CN110355759A - A kind of industrial robot gluing control system of view-based access control model - Google Patents

A kind of industrial robot gluing control system of view-based access control model Download PDF

Info

Publication number
CN110355759A
CN110355759A CN201910606422.6A CN201910606422A CN110355759A CN 110355759 A CN110355759 A CN 110355759A CN 201910606422 A CN201910606422 A CN 201910606422A CN 110355759 A CN110355759 A CN 110355759A
Authority
CN
China
Prior art keywords
gluing
motion controller
robot
based access
glue spreading
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
Application number
CN201910606422.6A
Other languages
Chinese (zh)
Inventor
李松
董金耐
刘鹏飞
郝雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baoding Kehai Automation Technology Co Ltd
Original Assignee
Baoding Kehai Automation Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Baoding Kehai Automation Technology Co Ltd filed Critical Baoding Kehai Automation Technology Co Ltd
Priority to CN201910606422.6A priority Critical patent/CN110355759A/en
Publication of CN110355759A publication Critical patent/CN110355759A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0075Manipulators for painting or coating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of industrial robot gluing control systems of view-based access control model, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, image capture module, calculating and storage unit and execution module, wherein, teaching box is communicated with motion controller using serial ports, by sending control of the order data completion to Glue Spreading Robot, the coordinate information of taught point is read simultaneously, gluing Mission Operations parameter is manually entered, these task datas are packaged and are transferred to motion controller as task data, carry out the parsing and storage of task data;The beneficial effects of the present invention are: track off-line calculation is changed to calculate in real time, reduces the storage quantity of task data using TMS320F2812 as kernel control chip;Using vision positioning technology, the gluing requirement of product is met, exploitation can satisfy the Glue Spreading Robot of industrial demand, improve production efficiency and product quality, generate huge economic benefit and social benefit.

