CN106393066A - Method for achieving bending tracking through robot - Google Patents
Method for achieving bending tracking through robot Download PDFInfo
- Publication number
- CN106393066A CN106393066A CN201610909973.6A CN201610909973A CN106393066A CN 106393066 A CN106393066 A CN 106393066A CN 201610909973 A CN201610909973 A CN 201610909973A CN 106393066 A CN106393066 A CN 106393066A
- Authority
- CN
- China
- Prior art keywords
- bending
- robot
- workpiece
- cutter
- mould
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/22—Auxiliary equipment, e.g. positioning devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a method for achieving bending tracking through a robot. A bending machine and the bending robot are included. An encoder is arranged on one side of a base of the bending machine and is in signal connection with a robot control system of the bending robot. The method for achieving bending tracking through the robot comprises the steps that an operator inputs parameters through a demonstrator picture of the bending robot; the robot control system automatically adjust an algorithm so as to be matched with the position of a cutter of the bending machine or the bending posture of an outer robot; the operator establishes a coordinate system on the mold center line of the bending machine through a demonstrator; the bending machine determines the reference position through the coordinate system; and the operator demonstrates the initial position of a bending procedure through the demonstrator. The demonstrating workload of a bending track is reduced, the technical level requirement for demonstrating personnel is lowered, a new workpiece is convenient to be led in, and a new bending track can be generated only by modifying the bending angle, the thickness of a metal plate and other parameters.
Description
Technical field
The present invention relates to the technical field of robot, the method that more particularly, to a kind of use robot realizes bending tracking.
Background technology
Bending is the technique carrying out knuckle to sheet metal.During robot bending, need to keep paw and workpiece
Relative position keeps constant, and the change in location of workpiece just meets the needs of the bending technique anglec of rotation and position simultaneously, and two
There is difficult point in person's coupling.Presently, there are the bending programming of 2 kinds of method reply robots, one is using direct lead-through teaching, this method
Relatively time consuming laborious and very high to programming personnel's technical requirements, general end user technical merit at this stage is difficult to be competent at this
The teaching work of sample difficulty；Two is speed according to bending cutter and technological parameter directly generates corresponding robot program,
So workload meeting ratio method one is somewhat less, but there is concrete bending point and still need fine setting, once and bending technique speed
Change, the defect that the original program of robot cannot adapt to.And when substantial amounts of old bender carries out automatic improving, according to cannot
Accurate bending technique rate curve is provided.
Content of the invention
For the problem of above-mentioned generation, it is an object of the invention to provide a kind of use robot realizes the side of bending tracking
Method.
To achieve these goals, the technical scheme that the present invention takes is：
A kind of method that use robot realizes bending tracking, including a bender and a bending robot it is characterised in that institute
The side stating the pedestal of bender is provided with an encoder, the robot control system of described encoder and described bending robot
Signal connects；
The method that described use robot realizes bending tracking includes：
Step one：The demonstrator picture |input paramete by described bending robot for the operator, described robot control system is certainly
Dynamic adjustment algorithm is to mate the position of cutter and the bending attitude of described Zhe Wai robot of described bender；
Step 2：Operator sets up coordinate system by described demonstrator on mold center's line of described bender, described bending
Robot determines reference position by described coordinate system；
Step 3：Described bending robot picks up a workpiece by gripper；
Step 4：Operator is by the original position of described one bending process of demonstrator teaching；
Step 5：Described gripper is by mobile for described workpiece to the described mould of described bender；
Step 6：The described tool feeding of described bender, there is corresponding change of shape, described encoder detection in described workpiece
The real time position of described cutter, and the real time position of described cutter is sent to described robot control system；
Step 7：Described control system adjusts attitudes vibration and the motion rail of described gripper according to the real time position of described cutter
Mark, enables described gripper to produce corresponding attitudes vibration and movement locus with the change of shape of described workpiece；
Step 8：Described cutter withdrawing, described gripper drives described workpiece to exit described bender, and described gripper deposits institute
State workpiece and return original position；
Step 9：It is repeated in described step 3, described step 5, described step 6, described step 7 and described step 8, complete
Become the bending process of all workpiece.
The above-mentioned method realizing bending tracking using robot, wherein, described parameter includes：The chamfering of described cutter half
Footpath, the angle radius of described mould, the upper end chamfer radius of described mould, described mold bottom is high to upper surface vertical dimension
Degree, the thickness of described workpiece, the neutral line distance of described workpiece, the angle of bending finally wished by described workpiece.
