30 results about "Cartesian coordinate robot" patented technology

The invention relates to the technical field of path planning, in particular to a path planning method and system based on Cartesian coordinate robot conveying, and provides the following scheme that temperature field data are collected through an infrared thermal sensor, the principal component direction is calculated according to the temperature gradient, and a traversal strategy is dynamically adjusted; it is ensured that the robot carries out treatment in the most remarkable temperature change direction; in the processing process, the candidate grids are screened through the temperature transfer relation between the temperature gradient and the outer ring grid, and redundant processing is avoided. Through heat conduction simulation, the system evaluates a temperature transfer effect, optimizes a grid processing sequence, and reduces unnecessary computing resource consumption; and finally, through an iteration mode, the robot efficiently and accurately completes a grid processing task, and optimization of path planning is realized.

The utility model discloses a multi-layer frame red support bamboo egg picking robot which comprises guide rails, a trolley and a rectangular coordinate robot, the guide rails are laid on a picking channel, wheels of the trolley are connected to the two guide rails in a rolling mode respectively, and the trolley can be driven by a power system to move along the guide rails; two sets of rectangular coordinate robots are mounted on the trolley and are used for picking the Hongyou bamboo eggs on the planting frames on the two sides of the picking channel according to inspection of a visual sensor; the picking device adopts a vacuum suction cup and can ascend and descend and twist, the red-support bamboo eggs which can be picked are sucked, twisted off, lifted and conveyed into a collecting groove along an X module, automation and intelligentization of 24-hour patrol, picking and collecting can be achieved, and large-scale development of facility agriculture is promoted.

The utility model discloses a multifunctional aquatic brasenia schreberi harvesting catamaran, and mainly relates to the technical field of aquatic brasenia schreberi harvesting. Comprising a supporting frame, floating barrels are arranged at the left end and the right end of the supporting frame, a rectangular coordinate robot is arranged on the supporting frame, the positions of a suction type end effector in the X-axis direction, the Y-axis direction and the Z-axis direction are adjusted through the rectangular coordinate robot, and the suction type end effector is located on the inner side of the supporting frame. A suction pipe is arranged at the bottom of the suction type end effector, a shearing bin is arranged at the top of the suction pipe, a vertical pipe is arranged at the top of the shearing bin, a cutting mechanism is arranged in the shearing bin, a sensor is arranged in the shearing bin or the vertical pipe, and the top end of the vertical pipe is connected with a negative pressure suction device through a conveying pipeline. A driving device is arranged at the rear end of the supporting frame; according to the water shield picking machine, a negative pressure suction shearing type nondestructive picking mode is adopted, the water shield picking efficiency can be improved, and the labor intensity of vegetable farmers is reduced.

An installation for handling and storing biological samples at very low temperatures includes a cartesian robot and an articulated-arm robot having at least five degrees of freedom. A biobank which uses, working jointly, a five-axis or six-axis or seven-axis robot supported by a cartesian robot which moves the five-axis or six-axis robot translationally along at least one row of storage containers, advantageously cryogenic containers each incorporating storage columns or racks with a honeycomb structure, of which the cells are able to house individual sample containers.

The invention discloses a road marking robot device and a large character spraying marking method.The road marking robot device comprises a robot spraying system, a driving system, a supporting platform and a box body part, the spraying system is installed on the supporting platform, and the driving system is connected with the supporting platform; the Cartesian coordinate robot technology is applied to the design of the spraying system, the spraying head can move along a controllable track, spraying of needed marking characters is completed, the same driving system is composed of four steering wheels, multiple movement modes of the robot can be achieved through a four-rotation four-drive structure, and the spraying efficiency is improved. The robot has excellent trafficability and cross-country ability so as to adapt to various road surface scenes, the marking robot is further provided with a laser radar and a man-machine interaction module, the robot can be controlled to run according to a preset track, and after the robot reaches a designated position, a spraying system is used for drawing a needed road surface marking line. And automation and intellectualization of lofting and spraying work of the mark are achieved.