Description

A kind of industrial robot gluing control system of view-based access control model
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of industrial robot gluing control of view-based access control model System.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation Action.
Gluing technology is widely used in the bonding of electroacoustic field speaker diaphragm;With the reduction of electronic product size, Coating technique difficulty increases, and completing coating technique using Glue Spreading Robot becomes effective way of raising gluing quality and production efficiency Diameter.
Using artificial gluing, product quality is difficult to ensure and production efficiency is low, in order to preferably adapt to market economy hair The needs of exhibition improve productivity, improve product quality, improve worker's working condition, thus it is proposed that a kind of view-based access control model Industrial robot gluing control system.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial robot gluing control systems of view-based access control model, to solve above-mentioned back Itd is proposed in scape technology using artificial gluing, product quality is difficult to ensure and production efficiency is low, in order to preferably adapt to market The needs of economic development improve productivity, improve product quality, improve worker's working condition.
To achieve the above object, the invention provides the following technical scheme: a kind of industrial robot gluing control of view-based access control model System processed, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, Image Acquisition Module, calculating and storage unit and execution module, wherein
Teaching box is communicated with motion controller using serial ports, is completed by sending order data to Glue Spreading Robot Control, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged conduct Task data is transferred to motion controller, carries out the parsing and storage of task data;
The number that keyboard and display panel is shown by LED shows the working condition of current robot, is inputted by keyboard, complete The control of pairs of Glue Spreading Robot, and the selection of job task parameter basic point;
Motion controller is the core of the control system, adds direction signal to control stepper motor to driver hair pulse, real Existing robot end installs the operation of teaching track;
Workpiece is positioned by image capture module, calculating and storage unit, by the position of target gluing setting Information is sent to the motion controller of Glue Spreading Robot by the serial ports of industrial computer, and motion controller issues control command, The movement of gluing is completed by the execution module of Glue Spreading Robot.
As a preferred technical solution of the invention, the model TMS320F2812 of the motion controller.
As a preferred technical solution of the invention, the software design of the motion controller include hierarchical design, Modularized design.
As a preferred technical solution of the invention, gluing machine is sent to by 232 serial ports of industrial computer The motion controller of people.
As a preferred technical solution of the invention, the model VS-902 of the video camera.
As a preferred technical solution of the invention, described image collecting cassette is MV-U2000.
As a preferred technical solution of the invention, the interface of described image collecting cassette is USB 2.0.
Compared with prior art, the beneficial effects of the present invention are:
(1) track off-line calculation is changed to calculate in real time, is reduced as kernel control chip using TMS320F2812 The storage quantity of task data;
(2) vision positioning technology is used, the gluing requirement of product is met, exploitation can satisfy industrial demand Glue Spreading Robot improves production efficiency and product quality, and generates huge economic benefit and social benefit.
Detailed description of the invention
Fig. 1 is motion controller block diagram of the invention;
Fig. 2 is motion controller software architecture diagram of the invention;
Fig. 3 is that task data of the invention forms format.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, the present invention provides a kind of technical solution: a kind of industrial robot painting of view-based access control model Glue control system, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, image Acquisition module, calculating and storage unit and execution module, wherein
Teaching box is communicated with motion controller using serial ports, is completed by sending order data to Glue Spreading Robot Control, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged conduct Task data is transferred to motion controller, carries out the parsing and storage of task data;
The number that keyboard and display panel is shown by LED shows the working condition of current robot, is inputted by keyboard, complete The control of pairs of Glue Spreading Robot, and the selection of job task parameter basic point;
Motion controller is the core of the control system, and the model TMS320F2812 of motion controller is sent out to driver Pulse adds direction signal to control stepper motor, realizes that robot end installs the operation of teaching track;
Workpiece is positioned by image capture module, calculating and storage unit, by the position of target gluing setting Information is sent to the motion controller of Glue Spreading Robot by 232 serial ports of industrial computer, and motion controller issues control life It enables, the movement of gluing is completed by the execution module of Glue Spreading Robot.
The model TMS320F2812 of motion controller, the resources of chip is abundant, and highest dominant frequency is up to 150MHZ, data Processing capacity is strong, while having expanded the FLASH and RAM of control chip, is suitble to industry big data, and the storage of multitask is met The requirement of Glue Spreading Robot;It is now as follows to motion controller resource allocation:
1. memory distribution:
Since the motion controller will meet the industrial requirement of Glue Spreading Robot, the storage in TMS320F2812 piece Resource is far from enough, therefore has extended out FLASH and RAM, and FLASH program storage distributes interrupt vector table and procedure subject;RAM It is careful not to be not intended to since the FLASH of TMS320F2812 has encryption function for data buffer zone and custom variable space The write-in program in encryption space;
2. interrupt distribution:
There are three the interruptions that this system uses: timer 1 interrupts;SCI serial ports receives in interruption and the response of DSP external keyboard It is disconnected;
Each functions of modules distribution inside 3.DSP:
Task manager: TMS320F2812 possesses task manager A and task manager B, and each task manager has two A independent timer can issue the PWM wave of 4 road different frequencies, for controlling the revolving speed of four stepper motors;
Serial communication interface SCI: controller is communicated with teaching box, complete Glue Spreading Robot job task teaching with And the downloading of task data;
Jtag interface: advanced simulated properties hardware interface can carry out online program debugging, be not take up system resource, benefit The DSP emulator provided with PC machine and TI, so that it may with the runs software in PC machine, carry out the debugging efforts of program;
CAN communication interface: the interface be spare interface, for motion controller upgrading do it is spare;
4.I/O mouthfuls reserved:
I/O mouthfuls have been reserved in motion controller, elasticity can be needed to increase hardware device such as according to production: heating, Absorption, cleft hand etc.;
5. signal processing:
TMS320F2812 uses static CMOS technology, and for 1 logic-level voltages of level close to 3.3V, logic level is close In 0V, and Transistor-Transistor Logic level output HIGH voltage is greater than 2.4V, and output level is less than 0.4V, therefore needs to carry out level conversion, thus really Protect the communication of DSP and peripheral chip.
The software design of motion controller includes hierarchical design, modularized design;Hierarchical design improves each layer software program Independence, each layer of software be only capable of calling a low level software provide interface and service;Using modularized design: same Layer intermodule onrelevant, the conjugation of intermodule is as far as possible by the way of data combination;Controller software system is divided into management Layer and control layer two layers of software, management level include man-machine interface show, the downloading of program, task teaching, task choosing, emergency stop, Reset etc., the requirement of real-time of the generic task is not high, and the subprogram by increasing management level can further increase the function of system Energy;The control layer of system includes gluing control, real-time interpolation motion control, speed control, control of switching value etc., such software Interface belongs to the called function of bottom, and for completing response management layer functions, motion controller software systems further include being The initialization of system, the transmission of data, the parsing of data packet and the pretreatment for moving patching plug program etc., these software configuration functions Perfect operation for each management level software of Glue Spreading Robot and control layer software provides advantageous support.
Initialization subroutine and main program:
System initialization routine completes the initialization of each functional module, includes: task manager A, task manager B Initialization;The initialization of serial ports SCI register;Keyboard and display panel initialization;The initialization of global variable;Initialize serial ports setting Its baud rate 115200bps, data format are no parity check, 8 data bit, 1 stop position;Motion controller passes through response keyboard The control to operating personnel to Glue Spreading Robot is realized in the interruption of display board and teaching box, and the main circulating program of system is not by Detect global variable disconnectedly, realize the calling to management layer functions, at the same management level software can according to the requirement of mission and mandate, Further execution subroutine and control layer software routines, thus the top-down scheduling of program structure realized, so that The software program process of motion controller is simple, and software maintenance is convenient.
Teaching motion module:
Task teaching is carried out to Glue Spreading Robot, facilitates control of the operator to Glue Spreading Robot, therefore teaching mould The software of block is a part important in Glue Spreading Robot motion controller software, and in teaching module, there are two types of modules It is selected for user: teaching mode and coordinate model;Teaching mode is to be controlled on robot motion to task track in real time a bit, One section of line segment is made of two points, then is the starting point and terminal of teaching line segment when teaching;One section of circular arc is by non-colinear Three points composition, then any point on starting point, terminal and the arc track of teaching circular arc is only needed when teaching;For Ensure the efficiency and precision of teaching, continuous movement and crawl teaching are divided under teaching mode, uses the side of continuous teaching first Formula guides the end of Glue Spreading Robot to reach target position, then uses the mode of crawl teaching so that the end of Glue Spreading Robot End be accurately positioned, while reading the coordinate information, it is also necessary to be packaged the information in addition coating technique information with Kinematic parameter is set, teaching is achieved the purpose that with this, coordinate model refers to that input coordinate value, Glue Spreading Robot are read by serial communication Take coordinate value, guidance Glue Spreading Robot to specified position.
Coating technique task module:
Glue Spreading Robot should be resetted first after device power-up, after Glue Spreading Robot finds the actual zero point of system, Workpiece clamping on objective table, if fixture is to install for the first time, is needed the operation by keyboard and display panel by operating personnel, Basic point adjustment is carried out to Glue Spreading Robot, is otherwise directly entered the operation of task choosing;By the operation of control panel, institute is selected Corresponding task is transferred to mission bit stream in RAM from FLASH, presses operation key Glue Spreading Robot and starts the task of fulfiling assignment, Glue Spreading Robot is firstly moved to certain altitude above the gluing starting point of entire task before gluing, then enables gluing Signal opens gluing controller, carries out gluing.
The formulation of controller and teaching box communication protocol:
The formulation of controller and teaching box communication protocol is one very important group in Glue Spreading Robot control system At part, operating personnel can complete the information editing of gluing job task by way of teaching, and therefore, it is necessary to customize fortune The communication protocol of movement controller and teaching box, the conveniently interaction between Glue Spreading Robot control;The formulating rules of agreement are both It should facilitate to data packet group packet, should also be conducive to parsing of the Glue Spreading Robot to data packet, while to have certain fault-tolerant Property, anti-interference when improve data transfer can verify data, judge the data correctness of transmission;Teaching box Interaction with Glue Spreading Robot includes two kinds, and one is the order issued to Glue Spreading Robot, another kind is and Glue Spreading Robot Between the task data transmitted;Order, which is included in, carries out robot debugging, track teaching, request data upload and data downloading etc. In the case of use;After data refer to that a teaching task is completed, glue spreader is sent by data transmission by the mission bit stream In device people's motion controller, motion controller is analyzed and is pre-processed according to the data sent, is stored in the form of task Get up.
Task data analysis and storage:
About task, the definition of pel, figure point, task refers to Glue Spreading Robot end institute in operational process of glue spreader The entire gluing track passed through, is the set of pel, these pels can be connection, is also possible to unconnected, and pel is Track is abstract during finger gluing, it includes line segment, circular arc and array point;Pel element, which refers to, obtains the basic of primitive information Figure point, a line segment are made of starting point and end point, three points of a circular arc no longer same straight line composition, array point by One point composition, starting point, intermediate point, arc point, end point etc. can be divided by being further abstracted to these point classification, in gluing During signal once enables and stops, pel point includes at least a starting point and an end point, or is single array point; During teaching, operating personnel can complete the storage of taught point coordinate information, while operating personnel is defeated by teaching box Enter the information of coating technique information and kinematic parameter;By the data information of constitutional diagram point, coordinate, the gluing work of pel can be found out Skill parameter, operating parameter;Gluing machine is contained in the task data that teaching box is transferred on Glue Spreading Robot motion controller Essential information parameter, the operating parameter of equipment and coating technique parameter etc. required for people's gluing track is fitted;Gluing machine People's motion controller first should parse the data that transmission comes, by the mission bit stream storage after parsing to motion control In the FLASH of device;The analysis of task data includes the combination of the pel point of point needed for the parsing of data packet, pel, coating technique Parameter extraction, the extraction of pel operating parameter etc..
The model VS-902 of video camera.
Image Acquisition box is MV-U2000, and the device of digital picture is converted into as the simulated image data for acquiring camera Image data is ultimately transferred to Real time vision and is stored by part, Image Acquisition box using 2.0 interface of USB.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (7)