The above-mentioned method realizing bending tracking using robot, wherein, when the size of described workpiece and bending require to send out
During changing, operator is by the thickness of workpiece, the neutral line distance of described workpiece and institute described in described demonstrator picture modification
State the angle that bending finally wished by workpiece, the thickness according to described workpiece for the described robot control system, the neutrality of described workpiece
Layer distance and described workpiece finally wish that the angle of bending adjusts the described motion in described step 6 automatically by adjustment algorithm
Track.
The above-mentioned method realizing bending tracking using robot, wherein, when described cutter and described mould shape and
When size changes, operator is by the angle of the chamfer radius of cutter, described mould described in described demonstrator picture modification
Radius, the upper end chamfer radius of described mould and described mold bottom are to upper surface vertical dimension height, the control of described robot
System is according to the chamfer radius of described cutter, the angle radius of described mould, the upper end chamfer radius of described mould and described mould
Tool bottom is to the highly automated described movement locus being adjusted by adjustment algorithm in described step 6 of upper surface vertical dimension.
The above-mentioned method realizing bending tracking using robot, wherein, described workpiece is sheet metal component.
Due to employing above-mentioned technology, the good effect being allowed to compared with prior art have is the present invention：
（1）The present invention passes through the teaching workload of the few bending track of letter, shortens the robot teaching working time.
（2）The technical merit that the present invention reduces teaching personnel requires, and anyone can complete teaching work.
（3）It is convenient, as long as the parameter such as modification bending angle, panel beating thickness can generate new folding that the present invention imports new workpiece
Curved track.
Brief description
Fig. 1 is the schematic diagram of the method realizing bending tracking using robot of the present invention.
Fig. 2 is the schematic diagram of the method realizing bending tracking using robot of the present invention.
Fig. 3 is the schematic diagram of the method realizing bending tracking using robot of the present invention.
Fig. 4 is the schematic diagram of coordinate system OXY of method realizing bending tracking using robot of the present invention.
Fig. 5 is the schematic diagram of the coordinate system O ＇ X ＇ Y ＇ of method realizing bending tracking using robot of the present invention.
In accompanying drawing：1st, gripper；2nd, workpiece；3rd, mould；4th, cutter.
Specific embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Fig. 1 is the schematic diagram of the method realizing bending tracking using robot of the present invention, and Fig. 2 is the use machine of the present invention
Device people realizes the schematic diagram of the method for bending tracking, and Fig. 3 is the showing of method realizing bending tracking using robot of the present invention
It is intended to, refers to shown in Fig. 1, Fig. 2, Fig. 3, show a kind of side realizing bending tracking using robot of preferred embodiment
Method, includes：
Bender and bending robot, the side of the pedestal of bender is provided with encoder, the machine of encoder and bending robot
Device people's control system signal connects；
Included using the method that robot realizes bending tracking：
Step one：Operator passes through the demonstrator picture |input paramete of bending robot, and robot control system adjust automatically is calculated
Method is to mate the position of cutter 4 and the bending attitude of bending robot of bender；
Step 2：Operator sets up coordinate system by demonstrator on mold center's line of bender, and bending robot passes through to sit
Mark system determines reference position；
Step 3：Shown in Figure 1, bending robot picks up a workpiece 2 by gripper 1；
Step 4：Operator passes through the original position of one bending process of demonstrator teaching；
Step 5：Gripper 1 is by mobile for workpiece 2 to the mould 3 of bender；
Step 6：Shown in Figure 2, the cutter 4 of bender feeds, and workpiece 2 occurs corresponding change of shape, and encoder detects
The real time position of cutter 4, and the real time position of cutter 4 is sent to robot control system；
Step 7：Shown in Figure 3, control system adjusts attitudes vibration and the fortune of gripper 1 according to the real time position of cutter 4
Dynamic rail mark, enables gripper 1 to produce corresponding attitudes vibration and movement locus with the change of shape of workpiece 2；
Step 8：Cutter 4 withdrawing, gripper 1 drives workpiece 2 to exit bender, and gripper 1 is deposited workpiece 2 and return start bit
Put；
Step 9：It is repeated in step 3, step 5, step 6, step 7 and step 8, complete the bender of all workpiece
Sequence.
Additionally, as in preferred embodiment, parameter includes：The chamfer radius of cutter 4, the angle radius of mould 3, mould
3 upper end chamfer radius, mould 3 bottom to upper surface vertical dimension height, the thickness of workpiece 2, the neutral line distance of workpiece 2,
The angle of bending finally wished by workpiece 2.