The invention discloses a separating and taking device for wine bottle label stained paper, and belongs to the field of white spirit processing and production. The device is suitable for a stained paper feeding procedure in a wine bottle labeling process; the equipment belongs to an automatic wine bottle labeling production line and is placed at a specified position in a labeling frame in the production line; comprising a stained paper box used for storing label stained paper and a guide rod used for forcing the label stained paper to deform. The stained paper boxes are installed on the perforated bottom supporting plate in an array mode according to the machining strength and are erected at the top end of the object carrying sectional material frame in a unified mode, so that an external device is convenient, and a general rectangular coordinate robot carries stained paper suction cup grippers to take label stained paper; the normal environment in the labeling frame is humid, the pattern paper box inserted with the guide rod can force the label pattern paper to deform so as to be separated from each other, meanwhile, the pattern paper box and the bottom supporting plate with the hole can rapidly drain water through the bottom hole, and it is ensured that the pattern paper suction cup gripper can suck only one piece of label pattern paper in one-time suction action; serious accidents of equipment pollution and shutdown caused by stained paper waste or accidental falling of stained paper are avoided.

The invention belongs to the field of industrial robots, and particularly relates to a rectangular coordinate robot for a production line, which comprises a first sliding table, a first sliding block is slidably connected to the inner wall of the first sliding table, a second rotating shaft is rotatably connected to the top of the first sliding block, and a second sliding table is fixedly connected to the top of the second rotating shaft. The inner wall of the second sliding table is slidably connected with a second sliding block. According to the rectangular coordinate robot for the production line, a first sliding block, a second sliding block and a third sliding block are controlled to transversely move through a lead screw, the first sliding block, the second sliding block and the third sliding block are matched with corresponding check blocks, the check blocks drive piston plates to move left and right in a sleeving box in a reciprocating mode, and two one-way valves are matched; and the lubricating oil in the sleeve box is extruded into the second pipeline, the lubricating oil is sprayed to the lead screw through the second pipeline, and when the first sliding block, the second sliding block and the third sliding block pass through, the joint of the lead screw and the first sliding block, the joint of the lead screw and the second sliding block and the joint of the lead screw and the third sliding block are lubricated.

The utility model provides a kind of wind power blade composite material laying system, comprising: one glass cloth laying subsystem, it has a end effector integrated with high-frequency vibration smoothing mechanism, high-frequency vibration smoothing mechanism is used to vibrate smoothing after laying dry process glass cloth to form a fiber base;And a core material laying subsystem, configured to be used to place fiber base, the core material laying subsystem includes: a heavy moving chassis that is moved along fixed guide rail to provide positioning reference;And a three-axis cartesian coordinate robot consisting of mutually orthogonal first transverse load operation steel beam, second transverse load operation steel beam and a vertical lifting electric cylinder, which is arranged on heavy moving chassis, vertical lifting electric cylinder drives to contact fiber base by vertical motion of clamping type core material holder. The problem that the existing technology is caused by structural defects, resulting in low quality of laying and unable to effectively cooperate is solved.

This invention relates to the field of precious metal product processing, specifically to an intelligent nozzle assembly device for improving nozzle assembly quality. The intelligent control system of this device includes an intelligent calibration unit for storing optimal assembly parameters and a PLC controller for controlling a Cartesian coordinate robot to assemble the nozzles. During assembly, the precious metal nozzle plate is first fixed to the positioning fixture of the intelligent nozzle assembly device. The optimal assembly scheme for the nozzle plate and nozzle is determined through calibration experiments. Then, based on the obtained optimal assembly scheme, the intelligent nozzle assembly device automatically assembles the nozzles onto the precious metal nozzle plate under the control of the PLC controller. This invention uses the optimal assembly parameters obtained in advance through calibration experiments to control the Cartesian coordinate robot to assemble the nozzles, significantly improving assembly quality while increasing assembly speed.

The utility model discloses a quality casual inspection mechanism applied to automatic production of a rectangular coordinate robot. The quality casual inspection mechanism comprises a rack, at least two pneumatic sliding rails, at least two sliding table assemblies and a protection assembly, the at least two pneumatic sliding rails are mounted at the top of the rack side by side, and each pneumatic sliding rail is provided with a sliding table assembly; the protection assembly is connected with the top, and the at least two sliding table assemblies are located in the protection assembly. Each sliding table assembly comprises a sliding table base plate, a centering seat base and a centering sleeve, and the sliding table base plate is connected with a pneumatic sliding rail; the centering seat base is arranged on the face, away from the pneumatic sliding rail, of the sliding table base plate, a protrusion is further arranged in the middle of the face, away from the pneumatic sliding rail, of the centering seat base, matched grooves are formed in the two ends of the centering sleeve, the arranged protrusion extends into the formed grooves, and the diameter of the centering sleeve is smaller than that of the centering seat base. The disc diameters of brake disc parts are determined to be different, centering sleeves with different outer diameter ranges are replaced, and therefore switching is convenient and fast.

