30 results about "Robot programming" patented technology

A method of programming an industrial robot, comprising: recording movements of a robot manipulator during a demonstration-based programming session, to obtain a robot trajectory (301); using a natural-language model (171), parsing speech data describing the programming session into at least one robot parameter (305) value and annotating the robot trajectory with the robot parameter value; and, on the basis of the annotated robot trajectory (306), generating a robot program (307). The method further comprises: capturing a video (302) of the programming session; using a vision-enabled language model, VLM (172), generating descriptions (303) of movements of the robot manipulator which are visible in the video; and generating said speech data (304) on the basis of the descriptions of the robot manipulator movements.

Robot programming device (10) designed for teaching a robot program by arranging a robot model equipped with a tool model, a workpiece model and a peripheral device model in a virtual space representing a workspace three-dimensionally and displaying them on a screen, wherein the device (10) comprises the following: a robot model motion part (14) designed to move a predetermined movable part of the robot model from a first position to a second position according to a learning content; an arm reversal detection element (21) designed to detect whether an axis contained in the robot model is in a predetermined state in which the axis is rotated by 180° ± a first predetermined value of a reference rotation angle when the predetermined movable part of the robot model is moved to the second position; and an arm reversal correction judgment (23) designed to correct an orientation of the robot model, wherein the predetermined movable part of the robot model is in the second position such that the axis is no longer in the predetermined state when it is detected that an axis contained in the robot model is in the predetermined state, the correction of the robot model's orientation at the second position is carried out according to the following rules: (1) only one axis angle is corrected; or (2) if (1) cannot be fulfilled, the predetermined movable part is moved by parallel displacement to correct the orientation.

This robot programming device comprises: a three-dimensional model arrangement unit which arranges, in a virtual space, a robot model, a tool model, and a workpiece model; a change range extraction unit which extracts, as a change range, a range in which a degree of change in orientation satisfies a predetermined condition, said degree of change in orientation being of at least one among a direction vector indicating a direction of a work path specified in the workpiece model and a normal vector of a surface containing said work path; and a setting application unit which, in relation to the extracted change range, applies, as a setting related to conditions for generating teaching points of a robot program, a setting which differs from a setting to be applied for a range outside of the change range of the work path.

A robot programming device includes: a model configuration unit that configures a robot system model including a robot model in a virtual space; a grid configuration unit that configures a three-dimensional grid in the virtual space; a grid point selection unit that selects grid points within the three-dimensional grid according to user operation; an attitude setting unit that sets the attitude of the robot model at the selected grid point; and a teach point generation unit that generates teach points constituting an action program based on the selected grid point and the attitude of the robot model set for that grid point.

This application discloses a method and apparatus for planning paths in an industrial intelligent agent, relating to the fields of industrial intelligent control and offline robot programming. The method is deployed in a local industrial intelligent agent system and includes: performing vectorized encoding matching on business data and local knowledge base entries to form a unified task description body; obtaining a structured planning semantic layer result based on the unified task description body, and obtaining a semantic action mapping path from the structured planning semantic layer result; performing inverse kinematics solving and interpolation calculation on the semantic action mapping path to obtain candidate paths; performing simulation detection processing on the candidate paths to obtain simulation detection results, and generating a final planned path based on the simulation detection results and sending it to the robot control module. This application forms an autonomous closed loop of planning, verification, and correction, which can reduce the computational overhead of global replanning, improve real-time performance and robustness, and simultaneously enhance production safety and process accuracy consistency.

The invention discloses a method for cladding babbitt metal on a bearing cover. The method comprises the steps of (1) equipment electrification, (2) tool installation, (3) workpiece installation, (4) robot programming, (5) welding programming, (6) welding starting, (7) welding ending and the like. An efficient, convenient and easy-to-operate welding mode is provided, the operation efficiency is improved, the operation difficulty is reduced, and the welding quality is greatly improved.

