Dynamic laser touch-sensing with multiple robot dynamic user frame

• US 10,639,791 B2
• Filed: 06/05/2017
• Issued: 05/05/2020
• Est. Priority Date: 06/03/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Chang, Tien L., Tupper, Terry, Wong, Ho Cheung, Cheng, Sai-Kai, Tsai, Jason
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US15/613,984
• Publication Number:
  US 20170348853A1
• Time in Patent Office: 1,065 Days
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05B 19/042 using digital processors G05B19/05 takes precedence
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/40099 Graphical user interface for robotics, visual robot user interface
• CPC Class Codes: G05B 2219/40581 Touch sensing, arc sensing
• CPC Class Codes: G05B 2219/45138 Laser welding

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.

Claims

1. A method for touch-sensing to provide an updated user frame, the method comprising:

providing a user frame;

touch-sensing a workpiece, the touch-sensing including a laser touch-sensing event, where touch-sensing the workpiece includes using a robot having a robot arm, the robot arm including a laser touch sensor and a wire touch sensor;

determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece; and

applying the offset to the user frame to provide the updated user frame.

2. The method of claim 1, wherein touch-sensing the workpiece includes simultaneously performing the laser touch-sensing event and a wire touch-sensing event using the robot.

3. The method of claim 1, wherein touch-sensing the workpiece includes a plurality of touch-sensing events.

4. The method of claim 3, wherein the plurality of touch-sensing events includes a plurality of laser touch-sensing events.

5. The method of claim 3, wherein the plurality of touch-sensing events is performed by a single robot.

6. The method of claim 5, wherein the single robot has a robot arm, the robot arm including a laser touch sensor and a wire touch sensor.

7. The method of claim 3, wherein the plurality of touch-sensing events is performed by a plurality of robots.

8. The method of claim 7, wherein at least one robot has a robot arm, the robot arm including a laser touch sensor and a wire touch sensor.

9. The method of claim 3, wherein the plurality of touch-sensing events includes switching from one of the laser touch-sensing event and a wire touch-sensing event to the other of the laser touch-sensing event and the wire touch-sensing event.

10. The method of claim 9, wherein the plurality of touch-sensing events includes a plurality of laser touch-sensing events and a plurality of wire touch-sensing events.

11. The method of claim 9, wherein the plurality of touch-sensing events is performed by a single robot.

12. The method of claim 11, wherein the single robot has a robot arm, the robot arm including a laser touch sensor and a wire touch sensor.

13. The method of claim 9, wherein the plurality of touch-sensing events is performed by a plurality of robots.

14. The method of claim 13, wherein at least one robot has a robot arm, the robot arm including a laser touch sensor and a wire touch sensor.

15. The method of claim 3, wherein the plurality of touch-sensing events comprises a touch-sensing schedule.

16. The method of claim 15, wherein the touch-sensing schedule includes a wire touch-sensing event.

17. The method of claim 16, wherein the wire touch-sensing event is switched with the laser touch-sensing event.

18. The method of claim 3, further comprising a member selected from the group consisting of:

switching a plurality of laser touch-sensing events to a plurality of wire touch-sensing events;

switching a plurality of wire touch-sensing events to a plurality of laser touch-sensing events; and

a combination thereof.

19. The method of claim 1, wherein touch-sensing the workpiece includes using a leader robot and the method further comprises providing the updated user frame to a follower robot.

20. The method of claim 19, wherein the leader robot has a robot arm, the robot arm including a laser touch sensor and a wire touch sensor.

21. The method of claim 1, wherein the updated user frame is relative to the leader frame that is provided to at least one robot controller, the at least one robot controller applying the updated user frame.

22. A method for touch-sensing to provide an updated user frame, the method comprising:

providing a user frame;

touch-sensing a workpiece using a robot having a robot arm, the robot arm including a laser touch sensor and a wire touch sensor, the touch-sensing including performing a touch-sensing schedule, the touch-sensing schedule including one of a laser touch-sensing event and a wire touch-sensing event;

switching the one of the laser touch-sensing event and the wire touch-sensing event to the other of the laser touch-sensing event and the wire touch-sensing event while performing the touch-sensing schedule;

determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece; and

applying the offset to the user frame to provide the updated user frame.

23. The method of claim 22, wherein the updated user frame is relative to the leader frame that is provided to at least one robot controller, the at least one robot controller applying the updated user frame.

24. A method for touch-sensing to provide an updated user frame, the method comprising:

providing a user frame;

touch-sensing a workpiece, the touch-sensing including a laser touch-sensing event, where touch-sensing the workpiece includes using a leader robot and the method further comprises providing the updated user frame to a follower robot;

determining an offset of the workpiece relative to the user frame based on the touch-sensing of the workpiece; and

applying the offset to the user frame to provide the updated user frame.