A control method of a robotic arm is provided by an aspect of the present disclosure. The control method comprises using a driver for outputting a first driving force to control the robotic arm held in a first position, and using the driver for outputting a second driving force to control the robotic arm held in a second position. The second position is different to the first position. The control method also comprises the first driving force and the second driving force respectively having an anti-friction force and a kinetic force. The anti-friction force is greater than the kinetic force. The control method also comprises using a control loop, the first position and the second position for adjusting the second driving force to control the robotic arm. The first position and the second position are related to a friction force of the robotic arm.
A control system of a mechanical arm is provided. The control system includes a first transform circuit, a second transform circuit and a third transform circuit. The first transform circuit outputs a first digital power signal in a first mode of the mechanical arm. The second transform circuit outputs a second digital power signal in the first mode of the mechanical arm. When the control system is unable to control the mechanical arm to move in the first mode, the second digital power signal is cut off. When the control system is unable to control the mechanical arm to move in the first mode, the third transform circuit outputs a third digital power signal.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Downloadable computer software for automated equipment management; Recorded computer software using artificial intelligence (AI) for use in controlling and operating robots for scientific research, object identification, analysis, inspection, and object delivery; Downloadable operating system software for robots; Downloadable computer software for motion teaching, AI vision simulating, and autonomous robots control of virtual environments; Telepresence robots; Teaching robots; Laboratory robots; Security surveillance robots; User-programmable humanoid robots, not configured; Humanoid robots having communication and learning functions for assisting and entertaining people; Humanoid robots with artificial intelligence for use in scientific research; Computer software platforms, downloadable, for controlling and managing robots equipped with artificial intelligence for scientific research, object identification, analysis, inspection, and object delivery; Downloadable computer software platforms for simulating, controlling, and training robots with artificial intelligence in virtual environments; Recorded computer software platforms for simulating, controlling, and training robots with artificial intelligence in virtual environments; Downloadable computer software for simulating, controlling, and training robots with artificial intelligence in virtual environments; Computer software platforms, recorded, for controlling and managing robots equipped with artificial intelligence for scientific research, object identification, analysis, inspection, and object delivery
09 - Appareils et instruments scientifiques et électriques
Produits et services
computer software for automated equipment management; computer software, recorded; computer software applications, downloadable; computer software platforms, recorded or downloadable; downloadable application software for virtual environments; telepresence robots; teaching robots; laboratory robots; security surveillance robots; user-programmable humanoid robots, not configured; humanoid robots having communication and learning functions for assisting and entertaining people; humanoid robots with artificial intelligence for use in scientific research.
A control method of a robotic arm is provided. The control method includes: setting a detection circuit, a comparing circuit and a switching circuit. The detection circuit detects the motion of the robotic arm to generate a detection signal. The comparing circuit compares the detection signal with a low threshold region and compares the detection signal with a high threshold region to generate a comparison signal. The switching circuit switches the robotic arm to a first motion mode or a second motion mode according to the comparison signal.
A mechanical equipment comprises a control system and a safety system. The safety system is coupled to the control system, and the safety system monitors the operation of the mechanical equipment, and generates a first monitoring signal and a second monitoring signal according to a synchronization signal. The first monitoring signal and the second monitoring signal are obtained by monitoring the mechanical equipment at the same monitoring time.
A rotating mechanical equipment is provided. The rotating mechanical equipment detects a vibration based on 2 times the rotation frequency to suppress the vibration of the rotating mechanical equipment.
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
G05B 19/402 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour le positionnement, p. ex. centrage d'un outil par rapport à un trou dans la pièce à usiner, moyens de détection additionnels pour corriger la position
G05B 19/404 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour la compensation, p. ex. pour le jeu, le dépassement, le décalage d'outil, l'usure d'outil, la température, les erreurs de construction de la machine, la charge, l'inertie
8.
Control system and drive circuit board for aiding mechanical arm to escape
A control system of a mechanical arm is provided. The control system includes a first transform circuit, a second transform circuit and a third transform circuit. The first transform circuit outputs a first digital power signal in a first mode of the mechanical arm. The second transform circuit outputs a second digital power signal in the first mode of the mechanical arm. When the control system is unable to control the mechanical arm to move in the first mode, the second digital power signal is cut off. When the control system is unable to control the mechanical arm to move in the first mode, the third transform circuit outputs a third digital power signal.
A control method of a robotic arm is provided. The control method includes: setting a detection circuit, a comparing circuit and a switching circuit. The detection circuit detects the motion of the robotic arm to generate a detection signal. The comparing circuit compares the detection signal with a low threshold region and compares the detection signal with a high threshold region to generate a comparison signal. The switching circuit switches the robotic arm to a first motion mode or a second motion mode according to the comparison signal.
