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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：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：US20220088784A1
公开(公告)日：2022-03-24
申请号：US17419497
申请日：2019-01-21
Applicant: ABB Schweiz AG
Inventor： Jiajing Tan , Wenyao Shao , Shaojie Cheng
Abstract: Embodiments of the present disclosure provide methods for monitoring a robot system including a robot arm for processing at least one object. In the method, an arm position of the robot arm may be obtained from a controller of the robot arm. An object position of one of the at least one object may be obtained from object data collected by a camera device. The robot system may be monitored by displaying a virtual representation of the robot arm and a virtual representation of the object based on the obtained arm position and the object position, respectively. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for monitoring a robot system. With these embodiments, the robot system may be monitored in an easy and effective way even if the robot system is built in an environment with a narrow place and/or with inadequate light.
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5.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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Patent Agency Ranking
公开(公告)号：US20220088783A1
公开(公告)日：2022-03-24
申请号：US17419486
申请日：2019-01-21
Applicant: ABB Schweiz AG
Inventor： Wenyao Shao , Shaojie Cheng , Jiajing Tan
IPC: B25J9/16 , G06T7/70 , G05B19/418 , B25J9/00
Abstract: Methods for simulating an object in a manufacturing line, wherein the object is placed on a conveyor in the manufacturing line. In the method, a position of the object is obtained from object data collected by a camera device deployed in the manufacturing line. A movement of the conveyor is determined from a controller of the conveyor. An object position of the object is obtained based on the determined position and an offset of the object caused by the movement of the conveyor. A virtual representation of the object is displayed at the determined object position in a virtual environment. With the virtual environment, the administrator of the manufacturing line may be provided with accurate states of the manufacturing line, based on which operations of a robot system that is to be deployed in the manufacturing line may be estimated.
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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：US20190217470A1
公开(公告)日：2019-07-18
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
CPC classification number: B25J9/1661 , B25J9/0093 , B25J9/1664 , B25J9/1671 , B25J9/1697 , G05B19/41815 , G05B2219/32294 , G05B2219/39391 , Y02P90/08 , Y02P90/083 , Y02P90/20 , Y02P90/26
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.
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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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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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