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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：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.
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Patent Agency Ranking
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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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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