The invention relates to the technical field of industrial robots, in particular to an industrial robot with a power assisting device, the industrial robot comprises a base, a bearing block and a top plate, the base is provided with a rotating mechanism with a transverse sliding strip rotating function, the rotating mechanism comprises a motor and a fixing disc, and the rotating end of the motor is fixedly connected with the fixing disc. The transverse sliding strip and the transverse solid sliding strip are driven by the transverse multi-stage electric push rod to stretch out and draw back transversely, the longitudinal sliding strip and the longitudinal L-shaped solid sliding strip are driven by the longitudinal multi-stage electric push rod to stretch out and draw back longitudinally, and the vertical sliding strip and the vertical solid sliding strip are driven by the vertical multi-stage electric push rod to stretch out and draw back vertically. Therefore, the rectangular coordinate robot is telescopic in transverse, longitudinal and vertical height, the occupied area of the rectangular coordinate robot is reduced, the rectangular coordinate robot can flexibly adjust the size in each direction according to actual operation requirements to adapt to different working scenes and spatial layouts, and the universality and adaptability of the robot are greatly enhanced.

The invention relates to the field of precious metal product processing, in particular to an intelligent discharge spout assembling device capable of improving the discharge spout assembling quality, and an intelligent control system of the intelligent discharge spout assembling device comprises an intelligent calibration unit used for storing optimal assembling parameters and a PLC used for controlling a rectangular coordinate robot to perform discharge spout assembling. During assembly, the precious metal bushing is fixed on a positioning clamp of the intelligent discharge spout assembly device, and the optimal assembly scheme of the bushing and the discharge spout is determined through a calibration experiment; and according to the obtained optimal assembly scheme, the discharge spout is automatically assembled on the precious metal bushing plate by the discharge spout intelligent assembly device under the control of the PLC. According to the method, the optimal assembling parameters obtained through the calibration experiment in advance are adopted, the Cartesian coordinate robot is controlled to assemble the discharge spout, and the assembling quality is greatly improved while the assembling speed is increased.

The present invention essentially relates to an autonomous robot (1) produced on the basis of a scissor lift (2), which may be standard, on which a Cartesian coordinate robot (3) is installed, a supporting structure (30) of which slides on the platform of the lift and supports a tool holder assembly, which is robust, accurate and reliable.

The present invention discloses a contact line real-time following method, the method comprising establishing a rectangular coordinate system 0-YZ of a rectangular coordinate manipulator, a rectangular coordinate system 0-Y of a 3D intelligent sensor, Q Z Q During the dynamic measurement of walking, the 3D intelligent sensor can collect the contact line (Y Q , Z Q ), the parameter coordinates (y i ,z i ), and trigger the distance measuring unit to obtain the x value of the contact line acquisition point within a single span i The spatial coordinate values ​​of the contact line collection points can be continuously obtained by the least squares method. The two-dimensional linear regression equation of a certain section of the contact line in space can be fitted. A single span contact line can be fitted into multiple line segments including the starting position, the ending position and the straight line equation, which provides motion parameters for the real-time precise following control stability and smoothness of the rectangular coordinate manipulator and avoids problems such as missing marks or hitting the line.

The present invention belongs to the field of robot automation control, and specifically is an intelligent disassembly robot system and control method, comprising: a robot working platform and a rectangular coordinate robot system, a dual-arm robot system, a mechanical gripping mechanism and a disassembly control system arranged on the robot working platform; a mechanical gripping mechanism is arranged between the rectangular coordinate robot system and the dual-arm robot system; the disassembly control system is respectively connected to the rectangular coordinate robot system, the dual-arm robot system and the mechanical gripping mechanism; the disassembly control system comprises an industrial computer, an electrical control panel and a PLC connected in sequence; a platform pan-tilt head and a camera are also arranged on the robot working platform; the beneficial effect of the present invention is that through a control box, the movement of the bomb disposal task is remotely and accurately controlled in a closed-loop motion control manner, and the operation status is monitored in real time through the depth camera and multiple cameras in the present invention, and the present invention can be widely used in various bomb disposal tasks of dismantling explosives.