The application relates to a trajectory graphical programming method and device, an electronic device and a storage medium, the method comprising the following steps: according to the operation of a selected graphical object in a preset graphical programming area by a user, determining an edited target trajectory, generating corresponding editing parameters, and editing parameters being used for representing an editing operation performed on the target trajectory; based on the editing parameters, editing attribute parameters of a graphical class object currently corresponding to the target trajectory to obtain a target graphical class object corresponding to the edited target trajectory, and determining a target text class object corresponding to the target graphical class object; in program text currently corresponding to the target trajectory, determining a target code area corresponding to the target text class object, modifying code text of the target code area based on the editing parameters to generate target program text for controlling a robot to move according to the target trajectory, and the application solves the problem that graphical programming cannot be achieved when a robot is programmed.

A micro chain laser welding tensioning device comprises a mounting frame, a fixed plate fixedly connected with the mounting frame, a movable plate arranged on one side of the fixed plate and slidably connected with the mounting frame, and a driving mechanism connected with the mounting frame and used for driving the movable plate to move left and right relative to the fixed plate. A first clamping type conversion module is arranged on the fixed plate, a second clamping type conversion module is arranged on the movable plate, chain wheels are arranged on the first clamping type conversion module and the second clamping type conversion module, and a first clamping mechanism and a second clamping mechanism which are used for clamping the chain and the chain wheels are arranged on the fixed plate and the movable plate respectively. The invention discloses a micro chain laser welding tensioning device which can realize tensioning of a micro chain, facilitates programming of a welding robot for continuous welding and improves the production efficiency, provides a unique movable clamping mechanism, can take into account two different structural forms of an open chain and a closed chain, and has high universality.

1. Name of the product in this design: Graphical User Interface for Robot Programming Management in Electronic Devices. 2. Intended use of this design: for use in an electronic device. 3. The key design feature of this product is its graphical user interface. 4. The image or photograph that best illustrates the design's key features: the front view. 5. Electronic devices are designed in a conventional way, so other views are omitted. 6. Purpose of the Graphical User Interface: Used for graphical programming, editing, and operation management of the robot's workflow; Clicking the project card named "Project1" in the main view displays Change State 1; clicking "Primitives" in Change State 1 displays Change State 2; selecting and dragging the required node tasks to the right canvas in Change State 2 displays Change State 3; clicking "Variables" in Change State 3 displays Change State 4; configuring variables in Change State 4 and clicking "SAVE" displays Change State 5; clicking the second node task box in Change State 5 displays Change State 6; clicking "Connect" in Change State 6 displays Change State 7; clicking "Edit" in Change State 7 displays Change State 8; editing the node in Change State 8 and clicking "SAVE" displays Change State 9; clicking the "+" button on the connection line in Change State 9 and selecting "ADD"... The "CONDITION" command displays state diagram 10. After adding conditions to state diagram 10, clicking "SAVE" displays state diagram 11. Clicking the "+" button on the connecting line in state diagram 11 displays state diagram 12. After editing the calculation conditions in state diagram 12, clicking "SAVE" displays state diagram 13. Clicking "SAVE PROJECT" in state diagram 13 displays state diagram 14. Clicking "ASSIGN PROJECT" in state diagram 14 displays state diagram 15. Clicking "CMD" in state diagram 15 displays state diagram 16. Clicking "Var" in state diagram 16 displays state diagram 17. Clicking "Scope" in state diagram 17 displays state diagram 18. Clicking "3D" in state diagram 18 displays state diagram 19.

The present application easily generates a motion program of a robot that moves a held object held by the robot while pressing the held object against a fixed object. A robot programming device is a robot programming device that generates a motion program of a robot that moves a held object held by the robot while pressing the held object against a fixed object, and includes: a model arrangement unit that arranges a robot model of the robot, a held object model of the held object, and a fixed object model of the fixed object in a three-dimensional virtual space; a reference line specification unit that specifies a reference line that indicates a range of pressing on the periphery of the held object model against the fixed object; a transfer start point specification unit that specifies a transfer start point at which the reference line is transferred on the fixed object model; and a motion track generation unit that generates a motion track by transferring the reference line on the fixed object with the transfer start point as a start point.