(1) Industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses; industrial robots for manufacturing, processing, handling and assembling goods; collaborative industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, collaborative industrial robots for manufacturing, processing, handling and assembling goods; robotic arms being industrial robots for palletizing, for assembling; automated machines for use in manufacturing packaging materials, namely bubble wrap, cardboard boxes, foam peanuts; automated machines and machine tools for the cutting and forming of materials, namely metal cutting and forming machines, paper cutting and forming machines, rubber cutting and forming machines; stands for automated machines and industrial robots, namely stands for industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, industrial robots for manufacturing, processing, handling and assembling goods, collaborative industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, collaborative industrial robots for manufacturing, processing, handling and assembling goods, automated machines for use in manufacturing packaging materials being bubble wrap, cardboard boxes and foam peanuts, metal cutting and forming machines, paper cutting and forming machines, rubber cutting and forming machines, electric welding machines, robots for welding, palletizers; electric welding machines; robots for welding; end-effectors specially adapted for use with industrial robots and collaborative industrial robots; end effectors and component parts, including grippers for all the aforementioned goods; fitted protective sleeves and covers specially adapted for industrial robots and component parts therefor; automatic warehouse storage equipment, namely palletizers.
(1) Industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses; industrial robots for manufacturing, processing, handling and assembling goods; collaborative industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, collaborative industrial robots for manufacturing, processing, handling and assembling goods; robotic arms being industrial robots for palletizing, for assembling; automated machines for use in manufacturing packaging materials, namely bubble wrap, cardboard boxes, foam peanuts; automated machines and machine tools for the cutting and forming of materials, namely metal cutting and forming machines, paper cutting and forming machines, rubber cutting and forming machines; stands for automated machines and industrial robots, namely stands for industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, industrial robots for manufacturing, processing, handling and assembling goods, collaborative industrial robots for use in the processing and fulfillment of consumer and business orders in automated warehouses, collaborative industrial robots for manufacturing, processing, handling and assembling goods, automated machines for use in manufacturing packaging materials being bubble wrap, cardboard boxes and foam peanuts, metal cutting and forming machines, paper cutting and forming machines, rubber cutting and forming machines, electric welding machines, robots for welding, palletizers; electric welding machines; robots for welding; end-effectors specially adapted for use with industrial robots and collaborative industrial robots; end effectors and component parts, including grippers for all the aforementioned goods; fitted protective sleeves and covers specially adapted for industrial robots and component parts therefor; automatic warehouse storage equipment, namely palletizers.
A safety system presets a corresponding safety module and a safety function suitable for each operation mode. When a mode switching device switches among the operation modes of the robot, the safety system starts the corresponding safety module and the safety function for the chosen operation mode to ensure the special safety module and safety function for each operation mode.
A position detection module and a position detection system thereof are provided. The position detection module includes a first output port, a second output port, a third output port and a fourth output port. The first output port outputs a first detection signal, the second output port outputs a first position signal, the third output port outputs a second detection signal, and the fourth output port outputs a second position signal. Thus, the design of two sets of detection signals and position signals enables the position detection module to be fault-tolerant for meeting the requirements of safe dual-channel.
G01D 5/34 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
14.
Method for calibrating 3D camera by employing calibrated 2D camera
A method for calibrating a 3D camera includes arranging a 3D object and a background with contrast color on surfaces, and capturing the 3D object to get an image by a 2D camera and capturing a point cloud by the 3D camera in a one-pass operation. The raw colors of the 3D object and the background of the point cloud are separated and recorded. The point cloud of the 3D object and the background are transformed into the position of the corresponding pixel in the image to get transformed colors. The missing score is computed based on color changes of the point cloud. The transform parameter transforming the coordinate systems of the cameras is optimized to reduce the missing score, so as to quickly calibrate the 3D camera.
A dual-loop torque sensing system includes four position sensors disposed in the motor and the reduction drive to form a dual-loop for detection to calculate the output torques. The detection of the position sensors is for confirming abnormality of the dual-loop or the position sensors. A failure alarm is issued to enhance the safety of the working environment.
A robot system with a hand-guiding function is disclosed. The robot system selects the hand-guiding function or non-hand-guiding function of an enable device by a mode option mechanism during the operation of a teach mode or an automatic mode. When selecting the hand-guiding function, the enable device has both the enabling and the hand-guiding function to easily hand-guiding the robot to operate.
B25J 13/02 - Moyens de commande à préhension manuelle
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/421 - Apprentissage de positions successives par des moyens mécaniques, p. ex. par des volants à couplage mécanique pour positionner la tête porte-outil ou l'effecteur de bout de bras
An encoder module adapted for a robotic arm is provided and includes a bracket, a bearing embedded in the bracket, an adaptor ring embedded in the bearing, a circuit board fixed on the bracket and an encoder plate. The bracket includes a ring-shaped structure. The adaptor ring includes a ring-shaped flange portion and a protruding portion. The protruding portion is located adjacent to an inner periphery of the ring-shaped flange portion and protrudes from the ring-shaped flange portion. An outer periphery and an inner periphery of the bearing engage with an inner periphery of the ring-shaped structure and an outer periphery of the protruding portion respectively. The circuit board includes a detector. The encoder plate is fixed on the ring-shaped flange portion and located at a position corresponding to the detector and between the detector and the adaptor ring. The encoder module has less accumulated error and improved accuracy.