1. a kind of industrial robot gluing control system of view-based access control model, which is characterized in that including motion controller, keyboard & display Plate, teaching box, motor driver, video camera, Image Acquisition box, image capture module, calculating and storage unit and execution module, Wherein,
Teaching box is communicated with motion controller using serial ports, by sending control of the order data completion to Glue Spreading Robot System, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged to be used as and are appointed Business data are transferred to motion controller, carry out the parsing and storage of task data;
The number that keyboard and display panel is shown by LED shows the working condition of current robot, inputted by keyboard, completes pair The control of Glue Spreading Robot, and the selection of job task parameter basic point;
Motion controller is the core of the control system, adds direction signal to control stepper motor to driver hair pulse, realizes machine Device people end is installed by the operation of teaching track;
Workpiece is positioned by image capture module, calculating and storage unit, by the location information of target gluing setting The motion controller of Glue Spreading Robot is sent to by the serial ports of industrial computer, motion controller issues control command, by applying The execution module of glue robot completes the movement of gluing.
2. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described The model TMS320F2812 of motion controller.
3. a kind of industrial robot gluing control system of view-based access control model according to claim 2, it is characterised in that: described The software design of motion controller includes hierarchical design, modularized design.
4. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: pass through 232 serial ports of industrial computer are sent to the motion controller of Glue Spreading Robot.
5. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described The model VS-902 of video camera.
6. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described Image Acquisition box is MV-U2000.
7. a kind of industrial robot gluing control system of view-based access control model according to claim 6, it is characterised in that: described The interface of Image Acquisition box is USB 2.0.
CN201910606422.6A 2019-07-05 2019-07-05 A kind of industrial robot gluing control system of view-based access control model Pending CN110355759A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910606422.6A CN110355759A (en) 2019-07-05 2019-07-05 A kind of industrial robot gluing control system of view-based access control model

