174 results about "Robot programming" patented technology

Both vision and force control are used to program a robot so that a tool having a tip can follow a desired path visibly marked on a workpiece when the tool is to perform work on the workpiece. There is a force sensor, a camera positioned to view the visibly marked path and a computing device. When the tool tip is in controlled contact with an area of the workpiece that includes the desired path, the camera and the force sensor each provide information to the computing device. The information is used to develop a program to move the robot to cause the tool tip to follow the desired path when the tool is to perform work on the workpiece. The tool can move in relation to the workpiece and the camera is mounted on the robot or the workpiece moves in relation to the stationary camera and tool.

A method for programming an industrial robot. The robot is taught a path having waypoints located on or in the vicinity of an object. An image of the object is obtained. Information is obtained about the position of a pointer pointing at points. The position of the points relative to the object is determined. A point being pointed out is stored as a waypoint. A graphical representation is generated of the stored waypoint and the point being pointed out. A view is displayed including the object and the graphical representation. A system includes a pointer for pointing out points on or in the vicinity of the object, a position determiner determines the position of the points relative to the object, a camera delivers an image of the object and the pointer, a graphical generator generates graphics, a display displays a view including the object and graphical representation, and an activator.

A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.

The invention discloses a robot off line programming system and method. The robot off line programming method includes: importing a robot kinematic constraint condition, a three-dimensional model of a working object of a robot, three-dimensional models of the robot and a tooling thereof into a robot three-dimensional virtual environment; performing curve discretization on extracted robot motion path graph primitives and pose information thereof, extracting path points, and generating a robot motion path; performing robot motion simulation and collision detection; modifying the path points according to a given definition on basis of the result of robot motion simulation and collision detection, generating a new robot motion path and pose, and displaying the new robot motion path and pose in an operation system; acquiring a feasibility result and generating a robot executable file; and communicating with the robot, importing the robot executable file into a robot controller, and realizing robot motion control. The robot off line programming system and method can effectively simplify operations, and improve the efficiency of robot programming work.

A programming interface for a hardware system includes an embedded layer for programmatic access to a physical realization of hardware, a simulation system for simulation of the hardware, and a diagnostics engine that analyzes and compares feedback data from the simulation system and the physical realization. The programming interface may be usefully employed, for example, in the design, purchase, and deployment of robotics for semiconductor manufacturing.

A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.

A robot programming device (10) includes: a processing line designating unit (21) that designates a processing line (41); an operation mode designating unit (22) that designates an operation mode of the teaching point; a program generation unit (23) that generates a program for a robot (12) based on the processing line and the operation mode; an interference target designating unit (24) that designates a tool non-processing part as an interference target; an interference detection unit (25) that detects interference between the robot and the workpiece, at a teaching point; a non-interference position search unit (26) that searches for a non-interference position; and a correction unit (27) that corrects a position of the teaching point based on a search result.

A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.

A method for high-efficiency multi-station electric arc additive manufacturing of aluminum alloy structural parts. In this method, the multi-station arc additive manufacturing of aluminum alloy structural parts is realized by using the welding machine to provide the heat source and the mechanical arm to control the forming path. After the forming path is planned, the multi-station material addition (m stations) is realized through robot programming, that is, the stacking of m stations on the nth layer is completed in the order of No. 1, No. 2...m, and then the completion The stacking of m stations on the n+1th layer is repeated until the addition of m structural parts is completed. The multi-station arc additive manufacturing method proposed by the present invention can realize the addition of multiple structural parts of the same or different types, which not only makes full use of the residence time between layers, shortens the production cycle, but also avoids the continuous accumulation of the same structural parts. The heat accumulation refines the internal structure of the formed part, the formed structural part has excellent mechanical properties, and there are no defects such as cracks, inclusions and pores inside. This method well realizes the short-cycle development of high-performance aluminum alloy structural parts.

A programming interface for a hardware system includes an embedded layer for programmatic access to a physical realization of hardware, a simulation system for simulation of the hardware, and a diagnostics engine that analyzes and compares feedback data from the simulation system and the physical realization. The programming interface may be usefully employed, for example, in the design, purchase, and deployment of robotics for semiconductor manufacturing.

An industrial robot comprises a manipulator (1) having a control unit (2) and a portable terminal (3), the unit and the terminal being able to communicate in wireless mode for executing a robot programming session. The unit (2) and the terminal (3) are configured so as to implement a step of mutual logic coupling, which is required so as to enable the programming session, only when the terminal (3) is in a substantially predefined physical position (5) close to the unit (2).

An industrial robot includes a manipulator (1) having a control unit (2) and a portable terminal (3), the unit and the terminal being able to communicate in wireless mode for executing a robot programming session. The unit (2) and the terminal (3) are configured so as to implement a step of mutual logic coupling, which is required so as to enable the programming session, only when the terminal (3) is in a substantially predefined physical position (5) close to the unit (2).