Further, as in preferred embodiment, when the size of workpiece 2 and bending require to change, operator is led to
Cross the angle that bending finally wished by the thickness of demonstrator picture modification workpiece 2, the neutral line distance of workpiece 2 and workpiece 2, robot
Control system finally wishes the angle of bending automatically by tune according to the thickness of workpiece 2, the neutral line distance of workpiece 2 and workpiece 2
Movement locus in whole algorithm set-up procedure six.
Further, as in preferred embodiment, when the shape and size of cutter 4 and mould 3 change, operation
Member is by the chamfer radius of demonstrator picture modification cutter 4, the angle radius of mould 3, the upper end chamfer radius of mould 3 and mould
3 bottoms to upper surface vertical dimension height, robot control system according to the chamfer radius of cutter 4, the angle radius of mould 3,
The upper end chamfer radius of mould 3 and mould 3 bottom to upper surface vertical dimension highly automated by adjustment algorithm set-up procedure six
In movement locus.
The foregoing is only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose.
The present invention also has the mode of being implemented as follows on the basis of the above：
In further embodiment of the present invention, workpiece 2 is sheet metal component.
Fig. 4 is the schematic diagram of coordinate system OXY of method realizing bending tracking using robot of the present invention, and Fig. 5 is this
The schematic diagram of the coordinate system O ＇ X ＇ Y ＇ of method being realized bending tracking using robot of invention, is referred to shown in Fig. 4, Fig. 5.
In further embodiment of the present invention, on the centrage of mould 3, the coordinate system of foundation is set to the OXY in Fig. 4, with
Cutter 4 is gradually reduced, and workpiece 2 produces corresponding change, and the coordinate system of bending robot is changed into the O ＇ Fig. 5 from the OXY of benchmark
X ＇ Y ＇, calculates, by algorithm, the dynamic O ＇ X ＇ Y ＇ matching with cutter 4 feeding automatically, and the movement locus of mechanical arm 1 are based on O ＇
X ＇ Y ＇ produces corresponding action to be changed to coordinate bending.
In further embodiment of the present invention, operator only needs to the initial of one bending of teaching after input parameters
Point, without the movement locus of the whole Forging Process of teaching.
The foregoing is only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art it should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, all should be included in protection scope of the present invention.
Claims (5)
1. a kind of use robot realize bending tracking method, including a bender and a bending robot it is characterised in that
The side of the pedestal of described bender is provided with an encoder, and described encoder controls system with the robot of described bending robot
System signal connects；
The method that described use robot realizes bending tracking includes：
Step one：The demonstrator picture |input paramete by described bending robot for the operator, described robot control system is certainly
Dynamic adjustment algorithm is to mate the position of cutter and the bending attitude of described Zhe Wai robot of described bender；
Step 2：Operator sets up coordinate system by described demonstrator on mold center's line of described bender, described bending
Robot determines reference position by described coordinate system；
Step 3：Described bending robot picks up a workpiece by gripper；
Step 4：Operator is by the original position of described one bending process of demonstrator teaching；
Step 5：Described gripper is by mobile for described workpiece to the described mould of described bender；
Step 6：The described tool feeding of described bender, there is corresponding change of shape, described encoder detection in described workpiece
The real time position of described cutter, and the real time position of described cutter is sent to described robot control system；
Step 7：Described control system adjusts attitudes vibration and the motion rail of described gripper according to the real time position of described cutter
Mark, enables described gripper to produce corresponding attitudes vibration and movement locus with the change of shape of described workpiece；
Step 8：Described cutter withdrawing, described gripper drives described workpiece to exit described bender, and described gripper deposits institute
State workpiece and return original position；
Step 9：It is repeated in described step 3, described step 5, described step 6, described step 7 and described step 8, complete
Become the bending process of all workpiece.
2. use robot according to claim 1 realizes the method for bending tracking it is characterised in that described parameter bag
Include：The chamfer radius of described cutter, the angle radius of described mould, the upper end chamfer radius of described mould, described mold bottom
To upper surface vertical dimension height, the thickness of described workpiece, the neutral line distance of described workpiece, bending finally wished by described workpiece
Angle.
3. use robot according to claim 2 realizes the method for bending tracking it is characterised in that working as described workpiece
When size and bending require to change, operator passes through the thickness of workpiece, described workpiece described in described demonstrator picture modification
Neutral line distance and described workpiece finally wish the angle of bending, described robot control system is according to the thickness of described workpiece
Degree, the neutral line distance of described workpiece and described workpiece finally wish that the angle of bending adjusts described step automatically by adjustment algorithm
Described movement locus in rapid six.
