号：US12036674B2

公开(公告)日：2024-07-16

申请号：US16564848

申请日：2019-09-09

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  Don Kijek ,  Bradley Q. Niederquell

IPC: B25J9/16 ,  G05B15/02 ,  G05B19/042 ,  G05B23/02 ,  G06Q10/06

CPC classification number: B25J9/163 ,  G05B15/02 ,  G05B19/0428 ,  G05B23/0237 ,  G06Q10/06 ,  G05B2219/23026 ,  G05B2219/23068 ,  G05B2219/32187

Abstract: A method for monitoring an industrial robot. The method includes configuring the robot to perform a certain task during an integration process and storing integration data in the robot identifying the configuration of the robot for performing the task. The method also includes installing the robot in a manufacturing facility, and uploading the stored integration data to the Cloud when the robot is installed in the manufacturing facility. The method further includes capturing production data generated by the robot during operation of the robot in the manufacturing facility, uploading the production data to the Cloud, and comparing the production data to the integration data.

公开(公告)号：US11472035B2

公开(公告)日：2022-10-18

申请号：US16453838

申请日：2019-06-26

Applicant: Fanuc America Corporation

Inventor： Ganesh Kalbavi ,  Derek Jung ,  Leo Keselman ,  Min-Ren Jean ,  Kenneth W. Krause ,  Jason Tsai

IPC: B25J9/16 ,  G06F3/01 ,  B25J19/02 ,  G02B27/01 ,  G06T1/00 ,  G06V20/20

Abstract: 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.

公开(公告)号：US10773383B2

公开(公告)日：2020-09-15

申请号：US15984467

申请日：2018-05-21

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  James F. Huber

IPC: B25J9/00 ,  B25J9/16 ,  G05B19/418

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

公开(公告)号：US20200078937A1

公开(公告)日：2020-03-12

申请号：US16564848

申请日：2019-09-09

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  Don Kijek ,  Bradley Q. Niederquell

IPC: B25J9/16 ,  G05B23/02 ,  G05B19/042 ,  G05B15/02 ,  G06Q10/06

Abstract: A method for monitoring an industrial robot. The method includes configuring the robot to perform a certain task during an integration process and storing integration data in the robot identifying the configuration of the robot for performing the task. The method also includes installing the robot in a manufacturing facility, and uploading the stored integration data to the Cloud when the robot is installed in the manufacturing facility. The method further includes capturing production data generated by the robot during operation of the robot in the manufacturing facility, uploading the production data to the Cloud, and comparing the production data to the integration data.

公开(公告)号：US11373372B2

公开(公告)日：2022-06-28

申请号：US16453749

申请日：2019-06-26

Applicant: FANUC AMERICA CORPORATION

Inventor： Leo Keselman ,  Yi Sun ,  Sai-Kai Cheng ,  Jason Tsai

IPC: G06T19/00 ,  G06N5/02 ,  G07C3/00 ,  G06K9/00 ,  G06K7/14 ,  B25J9/16 ,  G02B27/01 ,  G07C3/08 ,  G06V20/20

Abstract: An augmented reality (AR) system for diagnosis, troubleshooting and repair of industrial robots. The disclosed diagnosis guide system communicates with a controller of an industrial robot and collects data from the robot controller, including a trouble code identifying a problem with the robot. The system then identifies an appropriate diagnosis decision tree based on the collected data, and provides an interactive step-by-step troubleshooting guide to a user on an AR-capable mobile device, including augmented reality for depicting actions to be taken during testing and component replacement. The system includes data collector, tree generator and guide generator modules, and builds the decision tree and the diagnosis guide using a stored library of diagnosis trees, decisions and diagnosis steps, along with the associated AR data.

公开(公告)号：US20200078945A1

公开(公告)日：2020-03-12

申请号：US16566608

申请日：2019-09-10

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Sai-Kai Cheng ,  Jason Tsai

IPC: B25J9/16 ,  G06T19/00 ,  B25J9/00

Abstract: A method and system for programming a path-following robot to perform an operation along a continuous path while accounting for process equipment characteristics. The method eliminates the use of manual teaching cycles. In one example, a dispensing robot is programmed to apply a consistent bead of material, such as adhesive or sealant, along the continuous path. A CAD-generated definition of the path, along with a model of dispensing equipment characteristics, are provided to an optimization routine. The optimization routine iteratively calculates robot tool center point path and velocity, and material flow, until an optimum solution is found. The optimized robot motion and dispensing equipment commands are then provided to an augmented reality (AR) system which allows a user to visualize and adjust the operation while viewing an AR simulation of dispensing system actions and a simulated material bead. Other examples include robotic welding or cutting along a continuous path.