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
18.
Device and method for calibrating coordinate system of 3D camera and robotic arm
A calibration device fora 3D (three dimensional) camera and a robotic arm includes three plates with fixed relative positions and non-parallel separation disposed on a mount. Three spatial planes extending from the three plates intersect at a positioning point for external parameter correction. A calibration method for coordinates of a 3D (three dimensional) camera and a robotic arm using the calibration device is also specified in detail.
A detection system and detection method for the sensors of a robot. A detection system installs three sensors at the motor side and power output terminal of the robot. A detection unit detects the normal or abnormal state of three sensors to index the abnormal sensor for maintenance, and two normal sensors are selected for keeping the robot safety operation without stop.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; Robotic arms for industrial purposes. Computer software for automated equipment management; computer software, recorded, not in context to vehicles, engines, logistics or transport; computer programs, downloadable, not in context to vehicles, engines, logistics or transport.
The partitioning method for a working space of a robot includes defining the working space of the robot; setting a plurality of partitioning planes based on at least three non-collinear points in the working space; if the setting of the plurality of partitioning planes is completed, defining partitioning lines by intersecting the plurality of partitioning planes; dividing the plurality of partitioning planes into a plurality of designated sections and a plurality of extended sections based on the partitioning lines; combining the plurality of designated sections for constructing a full partitioning plane; partitioning the working space into two working regions based on the full partitioning plane; and setting the working region containing an origin of the robot as an operation region. Therefore, the partitioning process can be simplified.
G05B 19/401 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour la mesure, p. ex. étalonnage et initialisation, mesure de la pièce à usiner à des fins d'usinage
29.
Method for programming robot in vision base coordinate
A method for programming a robot in a vision base coordinate is provided. The method includes the following steps. A robot is drawn to an operation point. The coordinates of the operation point in a photo operation are set as a new point. A teaching image is captured and a vision base coordinate system is established. A new point is added according to the newly established vision base coordinate system. When the robot is operating, the robot is controlled to capture an image from a photo operation point. A comparison between the captured image and a teaching image is made. The image being the same as the teaching image is searched according to the comparison result. Whether the vision base coordinate system maintains the same corresponding relation as in the teaching process is checked. Thus, the robot can be precisely controlled.
A brake triggering device for a robot arm is provided in the invention, and the brake triggering device includes a controlling plate with an enhanced structural strength by its annularly symmetrical structure. By designating an end of the ring-shaped controlling plate as a pivot and actuating the opposite end, a movable end, with a solenoid, pressing protrusions protruding from the two sides of an inner rim of the controlling plate can provide a greater torque for braking.
F16D 63/00 - Freins non prévus ailleursFreins combinant plusieurs des types mentionnés dans les groupes
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A method for teaching a robotic arm to pick or place an object includes the following steps. Firstly, the robot arm is pushed until a target appears within a vision. Then, an appearance position of the target is set as a visual point. Then, a first image is captured. Then, the robot arm is pushed to a target position from the visual point. Then, the target position is set as a pick and place point. Then, an automatic movement control of the robot arm is activated. Then, the robot arm automatically picks and places the object and returns to the visual point from the pick and place point. Then, a second image is captured. Then, a differential image is formed by subtracting the second image from the first image, the target image is set according to the differential image, and image characteristic of the target are automatically learned.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
A programming method for a robot arm includes setting and saving operational configurations of the robot arm, establishing an operation process of the robot arm, selecting the operational position icon for applying to the operation sub-process, displaying a selected operational position icon and an operational configuration sub-icon, modifying an operational configuration displayed on the operational configuration sub-icon for facilitating to execute a programming process of the robot arm.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
G06F 3/0481 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p. ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comportement ou d’aspect
A brake device of a robot arm utilizes a brake disc whose diameter is much larger than a diameter of a ratchet for increasing a contacting area of the brake disc, so as to generate a greater friction force. The brake device further utilizes a combining pin, a combining plate, and a plurality of guiding pins for transferring a rotating torque to the brake device having a larger diameter, so as to extend a moment arm of the friction force and generate a greater moment, which reduces a prepressing force and extends life of the brake device.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
36.
Robot calibration apparatus for calibrating a robot arm
An encoded calibrating plate is fixed on the working environment of the robot arm and has a chessboard pattern with each square in the chessboard pattern being an encoding. The encoding indicates direction or position on the encoded calibration plate. A visual system of the robot arm captures an image of the encoded calibrating plate, calculates the coordinates encoding of the encoded calibration plate, and positions the visual system to calibrate a positioning error of the robot arm and the visual system.
G05B 19/18 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique
