Dual-arm robot assembling system

Patent metadata

Field	Value
Publication number	US-12440993-B2
Application number	US-202217739060-A
Country	US
Kind code	B2
Filing date	May 6, 2022
Priority date	May 14, 2021
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

A dual-arm robot assembling system including a controlling unit, a GUI, a first robotic-arm, and a second robotic-arm is disclosed. The GUI provides a graphic program editing page, which provides multiple instruction blocks used for editing a graphical program executed by the assembling system. At least one of the first robotic arm and the second robotic arm is disposed with a point-teaching tool thereon. Before the controlling unit controls the two robotic arms to perform an assembling operation based on the graphical program, a manager may directly drag the two robotic arms through the point-teaching tool, so as to implement a point-teaching procedure for the two robotic arms. Therefore, the assembling system may accomplish the assembling operation through the two robotic arms with cooperative movement.

First claim

What is claimed is:

1. A dual-arm robot assembling system, applied on a production line, the system comprising:
a controlling unit;
a first robotic arm, communicatively connected with the controlling unit, and comprising a first tool disposed on one end thereof;
a second robotic arm, communicatively connected with the controlling unit, and comprising a second tool disposed on one end thereof; and
a graphic user interface, communicatively connected with the controlling unit and configured to provide a graphic program editing page, the graphic program editing page providing multiple instruction blocks, the instruction blocks configured to edit, based on at least one serial relationship and at least one parallel relationship, a graphic program executed when the controlling unit controls the first robotic arm and the second robotic arm to perform an assembling operation, wherein the instruction blocks respectively record an executable action of the first robotic arm or the second robotic arm, a corresponding position of each action, and handshaking information between the first robotic arm and the second robotic arm,
wherein the serial relationship indicates that actions of multiple instruction blocks are executed one after another and the parallel relationship indicates that actions of multiple instruction blocks are executed simultaneously,
wherein a point-teaching tool is disposed on at least one of the first robotic arm and the second robotic arm, and the point-teaching tool is configured to accept operation from external force to drag the first robotic arm or the second robotic arm to move and directly perform a point-teaching procedure,
wherein the graphic program editing page comprises an action instruction area and a program editing area, the action instruction area is configured to provide the instruction blocks being pre-created, and the program editing area is configured to edit the graphic program according to the instruction blocks,
wherein when a plurality of the instruction blocks is dragged from the action instruction area to the program editing area, the serial relationship and the parallel relationship are established with each other, and the program editing area is configured to generate the graphic program based on the plurality of the instruction blocks with the serial relationship and the parallel relationship.

2. The dual-arm robot assembling system according to claim 1 , wherein the first tool comprises an assembling tool and the second tool comprises a gripping tool.

3. The dual-arm robot assembling system according to claim 1 , wherein the point-teaching tool comprises a handle disposed on the first robotic arm or the second robotic arm, the handle comprises an initiating button, after the initiating button is being pressed, the handle drags the first robotic arm or the second robotic arm to move, and changes and records a position of the first robotic arm or the second robotic arm on an X-axis and a Y-axis in a planar space.

4. The dual-arm robot assembling system according to claim 3 , wherein the point-teaching tool comprises a setting button disposed on the first robotic arm or the second robotic arm, the setting button is configured to control each pivot joint of the first robotic arm or the second robotic arm, and adjust the position of the first robotic arm or the second robotic arm in the planar space.

5. The dual-arm robot assembling system according to claim 1 , wherein the controlling unit executes a simulation software, the simulation software simulates execution of the graphic program based on a present set value of the first robotic arm and the second robotic arm, records a cycle time of the graphic program, and analyzes an interfering condition of the first robotic arm and the second robotic arm when the graphic program is executed.

6. The dual-arm robot assembling system according to claim 5 , wherein the simulation software is configured to display an interfering area with different colors on a display screen of the controlling unit, when the first robotic arm and the second robotic arm interfere with each other.

7. The dual-arm robot assembling system according to claim 1 , wherein a security sensing module is disposed on the first robotic arm or the second robotic arm, when the controlling unit controls the first robotic arm and the second robotic arm to act and the security sensing module senses that an object approaches, the controlling unit is configured to control the first robotic arm and the second robotic arm to execute a deceleration action or a stop action.

8. The dual-arm robot assembling system according to claim 7 , wherein the security sensing module is configured to divide areas around the dual-arm robot assembling system within unequal distances into a safety area, a warning area and a dangerous area according to an arm information of the first robotic arm and the second robotic arm, and the controlling unit is configured to respectively control the first robotic arm and the second robotic arm to execute the deceleration action and the stop action in different levels when the object enters the safety area, the warning area and the dangerous area.

9. The dual-arm robot assembling system according to claim 1 , further comprising:
a 3D calibration platform, communicatively connected with the controlling unit, and configured to calibrate and synchronize a coordinate position of the first robotic arm and the second robotic arm.

10. A dual-arm robot assembling system, applied on a production line, the system comprising:
a controlling unit;
a first robotic arm, communicatively connected with the controlling unit, and comprising a first tool disposed on one end thereof;
a second robotic arm, communicatively connected with the controlling unit, and comprising a second tool disposed on one end thereof;
a graphic user interface, communicatively connected with the controlling unit and configured to provide a graphic program editing page, the graphic program editing page providing multiple instruction blocks, the instruction blocks configured to edit a graphic program executed when the controlling unit controls the first robotic arm and the second robotic arm to perform an assembling operation, wherein the instruction blocks are respectively corresponding to different control instructions and handshaking data used for controlling the first robotic arm and the second robotic arm; and
a vision controller, communicatively connected with the controlling unit, wherein the controlling unit is configured to control the vision controller to capture an image at required position and execute an image recognition procedure, and the graphic program editing page is configured to provide at least one of the instruction blocks corresponding to one or multiple instructions used for controlling the vision controller to execute an image capturing action;
wherein a point-teaching tool is disposed on at least one of the first robotic arm and the second robotic arm, and the point-teaching tool is configured to accept operation from external force to drag the first robotic arm or the second robotic arm to move and directly perform a point-teaching procedure;
wherein the graphic program editing page comprises an action instruction area and a program editing area, the action instruction area is configured to provide the instruction blocks being pre-created, and the program editing area is configured to edit the graphic program according to the instruction blocks,
wherein when a plurality of the instruction blocks is dragged from the action instruction area to the program editing area, the serial relationship and the parallel relationship are established with each other, and the program editing are

Assignees

• Delta Electronics Inc

Inventors

• Li meng-zong
• Lin Han-Ching
• Wang Shi-Yu
• Huang Po-Chiao
• Huang Cheng-Hao

Classifications

• B25J9/1692

  Calibration of manipulator · CPC title

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title

• B25J9/0081

  with leader teach-in means · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/1615

  characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators · CPC title