The invention discloses a robot programming control method comprising the following steps of (1), programming all operation commands of a robot by a ladder diagram programming mode in a program editor at an development interface, wherein the operation commands are used for controlling the moving process and posture of the robot; (2), generating the operation commands designed by the ladder diagram programming mode into command codes capable of being executed by a robot controller by a compiling module; and (3), sending the command codes to a servo driving module in the robot controller, thus driving a servo motor to drive the robot to finish all actions in space. The robot programming language in the ladder diagram mode is easily understood, and a work method of scanning round and sequential scanning is adopted to replace the special, complex and time-consuming robot programming language, so better universality and standardization are realized, and the operation use performances of the robot are obviously improved.

The invention relates to an industrial robot wireless teaching controller which comprises a wireless hand-held teaching box and a main controller. The wireless hand-held teaching box is composed of a hand touch and pen touch display screen, a central processing unit (CPU), a wireless transmitting receiving module, a universal serial bus (USB) interface, a 1394 interface, a high-capacity lithium-ion battery, a switching power supply charger and the like. The main controller is composed of a CPU, a wireless transmitting receiving module, a displayer, a controlling keyboard, a memorizer, a USB interface, a multi-channel servo control output interface, input / output (I / O) control interface, a switching power supply and the like. By means of the wireless hand-held teaching box and the main controller, fifty meter effective wireless encryption communication can be achieved, and mutual interference among multiple sets of control systems in the same environment is prevented. The wireless hand-held teaching box and the main controller control an industrial robot in real time to achieve teaching representation programming, data gathering and manual / automatic control through wireless communications, meanwhile working states and working parameters of the robot can also be displayed and altered in real time, and real-time wireless communication is achieved. Due to the fact that constraint of communication cables does not exist between the teaching box and the main controller control, great convenience is brought to robot programming operation personnel, meanwhile safety of controlling robot is improved, and the fact that modern science and technology bring convenience to production work is embodied.

A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.

The invention discloses a script-based industrial robot programming system capable of achieving secondary development. The script-based industrial robot programming system comprises the steps that a definition system sets data, and basic data types and instruction sets are defined in a system script file; instruction sets and data types of secondary development are defined in a user script file, a script-based secondary development module is applied, the module can customize instructions and data according to the requirement of a user, the instructions customized by the user are a combination of the system instruction sets of in the step I, and the data types customized by the user are a combination of the system basic data types in the step I; and robot programming is carried out through a teaching box, and motion control of a robot is achieved. According to the script-based industrial robot programming system, the instruction sets of the user requirement are secondarily developed in a script manner, the programming language has high flexibility, the special instruction sets can be set according to the requirement to meet specific application requirements, and the system has the advantage that code reediting and programming do not need to be carried out for development of new instructions.

The invention discloses a modification treatment method for the surface of an automobile die through thermal spraying. The method comprises the following steps: firstly, carrying out flaw detection, baking and wiping pretreatment on the surface of the automobile die, and protecting the non-sprayed surface of the automobile die by using a tooling; carrying out roughening treatment on the surface to be sprayed of the automobile die through sandblasting, so that the homogeneous metal natural-color is exposed, and the surface roughness is controlled at Ra 6-8 mu m; preparing a metal ceramic coating on the surface to be sprayed by using a thermal spraying process, wherein the spraying is implemented in a robot programming automated spraying and manual spraying combined mode; and polishing the sprayed area by using a polishing and grinding disc, so that the thickness of a final thermal-sprayed coating is controlled at 0.06-0.10 mm, and the roughness Ra is less than 0.8 mu m. The method overcomes defects existing in traditional die surface treatment methods, the comprehensive performances such as hardness, wear resistance, corrosion resistance and the like of the surface of the automobile die treated by using the method are excellent, the service life of the die is effectively prolonged, the die repair frequency is reduced, and the production cost is lowered.

The present invention provides a swarm of robots and a related method of operating the swarm. The robots are programmed to start at a nest and to select a dispersal direction from a uniform random distribution. The robots travel along the dispersal direction until transitioning to a search mode upon reaching a search site, where the robot performs a correlated random walk with fixed step size and direction and using a standard deviation to determine how correlated the direction of the next step of the robot is with the direction of the previous step. If no resource is found within predetermined time t independently determined by each of said robots, the robot returns to the nest and repeats the above steps.

