Delta Electronics, Inc.

Cheng-Hao Huang

Han-Ching Lin

Po-Chiao Huang

Shi-Yu Wang

Chih-Ming Hsu

Chun-Ying Chen

Yen-Po Wang

Meng-Zong Li

Ke-Hao Chang

Bo-Ren Ciou

Kai-Sheng Chen

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.

Dual-arm robot assembling system

A stabilization method incorporated with a mobile robot having a body, a plane-pressure sensor, and a movement mechanism is disclosed and includes the following steps: sensing and obtaining a pressure distribution of the body through the plane-pressure sensor; computing a center of gravity (CoG) position of the body in accordance with the pressure distribution; determining whether the CoG position is located within a steady zone pre-defined upon the body; and, providing a reverse force toward a CoG offset direction of the CoG position when the CoG position is determined to be off the steady zone.

Mobile robot and stabilization method for the mobile robot

A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.

Calibration apparatus and calibration method for coordinate system of robotic arm

An automatic soldering processing system is disclosed and includes a soldering-point information obtaining unit, a soldering-parameter generating unit, a solder feeding unit, an iron tip, a motion control unit, and a temperature control unit. The soldering-point information obtaining unit obtains an image of at least one soldering-point of an electronic product, the soldering-parameter generating unit generates soldering parameters such as solder feeding speed, solder feeding amount, moving speed, moving path, heating temperature and heating time for the at least one soldering-point correspondingly according to the image. The solder feeding unit feeds solder based on the solder feeding speed and the solder feeding amount, the iron tip performs a soldering action by using the solder, and the motion control unit and the temperature control unit control the iron tip according to the moving speed, the moving path, the heating temperature, and the heating time.

Automatic soldering processing system and automatic soldering processing method

A mechanism-parametric-calibration method for a robotic arm system is provided, including: controlling the robotic arm to perform a plurality of actions so that one end of the robotic arm moves toward corresponding predictive positioning-points; determining a predictive relative-displacement between each two of the predictive positioning-points; after each of the actions is performed, sensing three-dimensional positioning information of the end of the robotic arm; determining, according to the three-dimensional positioning information, a measured relative-displacement moved by the end of the robotic arm when each two of the actions are performed; deriving an equation corresponding to the robotic arm from the predictive relative-displacements and the measured relative-displacements; and utilizing a feasible algorithm to find the solution of the equation. When an ambient temperature changes or a stress variation on the robotic arm exceeds a predetermined range, re-obtaining the set of mechanism parametric deviations corresponds to a current robot configuration.

Mechanism-parameter-calibration method for robotic arm system

An automatic alignment system of a robot manipulator is provided. The automatic alignment system includes a signal transmission module and a controller. The signal transmission module includes a first signal receiving and transmitting element and a second signal receiving and transmitting element. The first signal receiving and transmitting element is mounted on the robot manipulator. The second signal receiving and transmitting element is disposed neighboring to a target workpiece. A signal is transported between the signal receiving and transmitting elements. The controller is electrically connected with the signal transmission module for receiving the signal outputted from the signal transmission module. The controller acquires a relative position between the first signal receiving and transmitting element and the second signal receiving and transmitting element according to a variation in the signal. The controller controls the robot manipulator to be automatically aligned to the target workpiece in accordance with the relative position.

Automatic alignment system and method of robot manipulator

An action teaching method is provided for teaching a robotic arm of a robotic arm system through a gesture teaching device. In a step (a), a touch condition of a user's finger is sensed by the touch sensing unit. In a step (b), a sensing result of the touch sensing unit is transmitted to an identification unit, so that a touch information is identified by the identification unit. In a step (c), the touch information is transmitted to a teaching unit, so that the teaching unit actuates a corresponding operation of the robotic arm system according to the touch information. In a step (d), an operating result of the robotic arm system is shown on a display unit, so that the user judges whether the operating result of the robotic arm system is successful through the display unit.

Action teaching method for robotic arm and gesture teaching device

A tool calibration apparatus includes a first measuring device, a second measuring device, a third measuring device, a fourth measuring device and a fifth measuring device. The first measuring device includes a first measuring surface, a first measuring edge and a sensor. The second measuring device includes a second measuring surface, a second measuring edge and a sensor. The third measuring device includes a third measuring edge and a sensor. The fourth measuring device includes a fourth measuring edge and a sensor. The fifth measuring device includes a third measuring surface and a sensor. The first measuring surface, the first measuring edge and the third measuring edge are movable in an X-axis direction. The second measuring surface, the second measuring edge and the fourth measuring edge are movable in a Y-axis direction. The third measuring surface is movable in a Z-axis direction.

Tool calibration apparatus for robotic arm

A mechanism-parametric-calibration method for a robotic arm system is provided, including: controlling the robotic arm to perform a plurality of actions so that one end of the robotic arm moves toward corresponding predictive positioning-points; determining a predictive relative-displacement between each two of the predictive positioning-points; after each of the actions is performed, sensing three-dimensional positioning information of the end of the robotic arm; determining, according to the three-dimensional positioning information, a measured relative-displacement moved by the end of the robotic-arm when each two of the actions are performed; deriving an equation corresponding to the robotic arm from the predictive relative-displacements and the measured relative-displacements; and utilizing a feasible algorithm to find the solution of the equation. When an ambient temperature changes or a stress variation on the robotic arm exceeds a predetermined range, re-obtaining the set of mechanism parametric deviations corresponds to a current robot configuration.

A tool calibration apparatus for a robot manipulator having a tool is disclosed. The tool calibration apparatus comprises a base, an X-axis measurement device, a Y-axis measurement device and a Z-axis measurement device. Each of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device comprises a measuring plate and a sensor. The measuring plates of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device move in a direction along the X-axis, Y-axis, and Z-axis, respectively. The sensors of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device measure a displacement of the corresponding measuring plate. According to the displacements, information of a tool center point of the tool is acquired so as to calibrate the tool center point.

Tool calibration apparatus of robot manipulator

A mechanism-parametric-calibration method for a robotic arm system is provided. The method includes controlling the robotic arm to perform a plurality of actions so that one end of the robotic arm moves toward corresponding predictive positioning-points; determining a predictive relative-displacement between each two of the predictive positioning-points; after the robotic arm performs each of the actions, sensing three-dimensional positioning information of the end of the robotic arm; determining, according to the three-dimensional positioning information, a measured relative-displacement moved by the end of the robotic arm when the robotic arm performs each two of the actions; deriving an equation corresponding to the robotic arm from the predictive relative-displacements and the measured relative-displacements; and utilizing a feasible algorithm to find the solution of the equation.

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Taoyuan, Taiwan

Cheng-Hao Huang