公开(公告)号：US20180333852A1

公开(公告)日：2018-11-22

申请号：US15984467

申请日：2018-05-21

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  James F. Huber

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B19/41815 ,  G05B19/4185 ,  G05B2219/31261 ,  Y10S901/09 ,  Y10S901/16

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

公开(公告)号：US20190392644A1

公开(公告)日：2019-12-26

申请号：US16453749

申请日：2019-06-26

Applicant: FANUC AMERICA CORPORATION

Inventor： Leo Keselman ,  Yi Sun ,  Sai-Kai Cheng ,  Jason Tsai

IPC: G06T19/00 ,  G06N5/02 ,  G07C3/00 ,  G07C3/08 ,  G06K7/14 ,  B25J9/16 ,  G02B27/01 ,  G06K9/00

Abstract: An augmented reality (AR) system for diagnosis, troubleshooting and repair of industrial robots. The disclosed diagnosis guide system communicates with a controller of an industrial robot and collects data from the robot controller, including a trouble code identifying a problem with the robot. The system then identifies an appropriate diagnosis decision tree based on the collected data, and provides an interactive step-by-step troubleshooting guide to a user on an AR-capable mobile device, including augmented reality for depicting actions to be taken during testing and component replacement. The system includes data collector, tree generator and guide generator modules, and builds the decision tree and the diagnosis guide using a stored library of diagnosis trees, decisions and diagnosis steps, along with the associated AR data.

公开(公告)号：US20170348853A1

公开(公告)日：2017-12-07

申请号：US15613984

申请日：2017-06-05

Applicant: FANUC AMERICA CORPORATION

Inventor： Tien L. Chang ,  Terry Tupper ,  Ho Cheung Wong ,  Sai-Kai Cheng ,  Jason Tsai

IPC: B25J9/16 ,  G05B19/042

CPC classification number: B25J9/163 ,  G05B19/042 ,  G05B19/401 ,  G05B2219/40099 ,  G05B2219/40581 ,  G05B2219/45138

Abstract: Methods and systems for touch-sensing to provide an updated user frame are provided. These include the provision of a user frame and the touch-sensing of a workpiece, where the touch-sensing includes performing a touch-sensing schedule. The touch-sensing schedule includes one of a laser touch-sensing event and a wire touch-sensing event, where one of the laser touch-sensing event and the wire touch-sensing event is switched to the other of the laser touch-sensing event and the wire touch-sensing event while performing the touch-sensing schedule. An offset of the workpiece relative to the user frame is determined based on the touch-sensing of the workpiece and the offset is applied to the user frame to provide the updated user frame. The unique dynamic user frame feature enables same touch sensing program to be cloned and applied on multiple robot controllers.

公开(公告)号：US20160149996A1

公开(公告)日：2016-05-26

申请号：US14951557

申请日：2015-11-25

Applicant: Fanuc America Corporation

Inventor： Isaac Eckert ,  Gordon Geheb ,  Bradley Q. Niederquell ,  Yi Sun ,  Jason Tsai ,  Rick E. Wunderlich

IPC: H04L29/08 ,  H04L12/26

CPC classification number: H04L43/06 ,  G05B23/0264 ,  H04L67/12 ,  H04L67/2842

Abstract: A robot data transfer method includes the step of collecting data from each of a plurality of robots in a multi-robot production facility in real-time. The data collected from the robots is then transferred in real-time from a controller of each of the robots to a first data collection device. Within the first data collection device, the data is buffered using a multi-segment queueing mechanism. The queueing mechanism is configured with a retention policy. The data is then transferred to a second data collection device based on the retention policy of the queueing mechanism of the first data collection device. The second data collection device analyzes the data and determines whether maintenance or optimization is necessary for any of the robots.

Abstract translation: 机器人数据传送方法包括实时地在多机器人生产设备中从多个机器人中的每一个收集数据的步骤。 然后将从机器人收集的数据实时地从每个机器人的控制器传送到第一数据收集装置。 在第一数据采集设备内，使用多段排队机制来缓冲数据。 排队机制配置了保留策略。 然后基于第一数据收集装置的排队机构的保留策略将数据传送到第二数据收集装置。 第二数据收集装置分析数据并确定维护或优化对于任何机器人都是必要的。