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.

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

IPC: B24B51/00 ,  B24B9/00

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.

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.

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

IPC: G09B19/24 ,  G09B25/02

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.

公开(公告)号：US11059171B2

公开(公告)日：2021-07-13

申请号：US16360586

申请日：2019-03-21

Applicant: ABB Schweiz AG

Inventor： Ling Wang ,  Shaojie Cheng ,  Roy Fraser ,  Yan Xu ,  Wenqi Yeo ,  Yanlai Wu

IPC: B25J9/16 ,  B25J9/00 ,  G05B19/418

Abstract: A method and an apparatus for optimizing a target working line are disclosed. The target working line includes at least one robot manipulator, at least one conveyor and at least one item on the conveyor to be displaced by the robot manipulator. The method includes: obtaining an evaluation model for the target working line, the evaluation model yielding an overall success rate of moving the item from one conveyor to another conveyor based on at least one measuring parameter, the measuring parameter being a physical attribute of the target working line; yielding the overall success rate for the target working line as a function of a value for the measuring parameter for the target working line; and in case that the yielded overall success rate is lower than a predetermined threshold rate, updating a value for a configuring parameter based on the overall success rate, the configuring parameter corresponding to the measuring parameter, and the configuring parameter being states of the working line. The optimization of the evaluation model does not require an implementation of an on-site process or an involvement of an experienced engineer or worker. Instead, simulation software can be used to obtain customized parameters used for the target working line, resulting in an increased success rate within a short period of time.

公开(公告)号：US20180229369A1

公开(公告)日：2018-08-16

申请号：US15950457

申请日：2018-04-11

Applicant: ABB Schweiz AG

Inventor： Lei Mao ,  Shaojie Cheng ,  Peng Kong

IPC: B25J9/16

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.