The present invention relates to a robotic construction system including a Cartesian robot. The Cartesian robot can automatically rise as the height of the building increases. The robotic construction system includes a robotic system for supplying materials and electrical and electronic equipment and has specific production tools. Some of the tools work by providing layers of liquid building materials, such as cement-based materials that harden once deposited. Other tools work by forming and placing building elements in determined positions.

The present application discloses a rectangular coordinate robot, which belongs to the field of robot control technology, and includes a base, an X-mounting axis, a Y-mounting axis, a Z-mounting axis, a control structure, a sliding seat, and a grasping structure. The X-mounting axis, the Y-mounting axis, and the Z-mounting axis form a three-dimensional rectangular coordinate system, which is used to drive the control structure to move in space. The control structure mounting seat, the X-rotating seat, the Y-rotating seat, and the Z-rotating seat, the control structure is used to adjust the spatial direction of the second contact component. The sliding seat is used to drive the first basic component to move for loading and unloading. The rectangular coordinate robot disclosed in the present invention is provided with a control structure for adjusting the spatial angle of the first basic component. When the first basic component or the second basic component is tilted due to grasping, the control structure can be used to ensure that each first basic component is adjusted to the correct installation angle to cooperate with the second basic component.

The invention relates to a four-degree-of-freedom visual guidance method based on a planar redundant target point group. The method comprises the following steps of: installing a camera for shooting downwards at the tail end of a Z axis of a rectangular coordinate robot, and installing a group of upward circular visual target spot groups on one side of a target; the distribution of all target spots in the target spot group accords with a certain constraint, especially all target spots must be located on the same space plane, and the centers of the target spots coincide with the center of the target; internal parameters of the camera are obtained through calibration, and a target spot template is established by shooting a calibration plate image and a target spot image under the same pose; after the template is established, a single target picture containing a target spot is shot by using a camera under any pose, so that the three-dimensional pose measurement of the target can be realized. The target point group has redundant design, so that the positioning precision is not influenced by a small number of damaged target points; when damaged target spots exist, the number and serial number information of the damaged target spots can be given by the method; according to the method, three-dimensional pose measurement of the target can be rapidly and stably completed, and motion guidance is provided for other mechanical structures.

The invention discloses a full-standard cigarette piece conveying and stacking device and method, and belongs to the technical field of cigarette logistics sorting in the tobacco industry. Comprising a cigarette carton conveying line, a transferring device A and a transferring device B are sequentially arranged at the tail of the cigarette carton conveying line, and a stacking supply conveying line A and a stacking supply conveying line B are correspondingly arranged on the side face of the transferring device A and the side face of the transferring device B respectively. The side face of the stacking supply conveying line A and the side face of the stacking supply conveying line B are correspondingly provided with a coded disc conveying line A and a coded disc conveying line B which are parallel to each other respectively, the tail portion of the coded disc conveying line is provided with a shuttle vehicle system, a frame is arranged above the two stacking supply conveying lines and the two code disc conveying lines, and a movable rectangular coordinate mechanical arm is arranged on the frame. The two stacking supply conveying lines can correspondingly convey cigarette cartons of different specifications, box turning and positioning can be carried out on the cigarette cartons in the conveying process, a mechanical arm can grab the cigarette cartons conveniently, and therefore conveying and stacking of the whole-specification cigarette cartons can be achieved.

The invention relates to the technical field of metal surface treatment, and discloses a polishing device and method.The polishing device for furniture metal plates comprises a rectangular coordinate robot and a polishing mechanism and further comprises a telescopic assembly, and the telescopic assembly comprises a second sliding block and a first sliding block; the wire drawing assembly is fixedly installed on the second sliding block. The driving assembly is fixedly installed on the second sliding block. The synchronous assembly is fixedly installed on the first sliding block. The wire drawing assembly drives a second sliding block to slide up and down along with fluctuation of the surface of a corrugated metal plate, the driving assembly is matched with the synchronizing assembly, a first sliding block is driven to move synchronously through transmission of a gear and a bevel gear, a first spring is stressed evenly all the time, and the pressure of a wire drawing roller acting on the plate is kept constant. Over-deep lines caused by excessive extrusion at wave crests and missed polishing caused by insufficient attachment at wave troughs are avoided, and it is ensured that wire drawing lines on the surface of the whole plate are uniform and coherent.

This application provides a heat sink handling robot, including: a housing; a rotating base; a first support arm; a second support arm; and a loading component. The first support arm is rotatably mounted on the rotating base, and a swing frame is rotatably mounted on the other end. The swing frame is driven by a linkage mechanism. The linkage mechanism includes a crank hinged to the first support arm and a connecting rod hinged to the swing frame. One end of the swing frame has an extended swing rod, and the other end of the connecting rod is hinged to the swing rod. The linkage mechanism is driven by a first servo motor, and the second support arm is driven by a second servo motor. A turbine transmission group drives the base to rotate, which, in conjunction with the swinging of the first support arm, the pitching of the swing frame driven by the linkage mechanism, the independent swinging of the second support arm, and the rotation of the loading component, enables the robot's end effector to achieve multi-angle obstacle avoidance in complex and narrow spaces. Compared to the limited straight-line path of traditional Cartesian coordinate robots, this reduces the turning radius and perfectly adapts to the high-density layout requirements of electronic assembly.

The invention provides a wind power blade composite material laying system which comprises a glass fabric laying subsystem which is provided with an end effector integrated with a high-frequency vibration smoothing mechanism, and the high-frequency vibration smoothing mechanism is used for conducting vibration smoothing on dry glass fabric after the dry glass fabric is laid so as to form a fiber substrate; the core material laying subsystem is configured to be used for placing the fiber substrate, and the core material laying subsystem comprises a heavy movable chassis, a core material laying subsystem and a core material laying subsystem, and the heavy movable chassis moves along a fixed guide rail so as to provide a positioning reference; the three-axis Cartesian coordinate robot is arranged on the heavy movable chassis and composed of a first transverse load-carrying operation steel beam, a second transverse load-carrying operation steel beam and a vertical lifting electric cylinder, the first transverse load-carrying operation steel beam and the second transverse load-carrying operation steel beam are orthogonal to each other, and the vertical lifting electric cylinder drives the clamping type core material clamping device to move vertically so as to make contact with a fiber substrate. The problems that in the prior art, due to structural defects, the quality of the laid layers is low, and effective collaboration cannot be achieved are solved.

This invention relates to a method for welding and expanding the hole of a precious metal sprue nozzle, specifically a method for welding and expanding the hole of a precious metal sprue nozzle. By setting up a welding calibration unit for obtaining optimal welding parameters and a hole-expanding calibration unit for obtaining optimal hole-expanding parameters, the optimal welding parameters and optimal hole-expanding parameters obtained in advance through calibration experiments are used to control a welding Cartesian coordinate robot and a hole-expanding Cartesian coordinate robot to weld and expand the hole of the nozzle, respectively. This method ensures the quality of nozzle welding and hole expansion while taking into account the production efficiency of the product.

The utility model discloses visual guidance assembly equipment capable of changing the position of a tool along with temperature rising and falling, which comprises a feeding assembly, a tool table, a station switching assembly, a station transferring assembly, a station rotating assembly, a rectangular coordinate robot assembly and a visual guidance station assembly arranged on the side edge of the tool table, wherein the station switching assembly, the station transferring assembly, the station rotating assembly and the rectangular coordinate robot assembly are arranged on the tool table. The feeding assembly is arranged on the feeding side of the front portion of the tool table, the station switching assembly is arranged on the tool table and corresponds to the feeding assembly, the station rotating assembly and the station switching assembly are arranged in a front-back corresponding mode, and the station transferring assembly is correspondingly arranged on one side of the station switching assembly and one side of the station rotating assembly. The rectangular coordinate robot assembly corresponds to the rotating station assembly in a front-back mode, and the visual guiding station assembly is arranged on the discharging side of the side portion of the rectangular coordinate robot assembly. According to the utility model, millisecond-level high-speed high-precision mobile assembly is realized, the overall assembly precision is + / -0.02 mm, the labor intensity is reduced, and the assembly efficiency is improved.