A programming assistance apparatus assists programming with respect to a program that operates two or more devices including at least a robot in parallel. The programming assistance apparatus includes a device extractor, a determiner, and an alerter. The device extractor extracts an identification name of a device to which an operation command is issued per unit of parallel operation based on a description content of the program. The determiner determines whether there is a shared target device, to which operation commands targeting a same device in two or more parallel operations are issued. The alerter outputs an alert when it is determined that there is the shared target device.

A method for teaching a robot to perform an operation based on human demonstration using force and vision sensors. The method includes a vision sensor to detect position and pose of both the human's hand and optionally a workpiece during teaching of an operation such as pick, move and place. The force sensor, located either beneath the workpiece or on a tool, is used to detect force information. Data from the vision and force sensors, along with other optional inputs, are used to teach both motions and state change logic for the operation being taught. Several techniques are disclosed for determining state change logic, such as the transition from approaching to grasping. Techniques for improving motion programming to remove extraneous motions by the hand are also disclosed. Robot programming commands are then generated from the hand position and orientation data, along with the state transitions.

1. Name of the design product: teaching pendant (robot programming). 2. Use of the design product: used for programming and controlling the work of robots, etc. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

A method of programming an industrial robot (100), which comprises a robot manipulator (110) and a robot controller (120), comprising: recording movements of a robot manipulator during a demonstration-based programming session, to obtain a robot trajectory; capturing speech data while recording the movements of the robot manipulator; using a natural-language model, parsing the speech data into at least one robot parameter value and annotating the robot trajectory with the robot parameter value; and, on the basis of the annotated robot trajectory, generating a robot program. The method further comprises outputting spoken guidance to an operator (190) before or during the demonstration-based programming session, or between completion of the programming session and the generating of the robot program, or after an execution of the robot program by the industrial robot.

A robot programming device capable of improving the teaching efficiency of a motion program for a fitting work performed by a robot is provided. This robot programming device includes: a feature acquisition unit for acquiring shape features of a first work object model and a second work object model; a teaching point setting unit for setting, on the basis of the shape features, a teaching point for fitting an axis of the first work object model into a hole of the second work object model by the robot model; and a program creation unit for creating a motion program for the robot to perform fitting work for fitting the axis of the first work object model into the hole of the second work object model, using the set teaching point.

This robot programming device comprises: a three-dimensional model arrangement unit that arranges a robot model, a tool model, and a workpiece model in a virtual space; a work location designation unit that designates a work location on the workpiece model; a tool contact point coordinate system setting unit that sets a tool contact point coordinate system at a location on the tool model that comes into contact with the work location; a tool contact point position / orientation calculation unit that calculates the position and orientation of the tool contact point coordinate system with respect to a robot model coordinate system when the origin of the tool contact point coordinate system comes into contact with the work location; a tool reference point position / orientation calculation unit that calculates the position and orientation of a tool reference point coordinate system, set at a reference point of the tool model, with respect to the robot model coordinate system when the origin of the tool contact point coordinate system comes into contact with the work location, from the position and orientation of the tool contact point coordinate system with respect to the robot model coordinate system and the position and orientation of the tool reference point coordinate system with respect to the tool contact point coordinate system; and a teaching point generation unit that generates a teaching point for a robot program on the basis of predetermined operating conditions and the calculated position and orientation of the tool reference point coordinate system.