4. use robot according to claim 2 realize bending tracking method it is characterised in that when described cutter and
When the shape and size of described mould change, operator is by the chamfering of cutter described in described demonstrator picture modification half
Footpath, the angle radius of described mould, the upper end chamfer radius of described mould and described mold bottom are high to upper surface vertical dimension
Degree, described robot control system according to the chamfer radius of described cutter, the angle radius of described mould, described mould upper end
Chamfer radius and described mold bottom are adjusted in described step 6 to upper surface vertical dimension is highly automated by adjustment algorithm
Described movement locus.
5. use robot according to claim 1 realizes the method for bending tracking it is characterised in that described workpiece is metal plate
Golden part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610909973.6A CN106393066A (en) | 2016-10-19 | 2016-10-19 | Method for achieving bending tracking through robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610909973.6A CN106393066A (en) | 2016-10-19 | 2016-10-19 | Method for achieving bending tracking through robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393066A true CN106393066A (en) | 2017-02-15 |
Family
ID=58012229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610909973.6A Pending CN106393066A (en) | 2016-10-19 | 2016-10-19 | Method for achieving bending tracking through robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393066A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838246A (en) * | 2018-03-16 | 2018-11-20 | 武汉科技大学 | A kind of accurate method for obtaining robot bending angle |
| CN109333521A (en) * | 2018-11-26 | 2019-02-15 | 江苏科技大学 | A kind of metal plate bending robot bending taught point coordinate intelligent generation method |
| CN109772944A (en) * | 2018-12-13 | 2019-05-21 | 天水锻压机床(集团)有限公司 | A kind of servo-actuated bending control method of panel beating robot |
| CN110153239A (en) * | 2019-06-12 | 2019-08-23 | 上海发那科机器人有限公司 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
| CN110303493A (en) * | 2018-03-22 | 2019-10-08 | 发那科株式会社 | Setting device, robot and its control method of the operation program of robot |
| CN110361170A (en) * | 2019-06-22 | 2019-10-22 | 四川奥希特电子材料有限公司 | A kind of pair of liquid crystal display generates the program control device and its control method of designated position shape winding degree |
| CN110523810A (en) * | 2019-07-05 | 2019-12-03 | 上海发那科机器人有限公司 | A kind of high precision machines people metal plate bending follower method |
| CN110961495A (en) * | 2019-11-22 | 2020-04-07 | 天水锻压机床(集团)有限公司 | Bending robot plate positioning detection and alignment method |
| CN112088053A (en) * | 2018-05-07 | 2020-12-15 | 特鲁普机械奥地利有限公司及两合公司 | Process comprising a processing device for forming sheet metal |
| CN112734725A (en) * | 2021-01-08 | 2021-04-30 | 深圳市宏申工业智能有限公司 | Display module FPC bending guiding method based on machine vision |
| CN112805127A (en) * | 2018-10-06 | 2021-05-14 | 百超激光有限公司 | Method and apparatus for creating robot control program |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050256606A1 (en) * | 2002-06-14 | 2005-11-17 | Antero Irri | Method in the control of a machine tool cell |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN105234213A (en) * | 2015-11-25 | 2016-01-13 | 福建骏鹏通信科技有限公司 | Method for robot bending free interpolation |
| CN105487487A (en) * | 2015-12-30 | 2016-04-13 | 福建骏鹏通信科技有限公司 | Method for automatic position calculation during robot bending process |
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
| CN105921558A (en) * | 2016-05-20 | 2016-09-07 | 上海发那科机器人有限公司 | Robot servo bending system |
-
2016
- 2016-10-19 CN CN201610909973.6A patent/CN106393066A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050256606A1 (en) * | 2002-06-14 | 2005-11-17 | Antero Irri | Method in the control of a machine tool cell |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN105234213A (en) * | 2015-11-25 | 2016-01-13 | 福建骏鹏通信科技有限公司 | Method for robot bending free interpolation |
| CN105487487A (en) * | 2015-12-30 | 2016-04-13 | 福建骏鹏通信科技有限公司 | Method for automatic position calculation during robot bending process |
| CN105921558A (en) * | 2016-05-20 | 2016-09-07 | 上海发那科机器人有限公司 | Robot servo bending system |
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838246A (en) * | 2018-03-16 | 2018-11-20 | 武汉科技大学 | A kind of accurate method for obtaining robot bending angle |
| CN108838246B (en) * | 2018-03-16 | 2020-05-22 | 武汉科技大学 | Method for accurately obtaining bending angle of robot |