The utility model discloses a rectangular coordinate manipulator feeding and discharging device, and relates to the technical field of rectangular coordinate manipulators. The rectangular coordinate mechanical arm feeding and discharging device comprises a base, a first guide frame and a second guide frame. The adjusting assembly comprises a first connecting frame, a third driving motor is fixedly connected to the surface of the first connecting frame, a gear is fixedly connected to the output end of the third driving motor, a rack is fixedly connected to the side, close to the third driving motor, of a second guiding frame, and two first guiding rods are slidably connected into the second guiding frame. The upper end of the base is fixedly connected with a fixing frame; two second guide rods are slidably connected into the fixing frame, the second guide frame moves in the second connecting frame, and the first guide rods and the second guide rods are arranged, so that the second guide frame is conveniently supported and guided in the moving process, and the stability of the second guide frame in the moving process is improved; and the service life of the second guide frame is prolonged.

Automatic feeding equipment based on 3D vision comprises a machine body, a machine frame arranged above the front portion of the machine body and a stock bin arranged on the rear portion of the upper surface of the machine body, an elevator is arranged on the rear side of the machine frame, the lower end of the elevator is located in the stock bin, the upper end of the elevator is communicated with the inner space of the machine frame, and a feeding opening is formed in the front portion of the machine frame; the rear side of the lower portion of the feeding port is provided with a distributing port communicated with the inner space of the machine frame. A material distributing mechanism corresponding to the elevator in position is arranged in the material distributing opening; the front portion of the distributing mechanism is located in the feeding port. A rectangular coordinate robot corresponding to the position of the front portion of the distributing mechanism is arranged in the feeding port. According to the automatic feeding equipment based on the 3D vision, high placing efficiency can be maintained all the time, so that the production efficiency is guaranteed, a special tool for placing products is not needed, a large amount of trouble is reduced, and meanwhile the cost is effectively reduced.

This article is a unit that is mainly used when incorporated into automatic machines or desktop robots, but can also be used for manual liquid ejection. For example, in an orthogonal robot that enables automated processing of coating processes such as adhesion, coating, sealing, and potting used in the manufacturing processes of semiconductor products such as printed circuit boards, electronic devices, precision instruments, and optical instruments, as shown in the reference diagram showing the usage state, a discharge valve that supplies pressurized air controlled by a liquid precision discharge controller (controller) to liquid materials such as cream solder, UV resin, silver paste, and epoxy resin in a liquid container (syringe) is provided in this unit, and the liquid material can be discharged from the coating head of the syringe connected to this unit at high speed and with high precision.

The invention relates to a discharge spout welding and chambering method for a precious metal bushing, in particular to a discharge spout welding and chambering method for the precious metal bushing, which is characterized in that a welding calibration unit for acquiring optimal welding parameters and a chambering calibration unit for acquiring optimal chambering parameters are arranged; the welding rectangular coordinate robot and the chambering rectangular coordinate robot are respectively controlled to perform welding and chambering on the discharge spout by adopting optimal welding parameters and optimal chambering parameters obtained through a calibration experiment in advance, so that the welding and chambering quality of the discharge spout is ensured while the production efficiency of a product is considered.

The present application relates to a kind of four degrees of freedom vision guidance method based on plane redundant target group.The steps include: installing a downward shooting camera at the end of the Z axis of cartesian coordinate robot, and installing a set of upward circular vision target group on the target side;The distribution of all target points in the target group meets certain constraints, especially all target points must be located on the same spatial plane and the center coincides with the center of the target;Internal parameters of camera are obtained by calibration, and target point template is established by shooting calibration board image and target point image in the same pose;After the establishment of template, a single target picture containing target points is shot using camera in any pose to realize the three-dimensional pose measurement of target.The target group has redundant design, and a small amount of target damage does not affect the positioning accuracy;When there is damaged target, the method can give the number and number information of damaged target;The method can quickly and stably complete the three-dimensional pose measurement of target, and provide motion guidance for other mechanical structures.

The invention discloses a robot remote control method and system for rapid installation of magnetic yoke laminations, and belongs to the field of robot control, and the method comprises the steps: collecting the installation site data of the magnetic yoke laminations, and constructing a digital twinborn model of the installation site and a digital twinborn model of a robot; a kinematics and dynamics model of the Cartesian coordinate robot is determined, a global path planning-obstacle avoidance algorithm is constructed based on the kinematics and dynamics model, an executable joint track is generated, and the joint track is sent to a cloud end and a bottom layer controller of the robot; and the cloud side updates the digital twin model according to the final joint track, the final joint track is displayed on the digital twin model, and the rectangular coordinate robot controller executes a magnet yoke lamination installation task according to the joint track issued by the cloud side. The operation risk is reduced, and the reliability of the system is improved.