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公开(公告)号：US10759015B2
公开(公告)日：2020-09-01
申请号：US15940066
申请日：2018-03-29
Applicant: ABB Schweiz AG
Inventor： Shaojie Cheng , Diamond Daimeng Dong , Lei Mao
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：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.
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公开(公告)号：US20180111267A1
公开(公告)日：2018-04-26
申请号：US15838732
申请日：2017-12-12
Applicant: ABB Schweiz AG
Inventor： Jingguo Ge , Lei Mao , Peng Kong
IPC: B25J9/16
CPC classification number: B25J9/1661 , B25J9/1664 , B25J9/1666 , B25J9/1669 , B25J9/1671 , G05B2219/40476 , G05B2219/40518 , G05B2219/45104 , G05B2219/49386
Abstract: Embodiments of the present disclosure relate to a method and apparatus of scheduling welding operations. In an embodiment of the present disclosure, the method includes identifying seams on a welding object in a three-dimensional model for the welding object based on geometry of bodies contained in the welding object. The method also includes determining a welding sequence based on the seams, welding parameters and welding process requirements. The method further includes generating an operation procedure for a welding robot based on another three-dimensional model for the welding robot, the welding sequence, robot path parameters and the welding parameters to schedule the welding operations of the welding object. With embodiments of the present disclosure, the welding procedure could be generated in an automatic way and thus a robot can be used in welding huge and complex structures or structures manufactured in a small batch so that the automatic level can be increased remarkably and the production cost can be reduced accordingly.
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公开(公告)号：US20240308078A1
公开(公告)日：2024-09-19
申请号：US18576694
申请日：2021-09-22
Applicant: ABB SCHWEIZ AG
CPC classification number: B25J9/1692 , B25J9/1653 , B25J13/089
Abstract: A method and an electronic device for calibrating a robot. The method includes obtaining at least two sets of positional data of a first reference point in a base coordinate system of the robot, the first reference point fixedly arranged on the external axis, the at least two sets of positional data corresponding to at least two positions of the first reference point during movement of the external axis. The method includes determining a transformation relationship between the base coordinate system and an user coordinate system of the external axis according to the at least two sets of positional data, determining the calibrated user coordinate system based on the base coordinate system and the transformation relationship, and controlling the robot to process an object arranged on the external axis under the calibrated user coordinate system.
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公开(公告)号：US20240075618A1
公开(公告)日：2024-03-07
申请号：US18262280
申请日：2021-02-10
Applicant: ABB Schweiz AG
Inventor： Zhongyu Li , Lei Mao , Wenyao Shao
CPC classification number: B25J9/1664 , B25J9/1653 , B25J11/005
Abstract: An apparatus, a system and a method for tuning a robot path for processing a workpiece. The method includes overlapping a visual representation of the robot path on a visual presentation of the workpiece. The visual presentation of the robot path includes at least one virtual point that corresponds to at least one controlling point in the robot path. The method further includes in response to receiving a user input for moving a virtual point in the at least one virtual point relative to the visual presentation of the workpiece, detecting an updated position of the virtual point caused by the user input; and tuning the robot path based on the updated position of the virtual point.
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Patent Agency Ranking
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.
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公开(公告)号：US10960483B2
公开(公告)日：2021-03-30
申请号：US15852229
申请日：2017-12-22
Applicant: ABB Schweiz AG
Inventor： Jingguo Ge , Peng Kong , Lei Mao
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：US10688660B2
公开(公告)日：2020-06-23
申请号：US15838732
申请日：2017-12-12
Applicant: ABB Schweiz AG
Inventor： Jingguo Ge , Lei Mao , Peng Kong
IPC: B25J9/16
Abstract: Embodiments of the present disclosure relate to a method and apparatus of scheduling welding operations. In an embodiment of the present disclosure, the method includes identifying seams on a welding object in a three-dimensional model for the welding object based on geometry of bodies contained in the welding object. The method also includes determining a welding sequence based on the seams, welding parameters and welding process requirements. The method further includes generating an operation procedure for a welding robot based on another three-dimensional model for the welding robot, the welding sequence, robot path parameters and the welding parameters to schedule the welding operations of the welding object. With embodiments of the present disclosure, the welding procedure could be generated in an automatic way and thus a robot can be used in welding huge and complex structures or structures manufactured in a small batch so that the automatic level can be increased remarkably and the production cost can be reduced accordingly.
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9.发明申请公开(公告)号：US20180336800A1
公开(公告)日：2018-11-22
申请号：US16049046
申请日：2018-07-30
Applicant: ABB Schweiz AG
Inventor： Jiajing Tan , Shaojie Cheng , Lei Mao
IPC: G09B19/24
CPC classification number: 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.
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公开(公告)号：US20210220993A1
公开(公告)日：2021-07-22
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
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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