Human-centric robot with noncontact measurement device

Patent metadata

Field	Value
Publication number	US-10108829-B2
Application number	US-201715594764-A
Country	US
Kind code	B2
Filing date	May 15, 2017
Priority date	Nov 10, 2014
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A system measuring an object with a robot is provided. The robot including a movable end effector, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector. At least one tool is provided that is removably coupled to the end effector. A three-dimensional (3D) scanner is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner being removably coupled to the end effector. A controller is configured to selectively couple one of the at least one tool or the 3D scanner to the end effector in response to an object signal.

First claim

The invention claimed is:

1. A system comprising:
a robot having a movable end effector, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine a position and orientation of the end effector, the robot further including at least one sensor configured to transmit a position signal for determining a position of a human operator, the robot configured to operate directly adjacent to a human operator based at least in part on the position signal;
at least one tool removably coupled to the end effector;
a three-dimensional (3D) scanner configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner being removably coupled to the end effector; and
a controller having a processor, the processor configured to execute computer executable instructions when executed on the processor for selectively coupling one of the at least one tool or the 3D scanner to the end effector in response to an object signal.

2. The system of claim 1 , wherein the robot further includes a machine readable optical scanner that generates in operation a scanner signal in response to scanning a bar code.

3. The system of claim 1 , wherein the robot further includes a radio frequency identification (RFID) reader circuit that generates in operation the object signal in response to an RFID tag being within range of the reader circuit.

4. The system of claim 1 , wherein the robot further includes a near field communications (NFC) reader circuit that generates in operation the object signal in response to an NFC tag being within range of the reader circuit.

5. The system of claim 1 , wherein the at least one tool includes a plurality of tools.

6. The system of claim 5 , further comprising a tool holder operably coupled to the robot, the tool holder having a plurality of modules for storing the plurality of tools and the 3D scanner, the tool holder is configured in operation to remove and store the plurality of tools and the 3D scanner during operation.

7. The system of claim 6 , further comprising a calibration member adjacent the robot, wherein the processor is configured to calibrate the 3D scanner with the calibration member in response to the 3D scanner being coupled to the end effector.

8. A method of operating a manufacturing cell, the method comprising:
providing a configured to operate directly adjacent a human operator, the robot having a movable end effector and a plurality of transducers arranged to transmit a position signal to an electric circuit, the robot further including at least one sensor configured to transmit a position signal for determining a position of a human operator, the robot configured to operate directly adjacent to a human operator based at least in part on the position signal;
providing at least one tool;
providing a three-dimensional (3D) scanner;
receiving an object signal;
coupling the at least one tool or 3D scanner to the end effector in response to receiving the object signal;
performing a first operation on an object being assembled with at least one of the end effector or the at least one tool; and
determining three-dimensional coordinates of at least one feature of the object with the 3D scanner coupled to the end effector.

9. The method of claim 8 , further comprising:
providing the robot with a radio frequency identification (RFID) reader circuit; and
generating a command signal with the reader circuit in response to the reader circuit being within range of an RFID tag.

10. The method of claim 8 , further comprising:
providing the robot with a near field communications (NFC) reader circuit; and
generating the object signal with the reader circuit in response to the reader circuit being within range of an NFC tag.

11. The method of claim 8 wherein the at least one tool includes at least a first tool and a second tool.

12. The method of claim 11 , further comprising:
selectively coupling one of the first tool and the second tool to the end effector in response to a command signal; and
performing a second operation on the object with the robot in response to the first tool or the second tool being coupled to the end effector.

13. The method of claim 8 , further comprising:
providing a tool holder operably coupled to the robot, the tool holder having a plurality of modules for storing the at least one tool and the 3D scanner;
removing the 3D scanner from the tool holder;
moving the 3D scanner adjacent the object prior to determining the three-dimensional coordinates; and
storing the 3D scanner in the tool holder after determining the three-dimensional coordinates.

14. The method of claim 13 , further comprising:
providing a calibration member positioned adjacent the, robot; and
calibrating the 3D scanner with the calibration member prior to moving the 3D scanner adjacent the object.

15. A system for inspecting an object, the object having at least one machine readable code associated therewith, the system comprising:
a robot having an articulated arm with at least two arm segments and an end effector arranged on an end of the articulated arm, the end effector configured to couple with a plurality of tools, the articulated arm including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine a position and orientation of the end effector, the robot further having at least one sensor configured to detect the position of an adjacent a human operator;
a reader circuit operably coupled to the end effector, the reader circuit configured in operation to acquire the machine readable code;
at least one tool removably coupled to the end effector;
a structured light three-dimensional (3D) scanner configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner being removably coupled to the end effector; and
a controller having a processor, the processor configured to execute computer executable instructions when executed on the processor for selectively coupling one of the at least one tool or the 3D scanner to the end effector in response to acquiring the machine readable code.

16. The system of claim 15 , wherein the reader circuit includes a machine readable optical scanner that generates in operation a scanner signal in response to scanning a bar code.

17. The system of claim 16 , wherein the reader circuit that communicates in operation using a radio frequency identification (RFID) protocol or an near-field communication (NFC) protocol.

18. The system of claim 15 , wherein the at least one tool includes a plurality of tools.

19. The system of claim 18 , further comprising a tool holder operably coupled to the robot, the tool holder having a plurality of modules for storing the plurality of tools and the 3D scanner, the tool holder cooperating in operation with the end effector to remove and store the plurality of tools and the 3D scanner.

20. The system of claim 16 , further comprising a calibration member adjacent the robot, wherein the processor is configured to calibrate the 3D scanner with the calibration member in response to the 3D scanner being coupled to the end effector.

Assignees

• Faro Tech Inc

Inventors

• Telling Gary L

Classifications

• G06K7/10376

  the interrogation device being adapted for being moveable · CPC title

• G06K7/10297

  arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 (cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00) · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J15/0408

  Connections means · CPC title