The invention discloses an AI robot programming control system oriented to an education scene and an implementation method, and belongs to the field of intelligent education technology and robot control, and the implementation method comprises the following steps: constructing a task logic topological graph, and calculating a tail end pose and a joint stress range; a student programming instruction is analyzed to generate an abstract syntax tree, and virtual dynamics calculation and entity robot control are executed concurrently; reversely mapping the execution deviation matrix to the abstract syntax tree, executing error gradient back propagation operation and generating an error attribution map; random branch sampling and virtual dynamics forward calculation are executed; and acquiring student modification results at the interaction terminal and updating calculation parameters. According to the method, virtual-real fusion simulation and cognitive attribution analysis are adopted, accurate diagnosis of programming logic and physical execution differences can be achieved, and the pertinence of programming teaching is improved.

A robot programming apparatus has a model configuration section that configures a robot system model including a robot model, a hand model mounted on the robot model, and a workpiece model in a virtual space; a surface specification section that accepts a user operation that specifies a surface involved in a prescribed work performed by the robot model on the workpiece model in the virtual space; a grid configuration section that configures a three-dimensional grid in the virtual space using the specified surface or a point on the surface as a reference; a posture setting section that sets a posture of the robot model that holds the workpiece model configured at a grid point of the three-dimensional grid using the hand model; and a teaching point generation section that generates a teaching point that constitutes a motion program of the prescribed work based on the grid point at which the workpiece model is configured and the posture of the robot model set at the grid point.

The application discloses an industrial robot programming teaching method and system, and belongs to the technical field of programming teaching, and the method specifically comprises the following steps: collecting programming behavior data and industrial robot operation data in real time; generating learning state data of students according to the programming behavior data and the industrial robot operation data; the learning state data of the students comprises programming behavior, knowledge mastery degree and learning style of the students; combining a preset dynamic knowledge graph; determining a knowledge point node embedding offset according to the learning state data of the students; updating the current dynamic knowledge graph according to the knowledge point node embedding offset; determining a current knowledge difficulty point of the students based on the current dynamic knowledge graph; and pushing difficult point analysis data to a learning terminal of the students based on the current knowledge difficulty point. The application realizes precise knowledge feedback for individual differences, and effectively improves the pertinence and efficiency of industrial robot programming teaching.

An in-situ robot programming method for a hydraulic turbine top cover based on binocular structured light vision is provided, which relates to the field of robot vision-guided intelligent processing technologies. The method performs hand-eye calibration on a binocular structured light camera and a robot to construct a coordinate conversion relationship thereof, collects an annular to-be-processed area of the hydraulic turbine top cover by the binocular structured light camera for joining, and obtains a trajectory and a trajectory plan through point cloud processing algorithms, to thereby achieve a rapid programming for the hydraulic turbine top cover based on guidance of binocular structured light vision. The method adapts to changes in sizes of the hydraulic turbine top cover and take into account real-time performance and robustness, so that impacts of uncertainty factors on the system are greatly weakened, and the method has characteristics of intelligence and high degree of systematization.

The application discloses an AI robot programming control system and implementation method for an education scene, belongs to the field of intelligent education technology and robot control, and comprises the following steps: constructing a task logic topology graph, calculating an end pose and a joint stress range; analyzing student programming instructions to generate an abstract syntax tree, and performing virtual dynamics calculation and entity robot control in parallel; reversely mapping an execution deviation matrix to the abstract syntax tree, performing error gradient back propagation calculation, and generating an error attribution graph; performing random branch sampling and virtual dynamics forward calculation; and collecting student modification results and updating calculation parameters at an interactive terminal. The application adopts virtual-real fusion simulation and cognitive attribution analysis, can realize accurate diagnosis of programming logic and physical execution differences, and improves the pertinence of programming teaching.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating control instructions for operating a robot. One of the methods includes generating an interactive user interface that illustrates an object to be manipulated by a robot by using an end effector; receiving, within the user interface, first user input data indicating a workcell location; computing a surface normal of a surface in the workcell corresponding to the workcell location; presenting, within the user interface, a graphical representation of the surface normal corresponding to the workcell location; receiving, within the user interface, second user input data selecting the workcell location; and generating pose data for the robot using the computed surface normal and the workcell location.

