US 12,070,861 B2
Robotics for three-dimensional printing
Payman Torabi, Los Angeles, CA (US); Matthew Petros, Los Angeles, CA (US); and Zhuofeng Zhang, Los Angeles, CA (US)
Assigned to 3DEO, Inc., Torrance, CA (US)
Filed by 3DEO, Inc., Torrance, CA (US)
Filed on Feb. 12, 2021, as Appl. No. 17/175,510.
Claims priority of provisional application 63/009,867, filed on Apr. 14, 2020.
Prior Publication US 2021/0316450 A1, Oct. 14, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B29C 64/227 (2017.01); B29C 64/393 (2017.01); B33Y 30/00 (2015.01); B33Y 50/02 (2015.01)
CPC B25J 9/163 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 13/089 (2013.01); B25J 15/0019 (2013.01); B29C 64/227 (2017.08); B29C 64/393 (2017.08); B33Y 30/00 (2014.12); B33Y 50/02 (2014.12)] 20 Claims
OG exemplary drawing
 
1. A robotic system for handling physical tools, comprising:
(a) a robot configured to be trainable;
(b) a sensor attached to at least one physical tool and configured to capture motion data that records movement of a user operating said at least one physical tool; and
(c) a virtual reality environment configured to process and provide at least said movement captured in (b) to train said robot to perform at least said movement, such that upon training of the robot, the robotic system is configured to perform operations including:
obtaining one or more images of a 3D printed object;
locating the 3D printed object by overlaying at least a portion of a computer model of said 3D printed object on said one or more images of said 3D printed object;
positioning a VR trained robot based on the location of the 3D printed object, wherein the VR trained robot has been trained based on sensor data from a sensor that captures movement from a user operating at least one physical tool to process one or more 3D printed objects corresponding to the computer model; and
using the VR trained robot to use one or more tools on said 3D printed object by repeating the movement of the user.