| CN110303493A (en) * | 2018-03-22 | 2019-10-08 | 发那科株式会社 | Setting device, robot and its control method of the operation program of robot |
| CN110303493B (en) * | 2018-03-22 | 2021-04-23 | 发那科株式会社 | Setting device for robot operation program, robot and control method thereof |
| CN112088053A (en) * | 2018-05-07 | 2020-12-15 | 特鲁普机械奥地利有限公司及两合公司 | Process comprising a processing device for forming sheet metal |
| CN112805127A (en) * | 2018-10-06 | 2021-05-14 | 百超激光有限公司 | Method and apparatus for creating robot control program |
| CN109333521A (en) * | 2018-11-26 | 2019-02-15 | 江苏科技大学 | A kind of metal plate bending robot bending taught point coordinate intelligent generation method |
| CN109333521B (en) * | 2018-11-26 | 2022-08-19 | 江苏科技大学 | Intelligent generation method for coordinates of bending teaching points of metal plate bending robot |
| CN109772944A (en) * | 2018-12-13 | 2019-05-21 | 天水锻压机床(集团)有限公司 | A kind of servo-actuated bending control method of panel beating robot |
| CN109772944B (en) * | 2018-12-13 | 2020-04-28 | 天水锻压机床(集团)有限公司 | Sheet metal machining robot follow-up bending control method |
| CN110153239A (en) * | 2019-06-12 | 2019-08-23 | 上海发那科机器人有限公司 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
| CN110361170A (en) * | 2019-06-22 | 2019-10-22 | 四川奥希特电子材料有限公司 | A kind of pair of liquid crystal display generates the program control device and its control method of designated position shape winding degree |
| CN110523810A (en) * | 2019-07-05 | 2019-12-03 | 上海发那科机器人有限公司 | A kind of high precision machines people metal plate bending follower method |
| CN110961495A (en) * | 2019-11-22 | 2020-04-07 | 天水锻压机床(集团)有限公司 | Bending robot plate positioning detection and alignment method |
| CN112734725A (en) * | 2021-01-08 | 2021-04-30 | 深圳市宏申工业智能有限公司 | Display module FPC bending guiding method based on machine vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106393066A (en) | Method for achieving bending tracking through robot | |
| CN107901041B (en) | Robot vision servo control method based on image mixing moment | |
| CN109914756B (en) | Indoor wall 3D putty printing and leveling processing method based on indoor construction intelligent robot | |
| US8706300B2 (en) | Method of controlling a robotic tool | |
| CN105045098B (en) | A kind of control method of Control During Paint Spraying by Robot track automatic creation system | |
| CN108182689A (en) | The plate workpiece three-dimensional recognition positioning method in polishing field is carried applied to robot | |
| US20080109105A1 (en) | Method for optimizing the transport displacement of workpieces in transfer presses | |
| CN107378324B (en) | Welding system and method for special-shaped workpiece based on visual extraction | |
| CN112238304B (en) | Method for automatically welding small-batch customized special-shaped bridge steel templates by mechanical arm based on image visual recognition of welding seams | |
| CN105921558A (en) | Robot servo bending system | |
| CN107256567A (en) | A kind of automatic calibration device and scaling method for industrial robot trick camera | |
| WO2020173111A1 (en) | 3d micro-coating robot and coating method therefor | |
| CN109158600B (en) | Device and method for automatically matching relative positions of light spots and powder spots in synchronous powder feeding laser additive manufacturing | |
| CN108525965A (en) | A kind of spraying method and device | |
| CN107457781A (en) | A kind of method and system of control machine people motion | |
| CN106313007A (en) | Parallel drilling machine teaching/playback system | |
| CN104750023A (en) | Model based welding robot offline training data acquisition method | |
| CN109015652A (en) | A kind of control method of robot and the positioner coordinated movement of various economic factors | |
| WO2023279812A1 (en) | Virtual fixture-based grinding and cutting integrated processing system and method for teleoperated robot | |
| CN106392251A (en) | K-shaped groove cutting device for flame groove robot | |
| JP2006260010A (en) | Apparatus and method for controlling robot, and computer program | |
| CN206140014U (en) | Welding system suitable for right angle welding seam laser tracking | |
| CN110695494B (en) | Corrugated plate external shaft tracking system and method thereof | |
| CN1264630C (en) | Laser quick forming system and forming method with six shaft machine hand for powder material | |
| CN108526778B (en) | A kind of workpiece placement planning method for robot emulation system welding application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |
|
| RJ01 | Rejection of invention patent application after publication |