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公开(公告)号：US10946498B2
公开(公告)日：2021-03-16
申请号：US15567404
申请日：2015-11-10
Applicant: ABB Schweiz AG
Inventor： Lei Mao , Shaojie Cheng , Diamond Daimeng Dong
IPC: B24B51/00 , B24B49/00 , B24B49/02 , B24B27/00 , B24B9/00 , B25J9/16 , G05B19/4093 , G05B19/416
Abstract: The present invention discloses a method and system for machining a work piece by a machining tool, and a robot system using the same. The method comprises: defining a customized contact point on the machining tool by setting a contact point height of the machining tool; moving the machining tool against the work piece to apply predefined machining feeds. Compared with the existing prior arts, the proposed method and system improves machining efficiency and accuracy. With the method and system according to the present disclosure, high machining efficiency could be achieved as well as collisions could be avoided.
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公开(公告)号：US20180281138A1
公开(公告)日：2018-10-04
申请号：US15940066
申请日：2018-03-29
Applicant: ABB Schweiz AG
Inventor： Shaojie Cheng , Diamond Daimeng Dong , Lei Mao
IPC: B23Q15/007 , B25J11/00
CPC classification number: B23Q15/0075 , B23C3/12 , B24B9/00 , B24B27/0038 , B25J9/1664 , B25J11/006 , G05B2219/45062 , G05B2219/49384
Abstract: A method and a system for machining a work piece by a machining tool are provided. The method includes relatively moving the machining tool against the work piece to apply machining feeds therebetween. The contact points at the work piece are arranged on the area of the work piece to be machined, and the contact points at the machining tool form a curve on the machining tool surface. The system includes a manipulator, a machining tool and a controller being adapted for controlling the manipulator to operate the machining tool according to the method as above. With this solution, the system can generate wave paths of a machining tool, so as to extend the life of the tool and ensure the processing quality.
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公开(公告)号：US20180141184A1
公开(公告)日：2018-05-24
申请号：US15567404
申请日：2015-11-10
Applicant: ABB Schweiz AG
Inventor： Lei Mao , Shaojie Cheng , Diamond Daimeng Dong
CPC classification number: B24B51/00 , B24B9/00 , B24B27/0038 , B25J9/1666 , G05B19/4093 , G05B19/4163 , G05B2219/35158 , G05B2219/43031 , G05B2219/49077 , G05B2219/49088 , G05B2219/49103 , G05B2219/49149 , G05B2219/49157 , G05B2219/50285 , G05B2219/50339
Abstract: The present invention discloses a method and system for machining a work piece by a machining tool, and a robot system using the same. The method comprises: defining a customized contact point on the machining tool by setting a contact point height of the machining tool; moving the machining tool against the work piece to apply predefined machining feeds. Compared with the existing prior arts, the proposed method and system improves machining efficiency and accuracy. With the method and system according to the present disclosure, high machining efficiency could be achieved as well as collisions could be avoided.
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公开(公告)号：US11491653B2
公开(公告)日：2022-11-08
申请号：US16884438
申请日：2020-05-27
Applicant: ABB Schweiz AG
Abstract: A method for robotic machining is disclosed. The method includes determining a first designed machining path based on a modelled surface for a target surface to be machined. The method also includes causing a robot to machine the target surface based on the first designed machining path in an adaptive manner to obtain an actual machining path, wherein where the modelled surface is different from the target surface, the robot is caused to follow the target surface. The method further includes determining a second designed machining path for the target surface based on the actual machining path and the first designed machining path.
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公开(公告)号：US20220111515A1
公开(公告)日：2022-04-14
申请号：US17418490
申请日：2019-02-13
Applicant: ABB Schweiz AG
IPC: B25J9/16
Abstract: Methods for controlling a robot system. In the method, a robot program for controlling a motion path of the robot system is imported, the motion path is used for processing a first workpiece into a second workpiece, and the robot program includes a variable for representing a parameter for controlling a feature of the motion path. A user of the robot system is provided with an interface for controlling the robot system. The robot program is updated based on an input from the user for adjusting the parameter. Further, embodiments of present disclosure provide corresponding apparatuses, systems and media for controlling a robot system, and methods, apparatuses, systems, and media for generating a robot program. With these embodiments, the robot program may be adjusted at an online side without a need to return to an offline programming tool for updating the robot program.