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910606422.6A CN110355759A (en) 2019-07-05 2019-07-05 A kind of industrial robot gluing control system of view-based access control model

Publications (1)

Publication Number Publication Date
CN110355759A true CN110355759A (en) 2019-10-22

Family

ID=68218421

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910606422.6A Pending CN110355759A (en) 2019-07-05 2019-07-05 A kind of industrial robot gluing control system of view-based access control model

Country Status (1)

Country Link
CN (1) CN110355759A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112025677A (en) * 2020-07-28 2020-12-04 武汉象点科技有限公司 Automatic guiding glue supplementing system and method based on visual detection
CN112706161A (en) * 2020-11-17 2021-04-27 中国航空工业集团公司北京长城航空测控技术研究所 Gluing control system with intelligent sensing capability
CN112987657A (en) * 2019-12-17 2021-06-18 株式会社安川电机 Production system, production method, and information storage medium
CN113967908A (en) * 2020-07-22 2022-01-25 精工爱普生株式会社 Teaching control method and robot system
CN116297531A (en) * 2023-05-22 2023-06-23 中科慧远视觉技术(北京)有限公司 Machine vision detection method, system, medium and equipment

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205319984U (en) * 2015-11-20 2016-06-15 北京和利时电机技术有限公司 Drive control device
CN105750157A (en) * 2016-04-29 2016-07-13 中国航空工业集团公司北京长城航空测控技术研究所 Intelligent adhesive application end effector and control method thereof
CN106625713A (en) * 2017-01-11 2017-05-10 长春工业大学 Method of improving gumming accuracy of gumming industrial robot
CN207343181U (en) * 2017-09-21 2018-05-11 江苏冠达通电子科技有限公司 One kind sprays adhesive dispensing robot automatically based on CCD
CN108311340A (en) * 2018-02-01 2018-07-24 普洛赛斯(苏州)智能装备有限公司 A kind of manipulator control system and its working method for dispensing coating machine
US20180348730A1 (en) * 2017-06-01 2018-12-06 X Development Llc Automatic Generation of Toolpaths
CN109454642A (en) * 2018-12-27 2019-03-12 南京埃克里得视觉技术有限公司 Robot coating track automatic manufacturing method based on 3D vision