The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

The invention discloses a building-block programming education robot. The building-block programming education robot includes blocks and a robot vehicle body, wherein the jogged position of each block is provided with a splicing part; through the splicing parts, a plurality of blocks can be spliced into a block strip; the block strip passes through a command identification code reading device of the robot vehicle body; a command identification code is pasted on the surface of each block; and the robot vehicle body includes the command identification code reading device, an external electronic module interface, a liquid crystal display module, a motor module, a singlechip control panel and a power module. For the building-block programming education robot, a special splicing mode is applied between every two blocks for performing basic grammar inspection and further the internal program of the robot is used to perform grammar inspection, thus being conductive to a beginner for robot programming to establish the awareness of grammar inspection, improving the interest on programming for teenagers, and reducing the difficulty in robot education.

The invention discloses a stamping single-station production simulating and verifying method capable of realizing process analog simulation and robot programming for guiding the production, reducing time and cost waste in a debugging process and improving programming safety and quality. By using a digitalized factory software, according to characteristics and parameter input of different devices, digital analogy establishment and movement attribute definition of an auxiliary station, a tooling, a fixture, a robot and a press machine required by station verification are completed; and then virtual layout is carried out according to a site planning requirement, all tasks are organized for completing simulation actions of stations, interference collision analysis of the tooling and a mould is realized in a simulation analogy process, judgment on the single-station tatk time is realized, site process feasibility analysis is carried out, arrangement of site resource positions, distances is reasonably planned, and a prophase simulation result is fed back through a process analysis result, thus layout optimization and efficiency maximization of the stations are ensured, and the modification of matching the debugging by a post-phase entity is reduced.

The invention discloses an error-proofing monitoring system for an automobile engine valve assembling process. The error-proofing monitoring system comprises a detection platform, a control system and a man-machine information communication panel, wherein the detection platform comprises two roller way conveying tables, three stoppers, a jacking device, a barcode scanning gun, a laser ranging sensor and a single-shaft robot; the control system comprises a single-shaft robot programming controller, a programmable controller, a data acquisition card, an industrial personal computer and a proximity switch; and the man-machine information communication panel comprises a display, a touch screen and a combined aural and visual alarm. According to the error-proofing monitoring system disclosed by the invention, after the assembly of an air valve is finished, a correct-error result is immediately obtained according to an assembling situation, and an error assembling result is classified according to error types so as to provide a maintenance prompt for a maintainer. The error-proofing monitoring system disclosed by the invention is arranged at one section of an engine assembly line and only allows correctly assembled cylinders to pass the detection and enter a subsequent continuous engine assembling process in a working mode so as to reach an error-proofing purpose.

A robot simulation system comprises a cloud platform, a robot development terminal and a plurality of simulation cells, wherein the cloud platform comprises a central server and a cloud development environment device; the robot development terminal is connected with the cloud platform and used for performing programming on robots through the cloud development environment device; each simulation cell is connected with the cloud platform and the robot development terminal, and at least internally comprises a robot dispatch server and a monitor server; and each monitor server comprises a camera. The robot simulation system is characterized in that each robot dispatch server receives programmed robot programs distributed by the central server and controls the robots to execute tasks in the simulation cells through the programmed robot programs; the robots execute the tasks in the simulation cells, record the tasks, generate execution reports according to the recording results and send the reports to the central server; and then the central server integrates videos and the generated execution reports to form a summary video and a summary report, and thus the robot development terminal can be informed of the task execution types of the robots in the simulation cells.

The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

The invention discloses a robot programming method and device capable of expanding an instruction set. In the robot programming method, on the basis of structured configuration, the instruction set, namely, an instruction library, capable of being used in a current robot control system is organized; on the basis of the modular form, an instruction dynamic library document is achieved; through structured configuration, an instruction configured document template is described; and a newly-set instruction can be interpreted in an interpreter and executed in an executer, so that robot programmingis simplified, and the maintenance cost is reduced.

The invention discloses an optical fiber laser remanufacturing process of a positive-addendum-modification large-modulus gear of a ball mill. The optical fiber laser remanufacturing process includes adopting alloy powder to design surface layer performance, using a six-axis robot to program to generate a processing program, and adopting optical fiber laser cladding technology and large-modulus gear processing technology to repair a worn gear. By the above mode, corrosion resistance and wear resistance of the gear are improved, and service life of the gear is prolonged.

The invention provides an offline robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation of the motion of the peripheral equipment and the robot hand, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program, or with respect to a teaching point or a trajectory between the teaching points included in a program template on which the robot operation program is described, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory between the teaching points; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.

A robot programming device (10) includes: a processing line designating unit (21) that designates a processing line (41); an operation mode designating unit (22) that designates an operation mode of the teaching point; a program generation unit (23) that generates a program for a robot (12) based on the processing line and the operation mode; an interference target designating unit (24) that designates a tool non-processing part as an interference target; an interference detection unit (25) that detects interference between the robot and the workpiece, at a teaching point; a non-interference position search unit (26) that searches for a non-interference position; and a correction unit (27) that corrects a position of the teaching point based on a search result.