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Patent Agency Ranking
公开(公告)号：US20200282559A1
公开(公告)日：2020-09-10
申请号：US16884438
申请日：2020-05-27
Applicant: ABB Schweiz AG
Abstract: A method for robotic machining is disclosed. The method includes determining a first designed machining path based on a modelled surface for a target surface to be machined. The method also includes causing a robot to machine the target surface based on the first designed machining path in an adaptive manner to obtain an actual machining path, wherein where the modelled surface is different from the target surface, the robot is caused to follow the target surface. The method further includes determining a second designed machining path for the target surface based on the actual machining path and the first designed machining path.
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公开(公告)号：US10759050B2
公开(公告)日：2020-09-01
申请号：US15950457
申请日：2018-04-11
Applicant: ABB Schweiz AG
Inventor： Lei Mao , Shaojie Cheng , Peng Kong
IPC: B25J9/16 , G05B19/19 , G05B19/427 , G05B19/408
Abstract: A robot off-line programming method. The method includes: respectively obtaining a first data representing positions and orientations of the plurality of targets on at least one work piece, a second data representing position of the at least one work piece, a third data representing geometry of a tool, and a fourth data representing the tool position and orientation with respect to an end of the robot; obtaining the robot path for which the tool tip passes through the plurality of the targets on the at least one work piece; using a function of an inverse kinematics for the robot model in consideration of the first data, the second data, the third data and the fourth data, calculating how many of the targets on the obtained robot path are reachable to the tool in relation to various rotation angle of the tool around the tool axis within a predetermined range so as to comply with optimization criteria. With the automatic calculation and intuitive preview, users could get to know directly about how many targets can be processed actually on a robot path. If the reachability is unsatisfied, the users could also have chances to modify the settings to obtain a more reasonable and precise path. An apparatus for implementing the method is also disclosed.
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公开(公告)号：US20180117701A1
公开(公告)日：2018-05-03
申请号：US15852229
申请日：2017-12-22
Applicant: ABB Schweiz AG
Inventor： Jingguo Ge , Peng Kong , Lei Mao
CPC classification number: B23K9/32 , B23K9/0956 , B23K9/1272 , B23K9/16 , B23K31/02 , G06T7/12 , G06T2207/30152
Abstract: A method and an apparatus of identifying welding seams of a welding object. The method includes identifying intersection lines between geometrical bodies of the welding object in a three-dimensional model for the welding object, based on geometry of the geometrical bodies to form a collection of welding seams for the welding object. The method also includes eliminating hidden seams from the collection of welding seams for the welding object based on overlapping relationship among the welding seams to form a candidate seam list. Welding seams can be identified automatically and efficiently, and the method or the apparatus makes the automatic programming of the welding robot possible and thus facilitates use of a robot in welding huge and complex structures manufactured in a small batch.
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公开(公告)号：US11806877B2
公开(公告)日：2023-11-07
申请号：US17055187
申请日：2018-02-08
Applicant: ABB Schweiz AG
Inventor： Fangfang Zhao , Lei Mao , Shaojie Cheng
IPC: B25J9/16 , G05B19/408
CPC classification number: B25J9/1664 , G05B19/4083 , G05B2219/37575 , G05B2219/45096 , G05B2219/50063 , G05B2219/50087
Abstract: Embodiments of present disclosure relate to adjusting a robot motion path. In the method for adjusting a robot motion path, a first processing procedure may be performed on a first workpiece to obtain a first product. Then, first process data may be obtained, where the first process data describes an attribute of the first processing procedure for obtaining the first product from the first workpiece. Next, based on the obtained first process data, a robot motion path of a second processing procedure that is to be performed on the first product by a robot may be adjusted. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for adjusting a robot motion path.
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20.发明授权公开(公告)号：US11417238B2
公开(公告)日：2022-08-16
申请号：US16049046
申请日：2018-07-30
Applicant: ABB Schweiz AG
Inventor： Jiajing Tan , Shaojie Cheng , Lei Mao
Abstract: A method, system and apparatus of determining search parameters for welding seam point calibration. The method includes determining, for a seam vertex point on a welding seam, three reference faces which are perpendicular to each other, based on geometry of an object to be weld in a virtual model; and determining a start point and a search point of a search motion for welding seam point calibration based on the three reference faces and predetermined criteria respectively for the start point and the search point. Three reference faces can be extracted automatically, and search parameters needed for the search instructions can be determined based thereon which enables automatic generation of search instructions and thus the time, manpower and cost for the welding seam point calibration can be reduced greatly.
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