公开(公告)号：US12157230B2

公开(公告)日：2024-12-03

申请号：US17493087

申请日：2021-10-04

Applicant: Fanuc America Corporation

Inventor： Ho Cheung Wong ,  Brad Borek

IPC: B25J9/16 ,  G06N3/006 ,  G06N3/008 ,  G06N5/01

Abstract: A technique for automatically finding a collision-free return-to-home path for a robot. The technique includes running a simulated virtual 3D environment which emulates the physical robot and workcell in real time, including the positions and poses of all robots, workpieces and obstacles in the workcell. Upon request by an operator, a return-to-home path search is executed based on the virtual 3D environment, where the path search calculates a solution which moves the robot from a current position to its home or recovery position while avoiding collisions with other robots, workpieces or objects in the workcell. In addition to collision avoidance, the path search considers other constraints such as prohibited zones in the workspace and robot joint positions. When the recovery path is computed, the solution program is sent back to the physical environment for execution by the physical robot.

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：US11112776B2

公开(公告)日：2021-09-07

申请号：US16336046

申请日：2017-09-26

Applicant: Fanuc America Corporation

Inventor： Leo Keselman ,  Matthew DeNio ,  Eric Lee ,  Ho Cheung Wong ,  Peter Swanson ,  Sai-Kai Cheng

IPC: G05B19/418 ,  B25J9/16 ,  B21D43/10 ,  B25J9/00 ,  B25J11/00 ,  B30B15/14 ,  B30B15/16

Abstract: 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.

公开(公告)号：US20190227532A1

公开(公告)日：2019-07-25

申请号：US16336046

申请日：2017-09-26

Applicant: Fanuc America Corporation

Inventor： Leo Keselman ,  Matthew DeNio ,  Eric Lee ,  Ho Cheung Wong ,  Peter Swanson ,  Sai-Kai Cheng

IPC: G05B19/418 ,  B25J9/00 ,  B25J9/16 ,  B25J11/00

Abstract: 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.