170 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.

This invention relates to a robot programming method that is carried out at a first location (i.e., teaching station) and a second location (i.e., application station). The second location is different from the first location. At the first location, teach data is prepared to teach motions to a robot to drive an end effector through a series of desired path points along a desired path of motion with respect to the application station. The teach data comprises at least one of robot position data elements and at least one of robot motion pattern data elements. At the second location, teach data is communicated to the robot and the robot is programmed in accordance with the teach data to drive the end effector through the series of desired path points along the desired path of motion with respect to the application station. This invention also relates to a robot programming system. The robot programming method and system are useful, for example, in thermal spray coating applications.

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 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 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.

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.

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 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 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 discloses a coaxial wire feeding double-plasma arc additive manufacturing device, and relates to the technical field of additive manufacturing. The coaxial wire feeding double-plasma arcadditive manufacturing device comprises a protection cavity, two welding guns, a welding wire, a wire feeding mechanism and protection gas, wherein the protection cavity structure is of a hollow cavity structure, an inner cavity of the protection cavity is filled with the protection gas, the welding wire is vertically arranged at the axis of the inner cavity of the protection cavity, and the twowelding guns are fixedly installed in the inner cavity of the protection cavity and symmetrically arranged on the two sides of the welding wire; and the wire feeding mechanism is arranged on outer wall of welding wire in a sleeving manner, a through hole is formed in the bottom of the protection cavity, and the welding wire vertically downwards penetrates through the through hole to be fed throughthe wire feeding mechanism. According to the coaxial wire feeding double-plasma arc additive manufacturing device, the problems such as path planning difficulty, complicated robot programming, low forming efficiency and difficulty in forming complex structures caused by paraxial wire feeding in the conventional plasma arc additive manufacturing process are solved.

An embodiment of the invention discloses a method for programming a robot. By means of a preset programming user interface, the user interface comprises a function zone and a display zone, wherein thefunction zone comprises at least one function key which corresponds to a logic command used for programming one by one. The method comprises steps as follows: in response to triggering to the at least one function key, the logic command corresponding to the at least one function key is displayed in the display zone; in response to first preset action, a command configuration interface corresponding to the first preset action is displayed, so that a user configures parameters of the logic command corresponding to the first preset action in the command configuration interface; a robot programming file is generated according to the logic command displayed in the display zone and the parameters of the logic command. Manual input of the logic command is not required, whether the logic sequenceof a program is correct can be conveniently determined from the display zone, the programming burden of programmers is relieved, time required for programming is shortened, and the technical threshold for the programmers of a robot is reduced.