This invention relates to an offline robot programming system, integrating modules for data input, offline programming environment, simulation, code generation, and program deployment. The system allows users to write and test programs without connecting to an actual robot. The simulation module models various work scenarios and robot models, ensuring the correctness and reliability of the program before actual deployment. Simultaneously, the code generation module automatically adjusts the code according to the robot model and control system, improving code compatibility and executability. This invention enhances the flexibility and efficiency of robot programming, reduces deployment risks, and has broad application prospects.

The invention discloses a knowledge graph-based robot understanding and reasoning method. The method comprises the following steps of S1, constructing a multi-level cross-scene knowledge graph based on robot operation knowledge; s2, acquiring a user instruction, and generating a corresponding structured context; s3, inputting the user instruction and the structured context into a large language model, and combining with the knowledge graph to obtain an executable action sequence; the problems that a traditional robot programming method is poor in generalization ability and a large language model lacks field professional knowledge are effectively solved.

The embodiment of the invention relates to the technical field of robots, and discloses a robot programming teaching method and system. The robot programming teaching method comprises the following steps: receiving a dragging operation on a robot, and obtaining action data of the robot; generating a programming file based on the action data and a preset programming template; and generating a robot virtual trajectory curve according to the action data of the robot, and associating the robot virtual trajectory curve with the programming file to complete programming teaching. According to the scheme, the learning difficulty can be reduced, and the teaching effect can be improved.

The invention relates to a welding workstation for ship BK parts and an automatic welding method, and belongs to the technical field of welding equipment. According to the technical scheme, the workpiece outer contour recognition method is used for recognizing and extracting the outer contour of an uncertain incoming material workpiece used for welding a BK part; a main board and a rib plate in a BK piece are automatically matched through the main rib plate matching method, character positioning is carried out through deep learning OCR, feature extraction is carried out through a convolutional neural network, character information of the main board and the rib plate is obtained, and matching of the main rib plate is completed; according to the precise position grabbing method, the geometric center of a workpiece is precisely positioned, and precise position grabbing is achieved in cooperation with a robot programming system. According to the precise pairing method, feature extraction and matching are carried out through a deep convolutional neural network, assembly line positioning is completed, and precise pairing is achieved. Raw material workpieces for assembling BK parts are judged and recognized through the 3D camera, the recognition stability is improved, the system adapts to diversified site construction environments, the process stability is guaranteed, and the hidden danger of operation environment pollution is reduced.

1. Name of the product in this design: Humanoid dual-arm chassis robot. 2. Application of this design: This design is intended for use in industrial intelligent application scenarios, scientific research and teaching experimental platforms, robot programming internships, and home entertainment and interaction. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. Name of the product in this design: Bionic fox-shaped quadruped robot. 2. Application of this design: This design is intended for use in industrial intelligent application scenarios, scientific research and teaching experimental platforms, robot programming internships, and home entertainment and interaction. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This invention provides an experimental method and system combining robot programming control and industrial assembly simulation. The method includes: constructing an industrial assembly scenario library by classifying different scenarios and corresponding assembly and programming tasks; building an experimental platform supporting multiple learning stages and scenarios through local large-scale model deployment, programming mode configuration, and collaborative rule settings; executing programming control and real-time simulation for industrial assembly based on the industrial assembly scenario library and experimental platform; collecting and analyzing multimodal experimental data in real time during the execution of programming control and real-time simulation; and generating experimental evaluations and optimization suggestions based on the analysis results. This invention enhances the practicality of teaching; utilizes a local large-scale model to achieve real-time feedback and error warnings, ensuring operational safety and improving teaching efficiency; and through a multi-dimensional evaluation system, helps teachers accurately grasp student learning progress, promoting the standardization and personalization of programming control and assembly simulation in the industrial field.