System and method of operating a manufacturing cell

Patent metadata

Field	Value
Publication number	US-10546167-B2
Application number	US-201816145921-A
Country	US
Kind code	B2
Filing date	Sep 28, 2018
Priority date	Nov 10, 2014
Publication date	Jan 28, 2020
Grant date	Jan 28, 2020

Abstract

A system and method for operating a manufacturing cell is provided. The system includes an articulated arm having a plurality of arm segments, each of the arm segments having a transducer. An end effector is coupled to an end of the articulated arm. An electronic circuit is configured in operation to determine a position and orientation of the end effector. A sensor measures in operation a position of an operator. A tool is removably coupled to the end effector. A three-dimensional (3D) scanner 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 determines when the operator is within a predetermined distance of the articulated arm and altering a speed or a movement of the articulated arm to avoid contact or reduce the impact of contact between the operator and the articulated arm.

First claim

The invention claimed is:

1. A system comprising:
an articulated arm having a plurality of arm segments, each of the arm segments having a transducer;
an end effector coupled to an end of the articulated arm;
an electronic circuit configured in operation to determine a position and orientation of the end effector;
at least one sensor that measures in operation a position of an operator;
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 to determine when the operator is within a predetermined distance of the articulated arm and altering a speed or a movement of the articulated arm to avoid contact or reduce the impact of contact between the operator and the articulated arm.

2. The system of claim 1 , wherein the at least one sensor is a visual sensor.

3. The system of claim 2 , wherein the visual sensor includes stereoscopic camera.

4. The system of claim 2 , wherein the at least one sensor further includes a localized sensor.

5. The system of claim 4 , wherein the localized sensor is a load cell or a proximity sensor.

6. The system of claim 1 , wherein the end effector includes a reader circuit, the reader circuit acquiring in operation a machine readable code.

7. The system of claim 1 , wherein the machine readable code is one of an optical code, a bar code, an electromagnetic radiation code, or an audible code.

8. The system of claim 7 , wherein the controller is further responsive for selectively coupling one of the at least one tool or the 3D scanner to the end effector in response to an object signal.

9. The system of claim 1 , wherein the controller is further responsive for transmitting an alarm signal when the three-dimensional coordinates deviate from a criteria.

10. The system of claim 1 , wherein the controller is further responsive for determining three-dimensional coordinates of an object with the 3D scanner and transmitting the three-dimension coordinates to a processing circuit associated with the object.

11. A method of operating a manufacturing cell, the method comprising:
providing a robotic articulated arm, the articulated arm 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 3D scanner to the end effector in response to receiving the object signal;
determining three-dimensional coordinates of at least one feature of the object with the 3D scanner coupled to the end effector; and
transmitting the three-dimensional coordinates to a processing circuit associated with the object;
calibrating the object based on the three-dimensional coordinates transmitted to the processing circuit.

12. The method of claim 11 , wherein the calibrating of the object includes determining a compensation value or a calibration parameter.

13. The method of claim 11 , further comprising:
receiving a second object signal;
coupling the at least one tool to the end effector in response to receiving the second object signal; and
performing a first operation on an object being assembled with at least one of the end effector or the at least one tool.

14. The method of claim 11 , further comprising:
determining from the position signal a distance between the operator and the robotic articulated arm is less than a predetermined distance;
changing at least one of a speed or a movement of the robotic articulated arm to avoid contact or reduce the impact of contact between the operator and the articulated arm.

15. The method of claim 14 , wherein the sensor is a visual sensor.

16. The system of claim 15 , wherein the at least one sensor is a visual sensor.

17. The system of claim 16 , wherein the visual sensor includes stereoscopic camera.

18. The system of claim 15 , wherein the at least one sensor further includes a localized sensor.

19. The system of claim 18 , wherein the localized sensor is a load cell or a proximity sensor.

20. The method of claim 11 , further comprising transmitting an alarm signal when the three-dimensional coordinates deviate from a criteria.

Assignees

• Faro Tech Inc

Inventors

• Telling Gary L

Classifications

• G06K7/10554

  Moving beam scanning · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · 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

• G06K7/10405 Primary

  the interrogation device including an arrangement for sensing environmental parameters, such as a temperature or acceleration sensor, e.g. used as an on/off trigger or as a warning means · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title