Robot control system and method

Patent metadata

Field	Value
Publication number	US-10022869-B2
Application number	US-201615140484-A
Country	US
Kind code	B2
Filing date	Apr 28, 2016
Priority date	Jan 7, 2016
Publication date	Jul 17, 2018
Grant date	Jul 17, 2018

Abstract

A robot control system on a platform which can carry target objects employs a coordinate system including X, Y, and Z axes. A plane including the X and Y axis is parallel with a panel including the platform. After the coordinate system is created, a reminder is displayed and a guiding tool is placed in a position on the platform where the target objects are located, and a fastening tool for use with the guiding tool is arranged on hand of the robot. A location of the fastening tool relative to the guiding tool is adjusted according to a predefined rule. When the location of the fastening tool relative to the guiding tool is correctly adjusted, a position of the end effect of the robot is determined according to the location of the fastening tool and the relevant coordinates are stored as data.

First claim

What is claimed is:

1. A robot control method comprising:
creating a coordinate system based on a platform by a building module; wherein the platform supports target objects; wherein the coordinate system comprises X, Y, and Z axes, and a first plane defined by the X and Y axes is parallel with a second plane defined by the platform;
generating a reminder command by an interaction module; wherein a guiding tool is placed in a position on the platform where the target objects are located, and a fastening tool used with the guiding tool is arranged on a robotic arm of a robot;
adjusting the location of the fastening tool relative to the guiding tool by an adjusting module; and
determining a position of the robotic arm of the robot by a receiving module; wherein when the location of the fastening tool relative to the guiding tool is correctly adjusted, the receiving module determines the position of the robotic arm of the robot according to the location of the fastening tool;
wherein at least one locating hole is defined in the guiding tool, a first level sensor and a height sensor are located in the fastening tool, at least one probe is located in the first level sensor and the height sensor, and each probe is coupled to a input/output unit of the robot;
creating the coordinate system based on a positioning mould of the platform by the building module; wherein the positioning mould comprises a fastening portion and a moving portion, the fastening portion fixes with the platform, the fastening portion comprises an L-shaped rail, the moving portion is installed on the robotic arm of the robot; the moving portion comprises a second level sensor, and the robotic arm of the robot drives the second level sensor to slide in the L-shaped rail of the fastening portion.

2. The robot control method of claim 1 , wherein the input/output unit connected to the at least one probe in the first level sensor outputs a first signal when the at least one probe in the first level sensor touches the guiding tool; the input/output unit connected to the at least one probe in the first level sensor outputs a second signal when the at least one probe in the first level sensor does not touch the guiding tool.

3. The robot control method of claim 2 , wherein the adjusting module adjusts the location of the fastening tool relative to the guiding tool according to a predefined rule; the predefined rule is configured for adjusting the location of the fastening tool relative to the guiding tool according to the signal outputted by the input/output unit, the input/output unit is coupled to the at least one probe in the first level sensor.

4. The robot control method of claim 3 , wherein when the input/output unit coupled with the at least one probe of the first level sensor outputs the first signal, the adjusting module adjusts the location of the fastening tool relative to the guiding tool on the X and Y axes, and the input/output unit outputs the second signal.

5. The robot control method of claim 3 , wherein when the input/output unit coupled with the at least one probe of the height sensor outputs the second signal, the adjusting module adjusts the location of the fastening tool relative to the guiding tool on the Z axis, and the input/output unit outputs the first signal.

6. A robot control system comprising:
a building module configured for creating a coordinate system based on a platform, wherein the platform can support target objects; wherein the coordinate system comprises X, Y, and Z axes, and a first plane defined by the X and Y axes is parallel with a second plane defined by the platform;
an interaction module configured for generating a reminder command; wherein a guiding tool is placed in a position on the platform where the target objects are located, and a fastening tool used with the guiding tool is arranged on a robotic arm of a robot;
an adjusting module adjusting the location of the fastening tool relative to the guiding tool according to a predefined rule; and
a receiving module configured for determining a position of the robotic arm of the robot according to the location of the fastening tool when the location of the fastening tool relative to the guiding tool is correctly adjusted;
wherein at least one locating hole is defined in the guiding tool, a first level sensor and a height sensor are located in the fastening tool, at least one probe is located in the first level sensor and the height sensor, and each probe is coupled to an input/output unit of the robot;
wherein the building module creates the coordinate system based on a positioning mould of the platform; and
wherein the positioning mould comprises a fastening portion and a moving portion, the fastening portion fixes with the platform, the fastening portion comprises an L-shaped rail, the moving portion is installed on the robotic arm of the robot the moving portion comprises a second level sensor, the robotic arm of the robot drives the second level sensor to slide in the L-shaped rail of the fastening portion.

7. The robot control system of claim 6 , wherein the input/output unit connected to the at least one probe in the first level sensor outputs a first signal when the at least one probe in the first level sensor touches the guiding tool; the input/output unit connected to the at least one probe in the first level sensor outputs a second signal when the at least one probe in the first level sensor does not touch the guiding tool.

8. The robot control system of claim 7 , wherein the predefined rule is configured for adjusting the location of the fastening tool relative to the guiding tool according to the signal outputted by the input/output unit, the input/output unit is coupled to the at least one probe in the first level sensor.

9. The robot control system of claim 8 , wherein when the input/output unit coupled with the at least one probe of the first level sensor outputs the first signal, the adjusting module adjusts the location of the fastening tool relative to the guiding tool on the X and Y axes, and the input/output unit outputs the second signal.

10. The robot control system of claim 8 , wherein when the input/output unit coupled with the at least one probe of the height sensor outputs the second signal, the adjusting module adjusts the location of the fastening tool relative to the guiding tool on the Z axis, and the input/output unit outputs the first signal.

Assignees

• Hongfujin Prec Elect Zhengzhou Co Ltd
• Hon Hai Prec Ind Co Ltd
• Hongfujin Prec Electronics Zhengzhou

Inventors

• Liu Yu-Ching
• Chang Hsi-Che
• Lin Yu-Nan
• Yang wei-da
• Su Po-Lin
• Chen Li
• Cao Yue-Kai
• Ning Bo
• Liang Guang-Chen
• Zheng Jiang-Tao

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/1656

  characterised by programming, planning systems for manipulators · CPC title

• G05B19/425 Primary

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• B25J9/1661 Primary

  characterised by task planning, object-oriented languages · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title