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205319984U (en) * 2015-11-20 2016-06-15 北京和利时电机技术有限公司 Drive control device
CN105750157A (en) * 2016-04-29 2016-07-13 中国航空工业集团公司北京长城航空测控技术研究所 Intelligent adhesive application end effector and control method thereof
CN106625713A (en) * 2017-01-11 2017-05-10 长春工业大学 Method of improving gumming accuracy of gumming industrial robot
US20180348730A1 (en) * 2017-06-01 2018-12-06 X Development Llc Automatic Generation of Toolpaths
CN207343181U (en) * 2017-09-21 2018-05-11 江苏冠达通电子科技有限公司 One kind sprays adhesive dispensing robot automatically based on CCD
CN108311340A (en) * 2018-02-01 2018-07-24 普洛赛斯(苏州)智能装备有限公司 A kind of manipulator control system and its working method for dispensing coating machine
CN109454642A (en) * 2018-12-27 2019-03-12 南京埃克里得视觉技术有限公司 Robot coating track automatic manufacturing method based on 3D vision

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112987657A (en) * 2019-12-17 2021-06-18 株式会社安川电机 Production system, production method, and information storage medium
US11958196B2 (en) 2019-12-17 2024-04-16 Kabushiki Kaisha Yaskawa Denki Production system and information storage medium
CN113967908A (en) * 2020-07-22 2022-01-25 精工爱普生株式会社 Teaching control method and robot system
US11833679B2 (en) 2020-07-22 2023-12-05 Seiko Epson Corporation Teaching control method for robot and robot system
CN113967908B (en) * 2020-07-22 2024-01-05 精工爱普生株式会社 Teaching control method and robot system
CN112025677A (en) * 2020-07-28 2020-12-04 武汉象点科技有限公司 Automatic guiding glue supplementing system and method based on visual detection
CN112025677B (en) * 2020-07-28 2023-09-26 武汉象点科技有限公司 Automatic guiding glue supplementing system and method based on visual detection
CN112706161A (en) * 2020-11-17 2021-04-27 中国航空工业集团公司北京长城航空测控技术研究所 Gluing control system with intelligent sensing capability
CN116297531A (en) * 2023-05-22 2023-06-23 中科慧远视觉技术(北京)有限公司 Machine vision detection method, system, medium and equipment

Similar Documents

Publication Publication Date Title
CN110355759A (en) A kind of industrial robot gluing control system of view-based access control model
US10265848B2 (en) Robotic hybrid system application framework based on multi-core processor architecture
CN104786221B (en) A kind of open method for controlling robot based on Ethernet
CN109831354A (en) Virtual Debugging system based on OPC UA industry communications protocol
CN104526696B (en) A kind of novel four axis robot control system
CN108214445B (en) ROS-based master-slave heterogeneous teleoperation control system
CN203449306U (en) Master-slave-type double-industrial-robot coordination operation control system
CN104835406B (en) Industrial robot tutoring system
CN110524543A (en) A kind of industrial robot control device and system based on manipulation one
CN204925765U (en) Mirror of shaking laser scanning is flooring forming work control system by a wide margin
CN102662349B (en) Cross-platform numerical control system
CN104820418A (en) Embedded vision system for mechanical arm and method of use
CN105643624A (en) Machine vision control method, robot controller and robot control system
CN107443379A (en) A kind of mechanical arm motion control method based on emulation data
CN105163510A (en) Chip mounting machine control system based on Ethernet control automation technology (EtherCAT) bus
CN105702112A (en) Teaching type numerical control machine tool system and application thereof
CN203250190U (en) Controller of industrial robot
CN105429130A (en) RTDS and dSPACE based microgrid simulation experiment system and method
CN209289290U (en) Light-duty mechanical arm control system based on CANopen
Vick et al. Using OPC UA for distributed industrial robot control
CN106774118A (en) Robot manipulation's box and operating system
CN201489345U (en) Double-processor motion control card
CN108550296A (en) Multi-brand Robot Virtual teaching machine system
CN106774178A (en) A kind of automation control system and method, plant equipment
CN112071144A (en) Teaching simulation platform

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20191022

RJ01 Rejection of invention patent application after publication