US 12,485,538 B2
Method and system for determining a workplace loading location in a CNC machine with a robotic arm
Paul J. Gray, Zionsville, IN (US); Steven S. Gearhart, Indianapolis, IN (US); and Jesse C. Satterwhite, Indianapolis, IN (US)
Assigned to Hurco Companies Inc., Indianapolis, IN (US)
Filed by Hurco Companies Inc., Indianapolis, IN (US)
Filed on May 10, 2022, as Appl. No. 17/740,627.
Prior Publication US 2023/0364790 A1, Nov. 16, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/00 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1653 (2013.01); B25J 11/0055 (2013.01); B25J 13/082 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A system for determining a loading location of a workpiece relative to a holding fixture, comprising:
a robot configured to grip a workpiece and including a sensor; and
a controller communicatively coupled to the robot, the controller having a memory including a plurality of instructions that when executed by the controller cause the controller to:
activate the robot to grip the workpiece;
enable a free-drive mode of operation of the robot to permit an operator to move the workpiece to a starting location adjacent to a center of the holding fixture; and
respond to an input of the operator by executing a center location routine;
wherein the center location routine includes:
causing the robot to automatically move in a first direction until the sensor senses contact at a first position of contact between the workpiece and a first surface of the holding fixture;
storing the first position of contact in the memory for use in computing a three-dimensional center point of the holding fixture;
causing the robot to automatically move in a second direction until the sensor senses contact at a second position of contact between the workpiece and a second surface of the holding fixture;
storing the second position of contact in the memory for use in computing the three-dimensional center point of the holding fixture;
causing the robot to automatically move in a third direction until the sensor senses contact at a third position of contact between the workpiece and a third surface of the holding fixture;
storing the third position of contact in the memory for use in computing the three-dimensional center point of the holding fixture; and
computing, using the first position of contact, the second position of contact and the third position of contact, the three-dimensional center point of the holding fixture representing the loading location of the workpiece wherein the workpiece is positioned between the first, second and third positions of contact not in contact with the holding fixture.