公开(公告)号：US20230035853A1

公开(公告)日：2023-02-02

申请号：US17759034

申请日：2020-02-06

Applicant: ABB Schweiz AG

Inventor： Jinsong Li

IPC: B23K26/03 ,  B23K26/06 ,  B23K26/08 ,  B23K26/38

Abstract: Devices and methods for cutting an opening from a workpiece. The apparatus comprises a first emitter and a second emitter, a power of a first laser emitted by the first emitter being smaller than a power of a second laser emitted by the second emitter. The apparatus further comprises a laser head, an image sensor, and a processing unit. The laser head is coupled to the first and second emitters and adapted to move adjacent to a first side of a workpiece and direct the first and second lasers onto the first side. The image sensor is configured to receive the first laser to form an image of the first laser. The processing unit is configured to determine a difference between a profile of the image of the first laser and a predetermined profile of an opening to be cut from the workpiece.

公开(公告)号：US10160116B2

公开(公告)日：2018-12-25

申请号：US15251366

申请日：2016-08-30

Applicant: ABB Schweiz AG

Inventor： Jinsong Li ,  Hao Gu ,  Yonglin Chi ,  Yan Xu

IPC: B25J9/00 ,  B25J9/16

Abstract: A method is disclosed for calibrating a tool center point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool center point of said tool interrupts said crossing point of said cross beam sensor.

公开(公告)号：US20160368147A1

公开(公告)日：2016-12-22

申请号：US15251366

申请日：2016-08-30

Applicant: ABB Schweiz AG

Inventor： Jinsong Li ,  Hao Gu ,  Yonglin Chi ,  Yan Xu

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/39024 ,  G05B2219/39025

Abstract: A method is disclosed for calibrating a tool centre point of tool for an industrial robot system. The method can include moving a first part of said tool and a cross beam sensor by said industrial robot; recording a first posture and a second posture of said industrial robot during the interruptions of a first beam and a second beam of a cross beam sensor; moving a second part of said tool and said cross beam sensor by said industrial robot; recording a third posture and a fourth posture of said industrial robot; calculating the tool orientation in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot; and moving said tool and said cross beam sensor by said industrial robot so that said tool centre point of said tool interrupts said crossing point of said cross beam sensor.

Abstract translation: 公开了一种用于校准用于工业机器人系统的工具的工具中心点的方法。 该方法可以包括通过所述工业机器人移动所述工具的第一部分和横梁传感器; 在横梁传感器的第一梁和第二梁的中断期间记录所述工业机器人的第一姿势和第二姿态; 通过所述工业机器人移动所述工具的第二部分和所述横梁传感器; 记录所述工业机器人的第三姿态和第四姿势; 考虑到所述工业机器人的所述第一姿态，第二姿势，第三姿态和第四姿势来计算所述工具姿势; 以及通过所述工业机器人移动所述工具和所述横梁传感器，使得所述工具的所述工具中心点中断所述横梁传感器的所述交叉点。

公开(公告)号：US10786904B2

公开(公告)日：2020-09-29

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20200061837A1

公开(公告)日：2020-02-27

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G06F3/041 ,  G05B19/401 ,  B25J11/00

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20190232499A1

公开(公告)日：2019-08-01

申请号：US16377869

申请日：2019-04-08

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Hao Gu ,  Jinsong Li ,  Yan Xu ,  Shaojie Cheng ,  Lei Mao

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1617 ,  B25J9/1664 ,  G01B21/042 ,  G05B19/404 ,  G05B2219/39021

Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.

公开(公告)号：US11312019B2

公开(公告)日：2022-04-26

申请号：US16377869

申请日：2019-04-08

Applicant: ABB Schweiz AG

Inventor： Jiajing Tan ,  Hao Gu ,  Jinsong Li ,  Yan Xu ,  Shaojie Cheng ,  Lei Mao

IPC: B25J9/16 ,  G05B19/404 ,  G01B21/04

Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.

公开(公告)号：US11207781B2

公开(公告)日：2021-12-28

申请号：US16674916

申请日：2019-11-05

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  B25J11/00 ,  G05B19/401 ,  G05B19/414

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.

公开(公告)号：US20180126557A1

公开(公告)日：2018-05-10

申请号：US15719243

申请日：2017-09-28

Applicant: ABB Schweiz AG

Inventor： HAO GU ,  Qingwei Li ,  Jinsong Li ,  Jihuan Tian ,  Liwei Qi ,  Jianjiang Wang

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/414 ,  G06F3/041

Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.